A system command that knows how to reflash the bootloader on the PX4FMU.

apps/systemcmds/bl_update/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the eeprom tool.
+#
+
+APPNAME		 = bl_update
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 4096
+
+include $(APPDIR)/mk/app.mk

apps/systemcmds/bl_update/bl_update.c

@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bl_update.c
+ *
+ * STM32F4 bootloader update tool.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int bl_update_main(int argc, char *argv[]);
+
+int
+bl_update_main(int argc, char *argv[])
+{
+	if (argc != 2)
+		errx(1, "missing firmware filename");
+
+	int fd = open(argv[1], O_RDONLY);
+	if (fd < 0)
+		err(1, "open %s", argv[1]);
+
+	struct stat s;
+	if (stat(argv[1], &s) < 0)
+		err(1, "stat %s", argv[1]);
+
+	/* sanity-check file size */
+	if (s.st_size > 16384)
+		errx(1, "%s: file too large", argv[1]);
+
+	uint8_t *buf = malloc(s.st_size);
+	if (buf == NULL)
+		errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
+
+	if (read(fd, buf, s.st_size) != s.st_size)
+		err(1, "firmware read error");
+	close(fd);
+
+	uint32_t *hdr = (uint32_t *)buf;
+	if ((hdr[0] < 0x20000000) ||			/* stack not below RAM */
+	    (hdr[0] > (0x20000000 + (128 * 1024))) ||	/* stack not above RAM */
+	    (hdr[1] < 0x08000000) ||			/* entrypoint not below flash */
+	    ((hdr[1] - 0x08000000) > 16384)) {		/* entrypoint not outside bootloader */
+		free(buf);
+		errx(1, "not a bootloader image");
+	}
+
+	warnx("image validated, erasing bootloader...");
+	usleep(10000);
+
+	/* prevent other tasks from running while we do this */
+	sched_lock();
+
+	/* unlock the control register */
+	volatile uint32_t *keyr = (volatile uint32_t *)0x40023c04;
+	*keyr = 0x45670123U;
+	*keyr = 0xcdef89abU;
+
+	volatile uint32_t *sr = (volatile uint32_t *)0x40023c0c;
+	volatile uint32_t *cr = (volatile uint32_t *)0x40023c10;
+	volatile uint8_t *base = (volatile uint8_t *)0x08000000;
+
+	/* check the control register */
+	if (*cr & 0x80000000) {
+		warnx("WARNING: flash unlock failed, flash aborted");
+		goto flash_end;
+	}
+
+	/* erase the bootloader sector */
+	*cr = 0x2;
+	*cr = 0x10002;
+
+	/* wait for the operation to complete */
+	while (*sr & 0x1000) {
+	}
+	if (*sr & 0xf2) {
+		warnx("WARNING: erase error 0x%02x", *sr);
+		goto flash_end;
+	}
+
+	/* verify the erase */
+	for (int i = 0; i < s.st_size; i++) {
+		if (base[i] != 0xff) {
+			warnx("WARNING: erase failed at %d - retry update, DO NOT reboot", i);
+			goto flash_end;
+		}
+	}
+
+	warnx("flashing...");
+
+	/* now program the bootloader - speed is not critical so use x8 mode */
+	for (int i = 0; i < s.st_size; i++) {
+
+		/* program a byte */
+		*cr = 1;
+		base[i] = buf[i];
+
+		/* wait for the operation to complete */
+		while (*sr & 0x1000) {
+		}
+		if (*sr & 0xf2) {
+			warnx("WARNING: program error 0x%02x", *sr);
+			goto flash_end;
+		}
+	}
+
+	/* re-lock the flash control register */
+	*cr = 0x80000000;
+
+	warnx("verifying...");
+
+	/* now run a verify pass */
+	for (int i = 0; i < s.st_size; i++) {
+		if (base[i] != buf[i]) {
+			warnx("WARNING: verify failed at %u - retry update, DO NOT reboot", i);
+			goto flash_end;
+		}
+	}
+
+	warnx("bootloader update complete");
+
+flash_end:
+	/* unlock the scheduler */
+	sched_unlock();
+
+	free(buf);
+	exit(0);
+}