move bootloader to defmt
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@ -76,7 +76,7 @@ probe-rs run --chip VA108xx_RAM --protocol jtag target/thumbv6m-none-eabi/debug/
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to flash and run the blinky program on the RAM. There is also a `VA108xx` chip target
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available for persistent flashing.
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Runner configuration avilable in the `.cargo/def-config.toml` file to use `probe-rs` for
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Runner configuration is available in the `.cargo/def-config.toml` file to use `probe-rs` for
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convenience. `probe-rs` is also able to process and display `defmt` strings directly.
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### Using VS Code
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@ -150,11 +150,10 @@ address for the RTT block placement is 0x10000000. It is recommended to use a se
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0x1000 around that base address when using the RTT viewer.
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The RTT viewer will not be able to process `defmt` printouts. However, you can view the defmt
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logs by [installing defmt-print](https://crates.io/crates/defmt-print) first and then piping
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the output on telnet port 19021 into `defmt-print`, for example by running
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logs by [installing defmt-print](https://crates.io/crates/defmt-print) first and then running
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```sh
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telnet localhost 19021 | defmt-print -e <pathToElfFile>
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defmt-print -e <pathToElfFile> tcp
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```
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The path of the ELF file which is being debugged needs to be specified for this to work.
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@ -7,9 +7,9 @@ edition = "2021"
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cortex-m = "0.7"
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cortex-m-rt = "0.7"
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embedded-hal = "1"
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panic-rtt-target = "0.2"
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panic-halt = "1"
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rtt-target = "0.6"
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defmt-rtt = "0.4"
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defmt = "1"
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panic-probe = { version = "1", features = ["defmt"] }
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crc = "3"
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num_enum = { version = "0.7", default-features = false }
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static_assertions = "1"
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@ -17,6 +17,7 @@ static_assertions = "1"
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[dependencies.va108xx-hal]
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version = "0.11"
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path = "../va108xx-hal"
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features = ["defmt"]
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[dependencies.vorago-reb1]
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version = "0.8"
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@ -6,17 +6,16 @@ use cortex_m_rt::entry;
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use crc::{Crc, CRC_16_IBM_3740};
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use embedded_hal::delay::DelayNs;
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use num_enum::TryFromPrimitive;
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#[cfg(not(feature = "rtt-panic"))]
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use panic_halt as _;
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#[cfg(feature = "rtt-panic")]
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use panic_rtt_target as _;
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use rtt_target::{rprintln, rtt_init_print};
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// Import panic provider.
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use panic_probe as _;
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// Import logger.
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use defmt_rtt as _;
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use va108xx_hal::{pac, time::Hertz, timer::CountdownTimer};
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use vorago_reb1::m95m01::M95M01;
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// Useful for debugging and see what the bootloader is doing. Enabled currently, because
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// the binary stays small enough.
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const RTT_PRINTOUT: bool = true;
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const DEFMT_PRINTOUT: bool = true;
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const DEBUG_PRINTOUTS: bool = true;
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// Small delay, allows RTT printout to catch up.
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const BOOT_DELAY_MS: u32 = 2000;
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@ -74,7 +73,7 @@ pub const PREFERRED_SLOT_OFFSET: u32 = 0x20000 - 1;
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const CRC_ALGO: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
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#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive)]
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#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, defmt::Format)]
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#[repr(u8)]
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enum AppSel {
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A = 0,
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@ -100,9 +99,8 @@ impl NvmInterface for NvmWrapper {
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#[entry]
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fn main() -> ! {
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if RTT_PRINTOUT {
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rtt_init_print!();
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rprintln!("-- VA108xx bootloader --");
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if DEFMT_PRINTOUT {
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defmt::println!("-- VA108xx bootloader --");
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}
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let dp = pac::Peripherals::take().unwrap();
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let cp = cortex_m::Peripherals::take().unwrap();
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@ -131,21 +129,21 @@ fn main() -> ! {
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nvm.write(0x4, bootloader_data)
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.expect("writing to NVM failed");
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if let Err(e) = nvm.verify(0x0, &first_four_bytes) {
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if RTT_PRINTOUT {
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rprintln!("verification of self-flash to NVM failed: {:?}", e);
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if DEFMT_PRINTOUT {
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defmt::error!("verification of self-flash to NVM failed: {:?}", e);
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}
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}
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if let Err(e) = nvm.verify(0x4, bootloader_data) {
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if RTT_PRINTOUT {
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rprintln!("verification of self-flash to NVM failed: {:?}", e);
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if DEFMT_PRINTOUT {
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defmt::error!("verification of self-flash to NVM failed: {:?}", e);
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}
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}
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nvm.write(BOOTLOADER_CRC_ADDR as usize, &bootloader_crc.to_be_bytes())
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.expect("writing CRC failed");
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if let Err(e) = nvm.verify(BOOTLOADER_CRC_ADDR as usize, &bootloader_crc.to_be_bytes()) {
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if RTT_PRINTOUT {
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rprintln!(
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if DEFMT_PRINTOUT {
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defmt::error!(
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"error: CRC verification for bootloader self-flash failed: {:?}",
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e
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);
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@ -173,8 +171,8 @@ fn main() -> ! {
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} else if check_app_crc(other_app) {
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boot_app(&dp.sysconfig, &cp, other_app, &mut timer)
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} else {
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if DEBUG_PRINTOUTS && RTT_PRINTOUT {
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rprintln!("both images corrupt! booting image A");
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if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
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defmt::error!("both images corrupt! booting image A");
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}
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// TODO: Shift a CCSDS packet out to inform host/OBC about image corruption.
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// Both images seem to be corrupt. Boot default image A.
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@ -204,8 +202,8 @@ fn check_own_crc(
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});
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let crc_calc = digest.finalize();
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if crc_exp == 0x0000 || crc_exp == 0xffff {
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if DEBUG_PRINTOUTS && RTT_PRINTOUT {
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rprintln!("BL CRC blank - prog new CRC");
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if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
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defmt::info!("BL CRC blank - prog new CRC");
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}
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// Blank CRC, write it to NVM.
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nvm.write(BOOTLOADER_CRC_ADDR as usize, &crc_calc.to_be_bytes())
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@ -215,8 +213,8 @@ fn check_own_crc(
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// cortex_m::peripheral::SCB::sys_reset();
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} else if crc_exp != crc_calc {
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// Bootloader is corrupted. Try to run App A.
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if DEBUG_PRINTOUTS && RTT_PRINTOUT {
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rprintln!(
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if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
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defmt::warn!(
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"bootloader CRC corrupt, read {} and expected {}. booting image A immediately",
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crc_calc,
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crc_exp
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@ -241,8 +239,8 @@ fn read_four_bytes_at_addr_zero(buf: &mut [u8; 4]) {
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}
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}
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fn check_app_crc(app_sel: AppSel) -> bool {
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if DEBUG_PRINTOUTS && RTT_PRINTOUT {
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rprintln!("Checking image {:?}", app_sel);
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if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
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defmt::info!("Checking image {:?}", app_sel);
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}
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if app_sel == AppSel::A {
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check_app_given_addr(APP_A_CRC_ADDR, APP_A_START_ADDR, APP_A_SIZE_ADDR)
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@ -256,8 +254,8 @@ fn check_app_given_addr(crc_addr: u32, start_addr: u32, image_size_addr: u32) ->
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let image_size = unsafe { (image_size_addr as *const u32).read_unaligned().to_be() };
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// Sanity check.
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if image_size > APP_A_END_ADDR - APP_A_START_ADDR - 8 {
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if RTT_PRINTOUT {
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rprintln!("detected invalid app size {}", image_size);
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if DEFMT_PRINTOUT {
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defmt::error!("detected invalid app size {}", image_size);
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}
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return false;
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}
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@ -278,8 +276,8 @@ fn boot_app(
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app_sel: AppSel,
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timer: &mut CountdownTimer,
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) -> ! {
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if DEBUG_PRINTOUTS && RTT_PRINTOUT {
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rprintln!("booting app {:?}", app_sel);
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if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
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defmt::info!("booting app {:?}", app_sel);
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}
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timer.delay_ms(BOOT_DELAY_MS);
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