bootloader and flashloader

flashloader/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "flashloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+crc = "3"
+
+[dependencies.va416xx-hal]
+path = "../va416xx-hal"
+version = "0.1.0"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]

flashloader/src/main.rs

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+//! Vorago flashloader which can be used to flash image A and image B via a simple
+//! low-level CCSDS memory interface via a UART wire.
+//!
+//! This flash loader can be used after the bootloader was flashed to flash the images.
+//! You can also use this as an starting application for a software update mechanism.
+//!
+//! Bootloader memory map
+//!
+//! * <0x0>     Bootloader start                         <code up to 0x3FFE bytes>
+//! * <0x3FFE>  Bootloader CRC                           <halfword>
+//! * <0x4000>  App image A start                        <code up to 0x1DFFC (~120K) bytes>
+//! * <0x21FFC> App image A CRC check length             <halfword>
+//! * <0x21FFE> App image A CRC check value              <halfword>
+//! * <0x22000> App image B start                        <code up to 0x1DFFC (~120K) bytes>
+//! * <0x3FFFC> App image B CRC check length             <halfword>
+//! * <0x3FFFE> App image B CRC check value              <halfword>
+//! * <0x40000>                                          <end>
+#![no_main]
+#![no_std]
+
+use crc::{Crc, CRC_16_IBM_3740};
+use panic_rtt_target as _;
+use va416xx_hal::{
+    edac,
+    pac::{self},
+    time::Hertz,
+    wdt::Wdt,
+};
+
+const EXTCLK_FREQ: u32 = 40_000_000;
+const WITH_WDT: bool = true;
+const WDT_FREQ_MS: u32 = 50;
+const DEBUG_PRINTOUTS: bool = true;
+
+// Important bootloader addresses and offsets, vector table information.
+
+const BOOTLOADER_START_ADDR: u32 = 0x0;
+const BOOTLOADER_END_ADDR: u32 = 0x4000;
+const BOOTLOADER_CRC_ADDR: u32 = 0x3FFE;
+const APP_A_START_ADDR: u32 = 0x4000;
+pub const APP_A_END_ADDR: u32 = 0x22000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_A_SIZE_ADDR: u32 = 0x21FF8;
+const APP_A_CRC_ADDR: u32 = 0x21FFC;
+const APP_B_START_ADDR: u32 = 0x22000;
+pub const APP_B_END_ADDR: u32 = 0x40000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_SIZE_ADDR: u32 = 0x3FFF8;
+const APP_B_CRC_ADDR: u32 = 0x3FFFC;
+pub const APP_IMG_SZ: u32 = 0x1E000;
+
+pub const VECTOR_TABLE_OFFSET: u32 = 0x0;
+pub const VECTOR_TABLE_LEN: u32 = 0x350;
+pub const RESET_VECTOR_OFFSET: u32 = 0x4;
+
+const CRC_ALGO: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+enum AppSel {
+    A,
+    B,
+}
+
+pub trait WdtInterface {
+    fn feed(&self);
+}
+
+pub struct OptWdt(Option<Wdt>);
+
+impl WdtInterface for OptWdt {
+    fn feed(&self) {
+        if self.0.is_some() {
+            self.0.as_ref().unwrap().feed();
+        }
+    }
+}
+
+#[rtic::app(device = pac)]
+mod app {
+    use super::*;
+    use panic_rtt_target as _;
+    use rtic_monotonics::systick::Systick;
+    use rtt_target::{rprintln, rtt_init_default};
+    use va416xx_hal::{clock::ClkgenExt, edac, pac};
+
+    use crate::{setup_edac, EXTCLK_FREQ};
+
+    #[local]
+    struct Local {}
+
+    #[shared]
+    struct Shared {}
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        rtt_init_default!();
+        rprintln!("-- Vorago flashloader --");
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        // Use the external clock connected to XTAL_N.
+        let clocks = cx
+            .device
+            .clkgen
+            .constrain()
+            .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
+            .freeze(&mut cx.device.sysconfig)
+            .unwrap();
+        setup_edac(&mut cx.device.sysconfig);
+
+        Systick::start(cx.core.SYST, clocks.sysclk().raw(), systick_mono_token);
+        (Shared {}, Local {})
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        #[allow(clippy::empty_loop)]
+        loop {}
+    }
+
+    #[task(binds = EDAC_SBE, priority = 1)]
+    fn edac_sbe_isr(_cx: edac_sbe_isr::Context) {
+        // TODO: Send some command via UART for notification purposes. Also identify the problematic
+        // memory.
+        edac::clear_sbe_irq();
+    }
+
+    #[task(binds = EDAC_MBE, priority = 1)]
+    fn edac_mbe_isr(_cx: edac_mbe_isr::Context) {
+        // TODO: Send some command via UART for notification purposes.
+        edac::clear_mbe_irq();
+        // TODO: Reset like the vorago example?
+    }
+
+    #[task(binds = WATCHDOG, priority = 1)]
+    fn watchdog_isr(_cx: watchdog_isr::Context) {
+        let wdt = unsafe { pac::WatchDog::steal() };
+        // Clear interrupt.
+        wdt.wdogintclr().write(|w| unsafe { w.bits(1) });
+    }
+}
+
+fn setup_edac(syscfg: &mut pac::Sysconfig) {
+    // The scrub values are based on the Vorago provided bootloader.
+    edac::enable_rom_scrub(syscfg, 125);
+    edac::enable_ram0_scrub(syscfg, 1000);
+    edac::enable_ram1_scrub(syscfg, 1000);
+    edac::enable_sbe_irq();
+    edac::enable_mbe_irq();
+}