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Soft 468 jumping back to bootloader #459

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Soft 468 jumping back to bootloader #459

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cab2401
Replaced old NTC curve with new experimental curve
vaaranan-y Aug 25, 2021
f1ce7d0
modified appropriate test(s)
vaaranan-y Aug 25, 2021
6d48397
implemented jump to bootloader, follow comments
vaaranan-y Oct 2, 2021
b0a8848
updated main in bootloader
vaaranan-y Oct 2, 2021
069f19b
Fixed macro typecast error
vaaranan-y Oct 2, 2021
d52dd55
Merge branch 'master' into soft_468_jumping_back_to_bootloader
vaaranan-y Oct 2, 2021
2f6df6a
[SOFT-468] Merge branch 'soft_468_jumping_back_to_bootloader' of http…
vaaranan-y Oct 2, 2021
d7782c6
[SOFT-468] Fixed memory configuration to flash, not SRAM
vaaranan-y Oct 9, 2021
4ec7d10
[SOFT-468] Modularized jump function
vaaranan-y Oct 9, 2021
8b21f0d
[SOFT-468] Added ms-bootloader library
vaaranan-y Oct 9, 2021
0687368
[SOFT-468] Implemented preprocessorconditional upon compilation for a…
vaaranan-y Oct 10, 2021
b582454
[SOFT-468] fixed jump function implementation
vaaranan-y Oct 10, 2021
3be0a3a
Merge branch 'master' into soft_468_jumping_back_to_bootloader
vaaranan-y Oct 10, 2021
a91053c
[SOFT-468] moved jump.c
vaaranan-y Oct 10, 2021
3837dd3
[SOFT-468] made perform_jump non-static/public
vaaranan-y Oct 10, 2021
adf3c2c
[SOFT-468] fixing merge issues
vaaranan-y Oct 10, 2021
718f7f8
[SOFT-468] included string library to jump header
vaaranan-y Oct 10, 2021
d3d5bd5
[SOFT-468] Removed naked attribute from jump function
vaaranan-y Oct 13, 2021
8289d59
Merge branch 'master' into soft_468_jumping_back_to_bootloader
vaaranan-y Oct 13, 2021
ad43709
[SOFT-468] Removed naked attribute from jump function in project itself
vaaranan-y Oct 13, 2021
6b5dbae
[SOFT-468] Merge branch 'soft_468_jumping_back_to_bootloader' of http…
vaaranan-y Oct 13, 2021
f3a9b4b
[SOFT-468] Moved implementation to STM32F0XX
vaaranan-y Nov 11, 2021
4be0005
[SOFT-468] removed noreturn from perform jump
vaaranan-y Nov 11, 2021
b502b92
Merge branch 'master' into soft_468_jumping_back_to_bootloader
vaaranan-y Nov 11, 2021
f379df3
[SOFT-468] moved implementation from bootloader project to ms-bootloader
vaaranan-y Nov 13, 2021
450b243
[SOFT-468] changes APP_COMP_ON_BOOT to BOOTLOADER_APPLICATION
vaaranan-y Nov 13, 2021
426d9e3
[SOFT-468] changed BOOTLOADER_DEFAULT_LOCATION to BOOTLOADER_START
vaaranan-y Nov 13, 2021
d75fa56
[SOFT-468] Added description for ms-bootloader
vaaranan-y Nov 13, 2021
eaf6cd0
[SOFT-468] Merge branch 'soft_468_jumping_back_to_bootloader' of http…
vaaranan-y Nov 13, 2021
3a84088
Merge branch 'master' into soft_468_jumping_back_to_bootloader
vaaranan-y Jan 22, 2022
47f14b9
[SOFT-468] changed APP_ON_COMP to BOOTLOADER_APPLICATION
vaaranan-y Mar 10, 2022
fa7f236
[SOFT-468] merged
vaaranan-y Mar 10, 2022
f0c9869
[SOFT-468] Fix bootloader_mcu include issues
ryandancy Mar 10, 2022
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4 changes: 4 additions & 0 deletions projects/bootloader/inc/jump_to_bootloader.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
#pragma once

// Jump to the bootloade at the beginning of flash memory
void jump_to_bootloader(void);
4 changes: 4 additions & 0 deletions projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@ extern uint32_t _application_size;
extern uint32_t _ram_start;
extern uint32_t _ram_size;
extern uint32_t _vector_table_size;
extern uint32_t _bootloader_start;
extern uint32_t _bootloader_size;

#define BOOTLOADER_CONFIG_PAGE_1_START ((void *)&_config_page1_start)
#define BOOTLOADER_CONFIG_PAGE_2_START ((void *)&_config_page2_start)
Expand All @@ -23,3 +25,5 @@ extern uint32_t _vector_table_size;
#define BOOTLOADER_RAM_START ((void *)&_ram_start)
#define BOOTLOADER_RAM_SIZE ((size_t)&_ram_size)
#define BOOTLOADER_VECTOR_TABLE_SIZE ((size_t)&_vector_table_size)
#define BOOTLOADER_DEFAULT_LOCATION ((void *)&_bootloader_start)
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I think BOOTLOADER_START might be a clearer name for this, especially since we'll likely never have the bootloader at a different location (so not "default").

#define BOOTLOADER_SIZE ((size_t)&_bootloader_size)
1 change: 1 addition & 0 deletions projects/bootloader/src/main.c
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Expand Up @@ -8,6 +8,7 @@
#include "flash.h"
#include "interrupt.h"
#include "jump_to_application.h"
#include "jump_to_bootloader.h"
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@ryandancy ryandancy Oct 2, 2021 •
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So the next steps for this module is that we want to jump from the bootloader to the application when we receive a datagram message while in an application. This will be in can_fsm.c, in the if (rx_msg.source_id == SYSTEM_CAN_DEVICE_BOOTLOADER) if statement. Essentially, when that if statement is reached:

  • if we're in an application running on the bootloader, in which case we should jump to the bootloader so that the bootloader can receive subsequent datagram messages
  • oherwise, we should call bootloader_can_receive there like we do now so that the bootloader can process the message (if necessary)

So there are a couple of parts to doing this:

  1. We'll need to move jump_to_bootloader to a library, perhaps called ms-bootloader, so can_fsm.c can reach it. Perhaps move bootloader_mcu.h to that library too.
  2. We'll need a way to determine which of the three scenarios above we're in. This is a bit tricky: we'll need a preprocessor symbol that's defined when we're compiling for an application running on the bootloader. You can do this by adding a -D<symbolname> argument to the C compiler flags when compiling for the application, which currently you can do in platform/stm32f0xx/platform.mk by adding CFLAGS += -D<symbolname> to the ifeq ($(MAKECMDGOALS),temp-bootloader-write) if statement (replace <symbolname> with the symbol you want defined when on the application only). Then you can test with #ifdef in can_fsm.c.

#include "log.h"
#include "ping.h"
#include "query.h"
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40 changes: 40 additions & 0 deletions projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
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#include "jump_to_bootloader.h"
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jump_to_application, jump_to_bootloader, and jump shouldn't be duplicated between the bootloader project and the ms-bootloader libraries, they should only appear in ms-bootloader. So remove the copies in the bootloader project / move all the functionality to ms-bootloader.


#include <stdint.h>
#include <stdnoreturn.h>
#include <string.h>

#include "bootloader_mcu.h"
#include "stm32f0xx_misc.h"
#include "stm32f0xx_syscfg.h"

static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
__asm(
"msr msp, %[sp] \n" // reset the main stack pointer (msp) to sp
"bx %[pc] \n" // jump to pc

// this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
// see http://www.ethernut.de/en/documents/arm-inline-asm.html
:
: [sp] "r"(sp), [pc] "r"(pc));
}
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We might want to factor this function out from this and jump_to_application.c into an ms-common (or ms-bootloader) library called jump.h since it just jumps to a particular location.


void jump_to_bootloader(void) {
// Disable all interrupts so their is no interference when working with vector tables
__disable_irq();

// Reset the vector table to bootloader's vector table
SYSCFG_MemoryRemapConfig(
SYSCFG_MemoryRemap_SRAM); // change where the vector table is stored to beginning of flash
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This will set the vector table to the beginning of SRAM (which is where it is already since we're in the application) - you'll need to use SYSCFG_MemoryRemap_Flash instead (see stm32f0xx_syscfg.h).


// story memory location of bootloader starting point at the beginning of flash?
uint32_t *bootloader_in_flash = BOOTLOADER_DEFAULT_LOCATION;
// setting the stack pointer to the bootloader location now
uint32_t initial_sp = bootloader_in_flash[0];
uint32_t reset_handler_pc = bootloader_in_flash[1];

// re-enable interrupts
__enable_irq();
// jump to bootloader
prv_perform_jump(initial_sp, reset_handler_pc);
}