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@ -19,7 +19,12 @@ This workspace contains the following crates:
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It also contains the following helper crates:
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- The `examples` crates contains various example applications for the HAL and the PAC.
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- The [`bootloader`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/bootloader)
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crate contains a sample bootloader strongly based on the one provided by Vorago.
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- The [`flashloader`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
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crate contains a sample flashloader which is able to update the redundant images in the NVM which
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is compatible to the provided bootloader as well.
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- The `examples` folder contains various example applications crates for the HAL and the PAC.
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## Using the `.cargo/config.toml` file
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@ -3,26 +3,45 @@ VA416xx Bootloader Application
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This is the Rust version of the bootloader supplied by Vorago.
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## Memory Map
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The bootloader uses the following memory map:
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| <0x0> | Bootloader start | <code up to 0x3FFE bytes> |
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| -------- | ------------------ | ----------------
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| <0x3FFE> | Bootloader CRC | <word> |
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| -------- | ------------------ | ----------------
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| <0x4000> | App image A start | <code up to 0x1DFFC (~120K) bytes> |
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| -------- | ------------------ | ----------------
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| <0x21FFC> | App image A CRC check length | <word> |
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| -------- | ------------------ | ----------------
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| <0x21FFE> | App image A CRC check value | <word> |
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| -------- | ------------------ | ----------------
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| <0x22000> | App image B start | <code up to 0x1DFFC (~120K) bytes> |
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| -------- | ------------------ | ----------------
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| <0x3FFFC> | App image B CRC check length | <word> |
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| -------- | ------------------ | ----------------
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| <0x3FFFE> | App image B CRC check value | <word> |
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| -------- | ------------------ | ----------------
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| <0x40000> | End of NVM | <end> |
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| -------- | ------------------ | ----------------
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| Address | Notes | Size |
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| ------ | ---- | ---- |
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| 0x0 | Bootloader start | code up to 0x3FFC bytes |
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| 0x3FFC | Bootloader CRC | word |
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| 0x4000 | App image A start | code up to 0x1DFFC (~120K) bytes |
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| 0x21FFC | App image A CRC check length | word |
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| 0x21FFE | App image A CRC check value | word |
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| 0x22000 | App image B start | code up to 0x1DFFC (~120K) bytes |
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| 0x3FFFC | App image B CRC check length | word |
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| 0x3FFFE | App image B CRC check value | word |
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| 0x40000 | End of NVM | end |
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## Additional Information
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As opposed to the Vorago example code, this bootloader assumes a 40 MHz external clock
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but does not scale that clock up.
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but does not scale that clock up. It also uses a word (4 bytes) instead of a half-word for the CRC
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and uses the ISO 3309 CRC32 standard checksum.
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This bootloader does not provide tools to flash the NVM memories by itself. Instead, you can use
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the [flashloader](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
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application to perform this task using a CCSDS interface via a UART.
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The bootloader performs the following steps:
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1. The application will calculate the checksum of itself if the bootloader CRC is blank (all zeroes
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or all ones). If the CRC is not blank and the checksum check fails, it will immediately boot
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application image A. Otherwise, it proceeds to the next step.
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2. Check the checksum of App A. If that checksum is valid, it will boot App A. If not, it will
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proceed to the next step.
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3. Check the checksum of App B. If that checksum is valid, it will boot App B. If not, it will
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boot App A as the fallback image.
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You could adapt and combine this bootloader with a non-volatile memory to select a prefered app
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image, which would be a first step towards an updatable flight software.
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Please note that you *MUST* compile the application at slot A and slot B with an appropriate
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`memory.x` file where the base address of the `FLASH` was adapted according to the base address
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shown in the memory map above. The memory files to do this were provided in the `scripts` folder.
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60
flashloader/README.md
Normal file
60
flashloader/README.md
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@ -0,0 +1,60 @@
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VA416xx Flashloader Application
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========
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This flashloader shows a minimal example for a self-updatable Rust software which exposes
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a simple PUS (CCSDS) interface to update the software. It also provides a Python application
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called the `image-loader.py` which can be used to upload compiled images to the flashloader
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application to write them to the NVM.
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The software can quickly be adapted to interface with a real primary on-board software instead of
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the Python script provided here to upload images because it uses a low-level CCSDS based packet
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interface.
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## Using the Python image loader
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It is recommended to run the script in a dedicated virtual environment. For example, on UNIX
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systems you can use `python3 -m venv venv` and then `source venv/bin/activate` to create
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and activate a virtual environment.
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After that, you can use
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```sh
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pip install -r requirements.txt
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```
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to install all required dependencies.
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After that, it is recommended to use `./image-load.py -h` to get an overview of some options.
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The flash loader uses the UART0 interface of the VA416xx board to perform CCSDS based
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communication. The Python image loader application will search for a file named `loader.toml` and
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use the `serial_port` key to determine the serial port to use for serial communication.
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### Examples
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You can use
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```sh
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./image-loader.py -p
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```
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to send a ping an verify the connection.
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You can use
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```sh
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cd flashloader/slot-a-blinky
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cargo build --release
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cd ../..
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./image-loader.py -t a ./slot-a-blinky/target/thumbv7em-none-eabihf/release/slot-a-blinky
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```
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to build the slot A sample application and upload it to a running flash loader application
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to write it to slot A.
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You can use
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```sh
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./image-loader.py -c -t a
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```
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to corrupt the image A and test that it switches to image B after a failed CRC check instead.
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