diff options
73 files changed, 2067 insertions, 674 deletions
diff --git a/altosui/AltosDebug.java b/altoslib/AltosDebug.java index c69369ef..4d8e3ae7 100644 --- a/altosui/AltosDebug.java +++ b/altoslib/AltosDebug.java @@ -15,12 +15,11 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package altosui; +package org.altusmetrum.altoslib_1; import java.io.*; -import org.altusmetrum.altosuilib_1.*; -public class AltosDebug extends AltosSerial { +public class AltosDebug { public static final byte WR_CONFIG = 0x1d; public static final byte RD_CONFIG = 0x24; @@ -53,13 +52,15 @@ public class AltosDebug extends AltosSerial { public static final byte GET_CHIP_ID = 0x68; + AltosLink link; + boolean debug_mode; void ensure_debug_mode() { if (!debug_mode) { - printf("D\n"); + link.printf("D\n"); try { - flush_input(); + link.flush_input(); } catch (InterruptedException ie) { } debug_mode = true; @@ -79,15 +80,19 @@ public class AltosDebug extends AltosSerial { System.out.printf("\n"); } + public void close() { + link.close(); + } + /* * Write target memory */ public void write_memory(int address, byte[] bytes, int start, int len) { ensure_debug_mode(); // dump_memory("write_memory", address, bytes, start, len); - printf("O %x %x\n", len, address); + link.printf("O %x %x\n", len, address); for (int i = 0; i < len; i++) - printf("%02x", bytes[start + i]); + link.printf("%02x", bytes[start + i]); } public void write_memory(int address, byte[] bytes) { @@ -101,21 +106,21 @@ public class AltosDebug extends AltosSerial { throws IOException, InterruptedException { byte[] data = new byte[length]; - flush_input(); + link.flush_input(); ensure_debug_mode(); - printf("I %x %x\n", length, address); + link.printf("I %x %x\n", length, address); int i = 0; int start = 0; while (i < length) { - String line = get_reply().trim(); - if (!Altos.ishex(line) || line.length() % 2 != 0) + String line = link.get_reply().trim(); + if (!AltosLib.ishex(line) || line.length() % 2 != 0) throw new IOException( String.format ("Invalid reply \"%s\"", line)); int this_time = line.length() / 2; for (int j = 0; j < this_time; j++) - data[start + j] = (byte) ((Altos.fromhex(line.charAt(j*2)) << 4) + - Altos.fromhex(line.charAt(j*2+1))); + data[start + j] = (byte) ((AltosLib.fromhex(line.charAt(j*2)) << 4) + + AltosLib.fromhex(line.charAt(j*2+1))); start += this_time; i += this_time; } @@ -134,10 +139,10 @@ public class AltosDebug extends AltosSerial { int this_time = bytes.length - i; if (this_time > 8) this_time = 0; - printf("P"); + link.printf("P"); for (int j = 0; j < this_time; j++) - printf(" %02x", bytes[i+j]); - printf("\n"); + link.printf(" %02x", bytes[i+j]); + link.printf("\n"); i += this_time; } } @@ -153,20 +158,20 @@ public class AltosDebug extends AltosSerial { public byte[] read_bytes(int length) throws IOException, InterruptedException { - flush_input(); + link.flush_input(); ensure_debug_mode(); - printf("G %x\n", length); + link.printf("G %x\n", length); int i = 0; byte[] data = new byte[length]; while (i < length) { - String line = get_reply(); + String line = link.get_reply(); if (line == null) throw new IOException("Timeout in read_bytes"); line = line.trim(); String tokens[] = line.split("\\s+"); for (int j = 0; j < tokens.length; j++) { - if (!Altos.ishex(tokens[j]) || + if (!AltosLib.ishex(tokens[j]) || tokens[j].length() != 2) throw new IOException( String.format @@ -266,10 +271,10 @@ public class AltosDebug extends AltosSerial { * Reset target */ public void reset() { - printf ("R\n"); + link.printf ("R\n"); } - public AltosDebug (AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException { - super(in_device); + public AltosDebug (AltosLink link) { + this.link = link; } }
\ No newline at end of file diff --git a/altosui/AltosFlash.java b/altoslib/AltosFlash.java index 239d4dd7..010274b9 100644 --- a/altosui/AltosFlash.java +++ b/altoslib/AltosFlash.java @@ -15,23 +15,19 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package altosui; +package org.altusmetrum.altoslib_1; -import java.awt.event.*; -import javax.swing.*; import java.io.*; -import org.altusmetrum.altosuilib_1.*; public class AltosFlash { - File file; - FileInputStream input; - AltosHexfile image; - JFrame frame; - AltosDevice debug_dongle; - AltosDebug debug; - AltosRomconfig rom_config; - ActionListener listener; - boolean aborted; + File file; + FileInputStream input; + AltosHexfile image; + AltosLink link; + AltosDebug debug; + AltosRomconfig rom_config; + boolean aborted; + AltosFlashListener listener; static final byte MOV_direct_data = (byte) 0x75; static final byte MOV_DPTR_data16 = (byte) 0x90; @@ -205,22 +201,9 @@ public class AltosFlash { } } - void action(String in_s, int in_percent) { - final String s = in_s; - final int percent = in_percent; - if (listener != null && !aborted) { - Runnable r = new Runnable() { - public void run() { - try { - listener.actionPerformed(new ActionEvent(this, - percent, - s)); - } catch (Exception ex) { - } - } - }; - SwingUtilities.invokeLater(r); - } + void action(String s, int percent) { + if (listener != null && !aborted) + listener.position(s, percent); } void action(int part, int total) { @@ -335,10 +318,6 @@ public class AltosFlash { close(); } - public void addActionListener(ActionListener l) { - listener = l; - } - public boolean check_rom_config() { if (debug == null) return true; @@ -357,12 +336,13 @@ public class AltosFlash { return rom_config; } - public AltosFlash(File in_file, AltosDevice in_debug_dongle) - throws IOException, FileNotFoundException, AltosSerialInUseException, InterruptedException { - file = in_file; - debug_dongle = in_debug_dongle; - if (debug_dongle != null) - debug = new AltosDebug(in_debug_dongle); + public AltosFlash(File file, AltosLink link, AltosFlashListener listener) + throws IOException, FileNotFoundException, InterruptedException { + this.file = file; + this.link = link; + this.listener = listener; + if (link != null) + debug = new AltosDebug(link); input = new FileInputStream(file); image = new AltosHexfile(input); if (debug != null && !debug.check_connection()) { diff --git a/altoslib/AltosFlashListener.java b/altoslib/AltosFlashListener.java new file mode 100644 index 00000000..ab50b74a --- /dev/null +++ b/altoslib/AltosFlashListener.java @@ -0,0 +1,22 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_1; + +public interface AltosFlashListener { + public void position(String label, int percent); +} diff --git a/altosui/AltosHexfile.java b/altoslib/AltosHexfile.java index 56875f53..68f42f14 100644 --- a/altosui/AltosHexfile.java +++ b/altoslib/AltosHexfile.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package altosui; +package org.altusmetrum.altoslib_1; import java.io.*; import java.util.LinkedList; @@ -228,21 +228,70 @@ public class AltosHexfile { else record_list.add(record); } - HexRecord[] records = record_list.toArray(new HexRecord[0]); - Arrays.sort(records); - if (records.length > 0) { - int base = records[0].address; - int bound = records[records.length-1].address + - records[records.length-1].data.length; - - data = new byte[bound - base]; - address = base; - Arrays.fill(data, (byte) 0xff); - - /* Paint the records into the new array */ - for (int i = 0; i < records.length; i++) { - for (int j = 0; j < records[i].data.length; j++) - data[records[i].address - base + j] = records[i].data[j]; + + long extended_addr = 0; + long base = 0xffffffff; + long bound = 0x00000000; + for (HexRecord record : record_list) { + switch (record.type) { + case 0: + long addr = extended_addr + record.address; + long r_bound = addr + record.data.length; + if (addr < base) + base = addr; + if (r_bound > bound) + bound = r_bound; + break; + case 1: + break; + case 2: + if (record.data.length != 2) + throw new IOException("invalid extended segment address record"); + extended_addr = ((record.data[0] << 8) + (record.data[1])) << 4; + break; + case 4: + if (record.data.length != 2) + throw new IOException("invalid extended segment address record"); + extended_addr = ((record.data[0] << 8) + (record.data[1])) << 16; + break; + default: + throw new IOException ("invalid hex record type"); + } + } + + if (base >= bound) + throw new IOException("invalid hex file"); + + if (bound - base > 4 * 1024 * 1024) + throw new IOException("hex file too large"); + + data = new byte[(int) (bound - base)]; + address = (int) base; + Arrays.fill(data, (byte) 0xff); + + /* Paint the records into the new array */ + for (HexRecord record : record_list) { + switch (record.type) { + case 0: + long addr = extended_addr + record.address; + long r_bound = addr + record.data.length; + for (int j = 0; j < record.data.length; j++) + data[(int) (addr - base) + j] = record.data[j]; + break; + case 1: + break; + case 2: + if (record.data.length != 2) + throw new IOException("invalid extended segment address record"); + extended_addr = ((record.data[0] << 8) + (record.data[1])) << 4; + break; + case 4: + if (record.data.length != 2) + throw new IOException("invalid extended segment address record"); + extended_addr = ((record.data[0] << 8) + (record.data[1])) << 16; + break; + default: + throw new IOException ("invalid hex record type"); } } } diff --git a/altosui/AltosRomconfig.java b/altoslib/AltosRomconfig.java index 55056b5e..0800a2c4 100644 --- a/altosui/AltosRomconfig.java +++ b/altoslib/AltosRomconfig.java @@ -15,7 +15,8 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package altosui; +package org.altusmetrum.altoslib_1; + import java.io.*; public class AltosRomconfig { diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index 30a9d954..18b028d6 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -16,6 +16,7 @@ altoslib_JAVA = \ AltosConfigValues.java \ AltosConvert.java \ AltosCRCException.java \ + AltosDebug.java \ AltosEepromChunk.java \ AltosEepromIterable.java \ AltosEepromLog.java \ @@ -24,12 +25,15 @@ altoslib_JAVA = \ AltosEepromRecord.java \ AltosEepromTeleScience.java \ AltosFile.java \ + AltosFlash.java \ + AltosFlashListener.java \ AltosFlightReader.java \ AltosFrequency.java \ AltosGPS.java \ AltosGPSQuery.java \ AltosGPSSat.java \ AltosGreatCircle.java \ + AltosHexfile.java \ AltosIdleMonitor.java \ AltosIdleMonitorListener.java \ AltosIgnite.java \ @@ -53,6 +57,7 @@ altoslib_JAVA = \ AltosRecordTM.java \ AltosRecordMM.java \ AltosReplayReader.java \ + AltosRomconfig.java \ AltosSensorMM.java \ AltosSensorTM.java \ AltosState.java \ diff --git a/altosui/AltosFlashUI.java b/altosui/AltosFlashUI.java index f26a3916..f4e52218 100644 --- a/altosui/AltosFlashUI.java +++ b/altosui/AltosFlashUI.java @@ -23,6 +23,7 @@ import javax.swing.*; import javax.swing.filechooser.FileNameExtensionFilter; import java.io.*; import java.util.concurrent.*; +import org.altusmetrum.altoslib_1.*; import org.altusmetrum.altosuilib_1.*; public class AltosFlashUI @@ -214,15 +215,30 @@ public class AltosFlashUI } } - class flash_task implements Runnable { + class flash_task implements Runnable, AltosFlashListener { AltosFlashUI ui; Thread t; AltosFlash flash; + public void position(String in_s, int in_percent) { + final String s = in_s; + final int percent = in_percent; + Runnable r = new Runnable() { + public void run() { + try { + ui.actionPerformed(new ActionEvent(this, + percent, + s)); + } catch (Exception ex) { + } + } + }; + SwingUtilities.invokeLater(r); + } + public void run () { try { - flash = new AltosFlash(ui.file, ui.debug_dongle); - flash.addActionListener(ui); + flash = new AltosFlash(ui.file, new AltosSerial(ui.debug_dongle), this); final AltosRomconfig current_config = flash.romconfig(); diff --git a/altosui/AltosRomconfigUI.java b/altosui/AltosRomconfigUI.java index cf4658af..909e72a0 100644 --- a/altosui/AltosRomconfigUI.java +++ b/altosui/AltosRomconfigUI.java @@ -20,6 +20,7 @@ package altosui; import java.awt.*; import java.awt.event.*; import javax.swing.*; +import org.altusmetrum.altoslib_1.*; import org.altusmetrum.altosuilib_1.*; public class AltosRomconfigUI diff --git a/altosui/Makefile.am b/altosui/Makefile.am index 4bfef47c..d59e3082 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -30,7 +30,6 @@ altosui_JAVA = \ AltosConfigTDUI.java \ AltosCSV.java \ AltosCSVUI.java \ - AltosDebug.java \ AltosDescent.java \ AltosDeviceUIDialog.java \ AltosDisplayThread.java \ @@ -40,7 +39,6 @@ altosui_JAVA = \ AltosEepromManage.java \ AltosEepromMonitor.java \ AltosEepromSelect.java \ - AltosFlash.java \ AltosFlashUI.java \ AltosFlightDisplay.java \ AltosFlightInfoTableModel.java \ @@ -50,7 +48,6 @@ altosui_JAVA = \ AltosFlightStatusUpdate.java \ AltosFlightUI.java \ AltosFreqList.java \ - AltosHexfile.java \ Altos.java \ AltosIdleMonitorUI.java \ AltosIgniteUI.java \ @@ -63,7 +60,6 @@ altosui_JAVA = \ AltosLights.java \ AltosPad.java \ AltosUIPreferencesBackend.java \ - AltosRomconfig.java \ AltosRomconfigUI.java \ AltosScanUI.java \ AltosSerial.java \ diff --git a/ao-tools/ao-stmload/Makefile.am b/ao-tools/ao-stmload/Makefile.am index 5aea7db4..4eaf699c 100644 --- a/ao-tools/ao-stmload/Makefile.am +++ b/ao-tools/ao-stmload/Makefile.am @@ -4,11 +4,14 @@ bin_PROGRAMS=ao-stmload LIBSTLINKDIR=/local/src/stlink -AM_CFLAGS=$(LIBSTLINK_CFLAGS) $(LIBUSB_CFLAGS) -I../lib +AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBSTLINK_CFLAGS) $(LIBUSB_CFLAGS) +AO_STMLOAD_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a -ao_stmload_LDADD=$(LIBSTLINK_LIBS) $(LIBUSB_LIBS) -lelf +ao_stmload_DEPENDENCIES = $(AO_STMLOAD_LIBS) -ao_stmload_SOURCES=ao-stmload.c +ao_stmload_LDADD=$(AO_STMLOAD_LIBS) $(LIBSTLINK_LIBS) $(LIBUSB_LIBS) -lelf + +ao_stmload_SOURCES=ao-stmload.c ao-elf.c ao-stmload.h ao-selfload.c man_MANS = ao-stmload.1 diff --git a/ao-tools/ao-stmload/ao-elf.c b/ao-tools/ao-stmload/ao-elf.c new file mode 100644 index 00000000..dad8fb80 --- /dev/null +++ b/ao-tools/ao-stmload/ao-elf.c @@ -0,0 +1,303 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao-elf.h" +#include <err.h> +#include <gelf.h> +#include <stdio.h> +#include <stdint.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include "ccdbg.h" +#include "ao-stmload.h" + +/* + * Look through the Elf file for the AltOS symbols + * that can be adjusted before the image is written + * to the device + */ +static int +find_symbols (Elf *e) +{ + Elf_Scn *scn; + Elf_Data *symbol_data = NULL; + GElf_Shdr shdr; + GElf_Sym sym; + int i, symbol_count, s; + int required = 0; + char *symbol_name; + char *section_name; + size_t shstrndx; + + if (elf_getshdrstrndx(e, &shstrndx) < 0) + return 0; + + /* + * Find the symbols + */ + + scn = NULL; + while ((scn = elf_nextscn(e, scn)) != NULL) { + + if (gelf_getshdr(scn, &shdr) != &shdr) + return 0; + + if (shdr.sh_type == SHT_SYMTAB) { + symbol_data = elf_getdata(scn, NULL); + symbol_count = shdr.sh_size / shdr.sh_entsize; + break; + } + } + + if (!symbol_data) + return 0; + + for (i = 0; i < symbol_count; i++) { + gelf_getsym(symbol_data, i, &sym); + + symbol_name = elf_strptr(e, shdr.sh_link, sym.st_name); + + for (s = 0; s < ao_num_symbols; s++) + if (!strcmp (ao_symbols[s].name, symbol_name)) { + int t; + ao_symbols[s].addr = sym.st_value; + if (ao_symbols[s].required) + ++required; + } + } + + return required >= ao_num_required_symbols; +} + +uint32_t round4(uint32_t a) { + return (a + 3) & ~3; +} + +struct hex_image * +new_load (uint32_t addr, uint32_t len) +{ + struct hex_image *new; + + len = round4(len); + new = calloc (1, sizeof (struct hex_image) + len); + if (!new) + abort(); + + new->address = addr; + new->length = len; + return new; +} + +void +load_paste(struct hex_image *into, struct hex_image *from) +{ + if (from->address < into->address || into->address + into->length < from->address + from->length) + abort(); + + memcpy(into->data + from->address - into->address, from->data, from->length); +} + +/* + * Make a new load structure large enough to hold the old one and + * the new data + */ +struct hex_image * +expand_load(struct hex_image *from, uint32_t address, uint32_t length) +{ + struct hex_image *new; + + if (from) { + uint32_t from_last = from->address + from->length; + uint32_t last = address + length; + + if (address > from->address) + address = from->address; + if (last < from_last) + last = from_last; + + length = last - address; + + if (address == from->address && length == from->length) + return from; + } + new = new_load(address, length); + if (from) { + load_paste(new, from); + free (from); + } + return new; +} + +/* + * Create a new load structure with data from the existing one + * and the new data + */ +struct hex_image * +load_write(struct hex_image *from, uint32_t address, uint32_t length, void *data) +{ + struct hex_image *new; + + new = expand_load(from, address, length); + memcpy(new->data + address - new->address, data, length); + return new; +} + +/* + * Construct a large in-memory block for all + * of the loaded sections of the program + */ +static struct hex_image * +get_load(Elf *e) +{ + Elf_Scn *scn; + size_t shstrndx; + GElf_Shdr shdr; + Elf_Data *data; + char *got_name; + size_t nphdr; + size_t p; + GElf_Phdr phdr; + GElf_Addr p_paddr; + GElf_Off p_offset; + GElf_Addr sh_paddr; + struct hex_image *load = NULL; + char *section_name; + size_t nshdr; + size_t s; + + if (elf_getshdrstrndx(e, &shstrndx) < 0) + return 0; + + if (elf_getphdrnum(e, &nphdr) < 0) + return 0; + + if (elf_getshdrnum(e, &nshdr) < 0) + return 0; + + /* + * As far as I can tell, all of the phdr sections should + * be flashed to memory + */ + for (p = 0; p < nphdr; p++) { + + /* Find this phdr */ + gelf_getphdr(e, p, &phdr); + + if (phdr.p_type != PT_LOAD) + continue; + + p_offset = phdr.p_offset; + /* Get the associated file section */ + +#if 0 + printf ("offset %08x vaddr %08x paddr %08x filesz %08x memsz %08x\n", + (uint32_t) phdr.p_offset, + (uint32_t) phdr.p_vaddr, + (uint32_t) phdr.p_paddr, + (uint32_t) phdr.p_filesz, + (uint32_t) phdr.p_memsz); +#endif + + for (s = 0; s < nshdr; s++) { + scn = elf_getscn(e, s); + + if (!scn) { + printf ("getscn failed\n"); + abort(); + } + if (gelf_getshdr(scn, &shdr) != &shdr) { + printf ("gelf_getshdr failed\n"); + abort(); + } + + section_name = elf_strptr(e, shstrndx, shdr.sh_name); + + if (phdr.p_offset <= shdr.sh_offset && shdr.sh_offset < phdr.p_offset + phdr.p_filesz) { + + if (shdr.sh_size == 0) + continue; + + sh_paddr = phdr.p_paddr + shdr.sh_offset - phdr.p_offset; + + printf ("\tsize %08x rom %08x exec %08x %s\n", + (uint32_t) shdr.sh_size, + (uint32_t) sh_paddr, + (uint32_t) shdr.sh_addr, + section_name); + + data = elf_getdata(scn, NULL); + + /* Write the section data into the memory block */ + load = load_write(load, sh_paddr, shdr.sh_size, data->d_buf); + } + } + } + return load; +} + +/* + * Open the specified ELF file and + * check for the symbols we need + */ + +struct hex_image * +ao_load_elf(char *name) +{ + int fd; + Elf *e; + Elf_Scn *scn; + Elf_Data *symbol_data = NULL; + GElf_Shdr shdr; + GElf_Sym sym; + size_t n, shstrndx, sz; + int i, symbol_count, s; + int required = 0; + struct hex_image *image; + + if (elf_version(EV_CURRENT) == EV_NONE) + return NULL; + + fd = open(name, O_RDONLY, 0); + + if (fd < 0) + return NULL; + + e = elf_begin(fd, ELF_C_READ, NULL); + + if (!e) + return NULL; + + if (elf_kind(e) != ELF_K_ELF) + return NULL; + + if (elf_getshdrstrndx(e, &shstrndx) != 0) + return NULL; + + if (!find_symbols(e)) { + fprintf (stderr, "Cannot find required symbols\n"); + return NULL; + } + + image = get_load(e); + if (!image) { + fprintf (stderr, "Cannot create memory image from file\n"); + return NULL; + } + + return image; +} diff --git a/ao-tools/ao-stmload/ao-elf.h b/ao-tools/ao-stmload/ao-elf.h new file mode 100644 index 00000000..4303d5ca --- /dev/null +++ b/ao-tools/ao-stmload/ao-elf.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_ELF_H_ +#define _AO_ELF_H_ + +struct hex_image * +ao_load_elf(char *name); + +#endif diff --git a/ao-tools/ao-stmload/ao-selfload.c b/ao-tools/ao-stmload/ao-selfload.c new file mode 100644 index 00000000..95667dca --- /dev/null +++ b/ao-tools/ao-stmload/ao-selfload.c @@ -0,0 +1,127 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <stdio.h> +#include <stdint.h> +#include <stdlib.h> +#include <sysexits.h> +#include <unistd.h> +#include <string.h> +#include "cc.h" +#include "cc-usb.h" +#include "ccdbg.h" +#include "ao-stmload.h" + +int ao_self_verbose; + +#define TRACE(...) if (ao_self_verbose) printf (__VA_ARGS__) + +void +ao_self_block_read(struct cc_usb *cc, uint32_t address, uint8_t block[256]) +{ + int byte; + cc_usb_sync(cc); + cc_usb_printf(cc, "R %x\n", address); + for (byte = 0; byte < 0x100; byte++) { + block[byte] = cc_usb_getchar(cc); + } + TRACE ("\nread %08x\n", address); + for (byte = 0; byte < 0x100; byte++) { + TRACE (" %02x", block[byte]); + if ((byte & 0xf) == 0xf) + TRACE ("\n"); + } +} + +void +ao_self_block_write(struct cc_usb *cc, uint32_t address, uint8_t block[256]) +{ + int byte; + cc_usb_sync(cc); + cc_usb_printf(cc, "W %x\n", address); + TRACE ("write %08x\n", address); + for (byte = 0; byte < 0x100; byte++) { + TRACE (" %02x", block[byte]); + if ((byte & 0xf) == 0xf) + TRACE ("\n"); + } + for (byte = 0; byte < 0x100; byte++) { + cc_usb_printf(cc, "%c", block[byte]); + } +} + +struct hex_image * +ao_self_read(struct cc_usb *cc, uint32_t address, uint32_t length) +{ + struct hex_image *image; + int pages; + int page; + uint32_t base = address & ~0xff; + uint32_t bound = (address + length + 0xff) & ~0xff; + + image = calloc(sizeof (struct hex_image) + (bound - base), 1); + image->address = base; + image->length = bound - base; + pages = image->length / 0x100; + for (page = 0; page < pages; page++) + ao_self_block_read(cc, image->address + page * 0x100, image->data + page * 0x100); + return image; +} + +int +ao_self_write(struct cc_usb *cc, struct hex_image *image) +{ + uint8_t block[256]; + uint8_t check[256]; + uint32_t base, bound, length, address; + uint32_t pages; + uint32_t page; + + base = image->address & ~0xff; + bound = (image->address + image->length + 0xff) & ~0xff; + + address = base; + length = bound - base; + + pages = length / 0x100; + printf ("Write %08x %d pages: ", address, length/0x100); fflush(stdout); + for (page = 0; page < pages; page++) { + uint32_t start, stop; + address = base + page * 0x100; + + if (address < image->address || address + 0x100 > image->address + image->length) { + ao_self_block_read(cc, address, block); + } + start = address; + stop = address + 0x100; + if (start < image->address) + start = image->address; + if (stop > image->address + image->length) + stop = image->address + image->length; + memcpy(block + start - address, image->data + start - image->address, stop - start); + ao_self_block_write(cc, address, block); + ao_self_block_read(cc, address, check); + if (memcmp(block, check, 0x100) != 0) { + fprintf(stderr, "Block at 0x%08x doesn't match\n", address); + return 0; + } + putchar('.'); fflush(stdout); + } + printf("done\n"); + cc_usb_printf(cc,"a\n"); + return 1; +} diff --git a/ao-tools/ao-stmload/ao-stmload.c b/ao-tools/ao-stmload/ao-stmload.c index 89b818da..dd25f07f 100644 --- a/ao-tools/ao-stmload/ao-stmload.c +++ b/ao-tools/ao-stmload/ao-stmload.c @@ -26,365 +26,107 @@ #include <getopt.h> #include <string.h> #include "stlink-common.h" +#include "ao-elf.h" +#include "ccdbg.h" +#include "cc-usb.h" +#include "cc.h" +#include "ao-stmload.h" #define AO_USB_DESC_STRING 3 -struct sym { - unsigned addr; - char *name; - int required; -} ao_symbols[] = { +struct sym ao_symbols[] = { - { 0, "ao_romconfig_version", 1 }, + { 0, AO_BOOT_APPLICATION_BASE + 0x100, "ao_romconfig_version", 1 }, #define AO_ROMCONFIG_VERSION (ao_symbols[0].addr) - { 0, "ao_romconfig_check", 1 }, + { 0, AO_BOOT_APPLICATION_BASE + 0x102, "ao_romconfig_check", 1 }, #define AO_ROMCONFIG_CHECK (ao_symbols[1].addr) - { 0, "ao_serial_number", 1 }, + { 0, AO_BOOT_APPLICATION_BASE + 0x104, "ao_serial_number", 1 }, #define AO_SERIAL_NUMBER (ao_symbols[2].addr) - { 0, "ao_usb_descriptors", 0 }, -#define AO_USB_DESCRIPTORS (ao_symbols[3].addr) + { 0, AO_BOOT_APPLICATION_BASE + 0x108, "ao_radio_cal", 0 }, +#define AO_RADIO_CAL (ao_symbols[3].addr) - { 0, "ao_radio_cal", 0 }, -#define AO_RADIO_CAL (ao_symbols[4].addr) + { 0, AO_BOOT_APPLICATION_BASE + 0x10c, "ao_usb_descriptors", 0 }, +#define AO_USB_DESCRIPTORS (ao_symbols[4].addr) }; #define NUM_SYMBOLS 5 #define NUM_REQUIRED_SYMBOLS 3 -/* - * Look through the Elf file for the AltOS symbols - * that can be adjusted before the image is written - * to the device - */ -static int -find_symbols (Elf *e) -{ - Elf_Scn *scn; - Elf_Data *symbol_data = NULL; - GElf_Shdr shdr; - GElf_Sym sym; - int i, symbol_count, s; - int required = 0; - char *symbol_name; - char *section_name; - size_t shstrndx; - - if (elf_getshdrstrndx(e, &shstrndx) < 0) - return 0; - - /* - * Find the symbols - */ - - scn = NULL; - while ((scn = elf_nextscn(e, scn)) != NULL) { - - if (gelf_getshdr(scn, &shdr) != &shdr) - return 0; - -#if 0 - section_name = elf_strptr(e, shstrndx, shdr.sh_name); - - printf ("name %s\n", section_name); - - if (shdr.sh_type == SHT_PROGBITS) - { - printf ("\ttype %lx\n", shdr.sh_type); - printf ("\tflags %lx\n", shdr.sh_flags); - printf ("\taddr %lx\n", shdr.sh_addr); - printf ("\toffset %lx\n", shdr.sh_offset); - printf ("\tsize %lx\n", shdr.sh_size); - printf ("\tlink %lx\n", shdr.sh_link); - printf ("\tinfo %lx\n", shdr.sh_info); - printf ("\taddralign %lx\n", shdr.sh_addralign); - printf ("\tentsize %lx\n", shdr.sh_entsize); - } -#endif - - if (shdr.sh_type == SHT_SYMTAB) { - symbol_data = elf_getdata(scn, NULL); - symbol_count = shdr.sh_size / shdr.sh_entsize; - break; - } - } - - if (!symbol_data) - return 0; - - for (i = 0; i < symbol_count; i++) { - gelf_getsym(symbol_data, i, &sym); - - symbol_name = elf_strptr(e, shdr.sh_link, sym.st_name); - - for (s = 0; s < NUM_SYMBOLS; s++) - if (!strcmp (ao_symbols[s].name, symbol_name)) { - int t; - ao_symbols[s].addr = sym.st_value; - if (ao_symbols[s].required) - ++required; - } - } - - return required >= NUM_REQUIRED_SYMBOLS; -} - -struct load { - uint32_t addr; - uint32_t len; - uint8_t buf[0]; -}; - -uint32_t round4(uint32_t a) { - return (a + 3) & ~3; -} - -struct load * -new_load (uint32_t addr, uint32_t len) -{ - struct load *new; - - len = round4(len); - new = calloc (1, sizeof (struct load) + len); - if (!new) - abort(); - - new->addr = addr; - new->len = len; - return new; -} - -void -load_paste(struct load *into, struct load *from) -{ - if (from->addr < into->addr || into->addr + into->len < from->addr + from->len) - abort(); - - memcpy(into->buf + from->addr - into->addr, from->buf, from->len); -} - -/* - * Make a new load structure large enough to hold the old one and - * the new data - */ -struct load * -expand_load(struct load *from, uint32_t addr, uint32_t len) -{ - struct load *new; - - if (from) { - uint32_t from_last = from->addr + from->len; - uint32_t last = addr + len; - - if (addr > from->addr) - addr = from->addr; - if (last < from_last) - last = from_last; - - len = last - addr; - - if (addr == from->addr && len == from->len) - return from; - } - new = new_load(addr, len); - if (from) { - load_paste(new, from); - free (from); - } - return new; -} - -/* - * Create a new load structure with data from the existing one - * and the new data - */ -struct load * -load_write(struct load *from, uint32_t addr, uint32_t len, void *data) -{ - struct load *new; - - new = expand_load(from, addr, len); - memcpy(new->buf + addr - new->addr, data, len); - return new; -} - -/* - * Construct a large in-memory block for all - * of the loaded sections of the program - */ -static struct load * -get_load(Elf *e) -{ - Elf_Scn *scn; - size_t shstrndx; - GElf_Shdr shdr; - Elf_Data *data; - uint8_t *buf; - char *got_name; - size_t nphdr; - size_t p; - GElf_Phdr phdr; - GElf_Addr p_paddr; - GElf_Off p_offset; - GElf_Addr sh_paddr; - struct load *load = NULL; - char *section_name; - size_t nshdr; - size_t s; - - if (elf_getshdrstrndx(e, &shstrndx) < 0) - return 0; - - if (elf_getphdrnum(e, &nphdr) < 0) - return 0; - - if (elf_getshdrnum(e, &nshdr) < 0) - return 0; - - /* - * As far as I can tell, all of the phdr sections should - * be flashed to memory - */ - for (p = 0; p < nphdr; p++) { - - /* Find this phdr */ - gelf_getphdr(e, p, &phdr); - - if (phdr.p_type != PT_LOAD) - continue; - - p_offset = phdr.p_offset; - /* Get the associated file section */ - -#if 0 - printf ("offset %08x vaddr %08x paddr %08x filesz %08x memsz %08x\n", - (uint32_t) phdr.p_offset, - (uint32_t) phdr.p_vaddr, - (uint32_t) phdr.p_paddr, - (uint32_t) phdr.p_filesz, - (uint32_t) phdr.p_memsz); -#endif - - for (s = 0; s < nshdr; s++) { - scn = elf_getscn(e, s); - - if (!scn) { - printf ("getscn failed\n"); - abort(); - } - if (gelf_getshdr(scn, &shdr) != &shdr) { - printf ("gelf_getshdr failed\n"); - abort(); - } - - section_name = elf_strptr(e, shstrndx, shdr.sh_name); - - if (phdr.p_offset <= shdr.sh_offset && shdr.sh_offset < phdr.p_offset + phdr.p_filesz) { - - if (shdr.sh_size == 0) - continue; - - sh_paddr = phdr.p_paddr + shdr.sh_offset - phdr.p_offset; - - printf ("\tsize %08x rom %08x exec %08x %s\n", - (uint32_t) shdr.sh_size, - (uint32_t) sh_paddr, - (uint32_t) shdr.sh_addr, - section_name); - - data = elf_getdata(scn, NULL); - - /* Write the section data into the memory block */ - load = load_write(load, sh_paddr, shdr.sh_size, data->d_buf); - } - } - } - return load; -} +int ao_num_symbols = NUM_SYMBOLS; +int ao_num_required_symbols = NUM_REQUIRED_SYMBOLS; /* * Edit the to-be-written memory block */ static int -rewrite(struct load *load, unsigned addr, uint8_t *data, int len) +rewrite(struct hex_image *load, unsigned address, uint8_t *data, int length) { int i; - if (addr < load->addr || load->addr + load->len < addr + len) + if (address < load->address || load->address + load->length < address + length) return 0; - printf("rewrite %04x:", addr); - for (i = 0; i < len; i++) - printf (" %02x", load->buf[addr - load->addr + i]); + printf("rewrite %04x:", address); + for (i = 0; i < length; i++) + printf (" %02x", load->data[address - load->address + i]); printf(" ->"); - for (i = 0; i < len; i++) + for (i = 0; i < length; i++) printf (" %02x", data[i]); printf("\n"); - memcpy(load->buf + addr - load->addr, data, len); + memcpy(load->data + address - load->address, data, length); } /* - * Open the specified ELF file and - * check for the symbols we need + * Read a 16-bit value from the USB target */ -Elf * -ao_open_elf(char *name) +static uint16_t +get_uint16_cc(struct cc_usb *cc, uint32_t addr) { - int fd; - Elf *e; - Elf_Scn *scn; - Elf_Data *symbol_data = NULL; - GElf_Shdr shdr; - GElf_Sym sym; - size_t n, shstrndx, sz; - int i, symbol_count, s; - int required = 0; - - if (elf_version(EV_CURRENT) == EV_NONE) - return NULL; + struct hex_image *hex = ao_self_read(cc, addr, 2); + uint16_t v; + uint8_t *data; - fd = open(name, O_RDONLY, 0); - - if (fd < 0) - return NULL; - - e = elf_begin(fd, ELF_C_READ, NULL); - - if (!e) - return NULL; - - if (elf_kind(e) != ELF_K_ELF) - return NULL; - - if (elf_getshdrstrndx(e, &shstrndx) != 0) - return NULL; + if (!hex) + return 0; + data = hex->data + addr - hex->address; + v = data[0] | (data[1] << 8); + free(hex); + return v; +} - if (!find_symbols(e)) { - fprintf (stderr, "Cannot find required symbols\n"); - return NULL; - } +static uint32_t +get_uint32_cc(struct cc_usb *cc, uint32_t addr) +{ + struct hex_image *hex = ao_self_read(cc, addr, 4); + uint32_t v; + uint8_t *data; - return e; + if (!hex) + return 0; + data = hex->data + addr - hex->address; + v = data[0] | (data[1] << 8) | (data[2] << 16) | (data[3] << 24); + free(hex); + return v; } /* - * Read a 32-bit value from the target device with arbitrary + * Read a 16-bit value from the target device with arbitrary * alignment */ -static uint32_t -get_uint32(stlink_t *sl, uint32_t addr) +static uint16_t +get_uint16_sl(stlink_t *sl, uint32_t addr) { const uint8_t *data = sl->q_buf; uint32_t actual_addr; int off; - uint32_t result; + uint16_t result; sl->q_len = 0; - printf ("read 0x%x\n", addr); actual_addr = addr & ~3; @@ -394,25 +136,37 @@ get_uint32(stlink_t *sl, uint32_t addr) abort(); off = addr & 3; - result = data[off] | (data[off + 1] << 8) | (data[off+2] << 16) | (data[off+3] << 24); - printf ("read 0x%08x = 0x%08x\n", addr, result); + result = data[off] | (data[off + 1] << 8); + return result; +} + +static uint16_t +get_uint16(stlink_t *sl, struct cc_usb *cc, uint32_t addr) +{ + uint16_t result; + if (cc) + result = get_uint16_cc(cc, addr); + else + result = get_uint16_sl(sl, addr); + printf ("read 0x%08x = 0x%04x\n", addr, result); return result; } /* - * Read a 16-bit value from the target device with arbitrary + * Read a 32-bit value from the target device with arbitrary * alignment */ -static uint16_t -get_uint16(stlink_t *sl, uint32_t addr) +static uint32_t +get_uint32_sl(stlink_t *sl, uint32_t addr) { const uint8_t *data = sl->q_buf; uint32_t actual_addr; int off; - uint16_t result; + uint32_t result; sl->q_len = 0; + printf ("read 0x%x\n", addr); actual_addr = addr & ~3; @@ -422,8 +176,24 @@ get_uint16(stlink_t *sl, uint32_t addr) abort(); off = addr & 3; - result = data[off] | (data[off + 1] << 8); - printf ("read 0x%08x = 0x%04x\n", addr, result); + result = data[off] | (data[off + 1] << 8) | (data[off+2] << 16) | (data[off+3] << 24); + return result; +} + +/* + * Read a 32-bit value from the target device with arbitrary + * alignment + */ +static uint32_t +get_uint32(stlink_t *sl, struct cc_usb *cc, uint32_t addr) +{ + uint32_t result; + + if (cc) + result = get_uint32_cc(cc, addr); + else + result = get_uint32_sl(sl, addr); + printf ("read 0x%08x = 0x%08x\n", addr, result); return result; } @@ -436,10 +206,10 @@ get_uint16(stlink_t *sl, uint32_t addr) * places this at 0x100 from the start of the rom section */ static int -check_flashed(stlink_t *sl) +check_flashed(stlink_t *sl, struct cc_usb *cc) { - uint16_t romconfig_version = get_uint16(sl, AO_ROMCONFIG_VERSION); - uint16_t romconfig_check = get_uint16(sl, AO_ROMCONFIG_CHECK); + uint16_t romconfig_version = get_uint16(sl, cc, AO_ROMCONFIG_VERSION); + uint16_t romconfig_check = get_uint16(sl, cc, AO_ROMCONFIG_CHECK); if (romconfig_version != (uint16_t) ~romconfig_check) { fprintf (stderr, "Device has not been flashed before\n"); @@ -449,21 +219,28 @@ check_flashed(stlink_t *sl) } static const struct option options[] = { + { .name = "stlink", .has_arg = 0, .val = 'S' }, + { .name = "tty", .has_arg = 1, .val = 'T' }, { .name = "device", .has_arg = 1, .val = 'D' }, { .name = "cal", .has_arg = 1, .val = 'c' }, { .name = "serial", .has_arg = 1, .val = 's' }, + { .name = "verbose", .has_arg = 0, .val = 'v' }, { 0, 0, 0, 0}, }; static void usage(char *program) { - fprintf(stderr, "usage: %s [--cal=<radio-cal>] [--serial=<serial>] file.elf\n", program); + fprintf(stderr, "usage: %s [--stlink] [--verbose] [--device=<device>] [-tty=<tty>] [--cal=<radio-cal>] [--serial=<serial>] file.{elf,ihx}\n", program); exit(1); } void -done(stlink_t *sl, int code) +done(stlink_t *sl, struct cc_usb *cc, int code) { + if (cc) { +/* cc_usb_printf(cc, "a\n"); */ + cc_usb_close(cc); + } if (sl) { stlink_reset(sl); stlink_run(sl); @@ -473,6 +250,17 @@ done(stlink_t *sl, int code) exit (code); } +static int +ends_with(char *whole, char *suffix) +{ + int whole_len = strlen(whole); + int suffix_len = strlen(suffix); + + if (suffix_len > whole_len) + return 0; + return strcmp(whole + whole_len - suffix_len, suffix) == 0; +} + int main (int argc, char **argv) { @@ -491,13 +279,21 @@ main (int argc, char **argv) char cal_int[4]; char *cal_end; int c; - stlink_t *sl; + stlink_t *sl = NULL; int was_flashed = 0; - struct load *load; + struct hex_image *load; int tries; + struct cc_usb *cc = NULL; + int use_stlink = 0; + char *tty = NULL; + int success; + int verbose = 0; - while ((c = getopt_long(argc, argv, "D:c:s:", options, NULL)) != -1) { + while ((c = getopt_long(argc, argv, "T:D:c:s:Sv", options, NULL)) != -1) { switch (c) { + case 'T': + tty = optarg; + break; case 'D': device = optarg; break; @@ -511,101 +307,168 @@ main (int argc, char **argv) if (serial_end == optarg || *serial_end != '\0') usage(argv[0]); break; + case 'S': + use_stlink = 1; + break; + case 'v': + verbose++; + break; default: usage(argv[0]); break; } } + ao_self_verbose = verbose; + + if (verbose > 1) + ccdbg_add_debug(CC_DEBUG_BITBANG); + filename = argv[optind]; if (filename == NULL) usage(argv[0]); - /* - * Open the source file and load the symbols and - * flash data - */ - - e = ao_open_elf(filename); - if (!e) { - fprintf(stderr, "Cannot open file \"%s\"\n", filename); - exit(1); - } - - if (!find_symbols(e)) { - fprintf(stderr, "Cannot find symbols in \"%s\"\n", filename); - exit(1); - } + if (ends_with (filename, ".elf")) { + load = ao_load_elf(filename); + } else if (ends_with (filename, ".ihx")) { + int i; + load = ccdbg_hex_load(filename); + for (i = 0; i < ao_num_symbols; i++) + ao_symbols[i].addr = ao_symbols[i].default_addr; + } else + usage(argv[0]); - if (!(load = get_load(e))) { - fprintf(stderr, "Cannot find program data in \"%s\"\n", filename); - exit(1); - } - - /* Connect to the programming dongle - */ + if (use_stlink) { + /* Connect to the programming dongle + */ - for (tries = 0; tries < 3; tries++) { - if (device) { - sl = stlink_v1_open(50); - } else { - sl = stlink_open_usb(50); + for (tries = 0; tries < 3; tries++) { + if (device) { + sl = stlink_v1_open(50); + } else { + sl = stlink_open_usb(50); + } + if (!sl) { + fprintf (stderr, "No STLink devices present\n"); + done (sl, NULL, 1); + } + + if (sl->chip_id != 0) + break; + stlink_reset(sl); + stlink_close(sl); + sl = NULL; } if (!sl) { - fprintf (stderr, "No STLink devices present\n"); - done (sl, 1); + fprintf (stderr, "Debugger connection failed\n"); + exit(1); } - if (sl->chip_id != 0) - break; - stlink_reset(sl); - stlink_close(sl); - } - if (sl->chip_id == 0) { - fprintf (stderr, "Debugger connection failed\n"); - done(sl, 1); - } + /* Verify that the loaded image fits entirely within device flash + */ + if (load->address < sl->flash_base || + sl->flash_base + sl->flash_size < load->address + load->length) { + fprintf (stderr, "\%s\": Invalid memory range 0x%08x - 0x%08x\n", filename, + load->address, load->address + load->length); + done(sl, NULL, 1); + } - /* Verify that the loaded image fits entirely within device flash - */ - if (load->addr < sl->flash_base || - sl->flash_base + sl->flash_size < load->addr + load->len) { - fprintf (stderr, "\%s\": Invalid memory range 0x%08x - 0x%08x\n", filename, - load->addr, load->addr + load->len); - done(sl, 1); + /* Enter debugging mode + */ + if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) + stlink_exit_dfu_mode(sl); + + if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) + stlink_enter_swd_mode(sl); + } else { + int is_loader; + int tries; + + for (tries = 0; tries < 3; tries++) { + char *this_tty = tty; + if (!this_tty) + this_tty = cc_usbdevs_find_by_arg(device, "AltosFlash"); + if (!this_tty) + this_tty = cc_usbdevs_find_by_arg(device, "MegaMetrum"); + if (!this_tty) + this_tty = getenv("ALTOS_TTY"); + if (!this_tty) + this_tty="/dev/ttyACM0"; + + cc = cc_usb_open(this_tty); + + if (!cc) + exit(1); + cc_usb_printf(cc, "v\n"); + is_loader = 0; + for (;;) { + char line[256]; + cc_usb_getline(cc, line, sizeof(line)); + if (!strncmp(line, "altos-loader", 12)) + is_loader = 1; + if (!strncmp(line, "software-version", 16)) + break; + } + if (is_loader) + break; + printf ("rebooting to loader\n"); + cc_usb_printf(cc, "X\n"); + cc_usb_close(cc); + sleep(1); + cc = NULL; + } + if (!is_loader) { + fprintf(stderr, "Cannot switch to boot loader\n"); + exit(1); + } +#if 0 + { + uint8_t check[256]; + int i = 0; + + ao_self_block_read(cc, AO_BOOT_APPLICATION_BASE, check); + for (;;) { + uint8_t block[256]; + putchar ('.'); + if (++i == 40) { + putchar('\n'); + i = 0; + } + fflush(stdout); + ao_self_block_write(cc, AO_BOOT_APPLICATION_BASE, block); + ao_self_block_read(cc, AO_BOOT_APPLICATION_BASE, block); + if (memcmp(block, check, 256) != 0) { + fprintf (stderr, "read differed\n"); + exit(1); + } + } + } +#endif } - /* Enter debugging mode - */ - if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE) - stlink_exit_dfu_mode(sl); - - if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE) - stlink_enter_swd_mode(sl); - /* Go fetch existing config values * if available */ - was_flashed = check_flashed(sl); + was_flashed = check_flashed(sl, cc); if (!serial) { if (!was_flashed) { fprintf (stderr, "Must provide serial number\n"); - done(sl, 1); + done(sl, cc, 1); } - serial = get_uint16(sl, AO_SERIAL_NUMBER); + serial = get_uint16(sl, cc, AO_SERIAL_NUMBER); if (!serial || serial == 0xffff) { fprintf (stderr, "Invalid existing serial %d\n", serial); - done(sl, 1); + done(sl, cc, 1); } } if (!cal && AO_RADIO_CAL && was_flashed) { - cal = get_uint32(sl, AO_RADIO_CAL); + cal = get_uint32(sl, cc, AO_RADIO_CAL); if (!cal || cal == 0xffffffff) { fprintf (stderr, "Invalid existing rf cal %d\n", cal); - done(sl, 1); + done(sl, cc, 1); } } @@ -618,32 +481,31 @@ main (int argc, char **argv) if (!rewrite(load, AO_SERIAL_NUMBER, serial_int, sizeof (serial_int))) { fprintf(stderr, "Cannot rewrite serial integer at %08x\n", AO_SERIAL_NUMBER); - done(sl, 1); + done(sl, cc, 1); } if (AO_USB_DESCRIPTORS) { - unsigned usb_descriptors; - usb_descriptors = AO_USB_DESCRIPTORS - load->addr; + uint32_t usb_descriptors = AO_USB_DESCRIPTORS - load->address; string_num = 0; - while (load->buf[usb_descriptors] != 0 && usb_descriptors < load->len) { - if (load->buf[usb_descriptors+1] == AO_USB_DESC_STRING) { + while (load->data[usb_descriptors] != 0 && usb_descriptors < load->length) { + if (load->data[usb_descriptors+1] == AO_USB_DESC_STRING) { ++string_num; if (string_num == 4) break; } - usb_descriptors += load->buf[usb_descriptors]; + usb_descriptors += load->data[usb_descriptors]; } - if (usb_descriptors >= load->len || load->buf[usb_descriptors] == 0 ) { + if (usb_descriptors >= load->length || load->data[usb_descriptors] == 0 ) { fprintf(stderr, "Cannot rewrite serial string at %08x\n", AO_USB_DESCRIPTORS); - done(sl, 1); + done(sl, cc, 1); } - serial_ucs2_len = load->buf[usb_descriptors] - 2; + serial_ucs2_len = load->data[usb_descriptors] - 2; serial_ucs2 = malloc(serial_ucs2_len); if (!serial_ucs2) { fprintf(stderr, "Malloc(%d) failed\n", serial_ucs2_len); - done(sl, 1); + done(sl, cc, 1); } s = serial; for (i = serial_ucs2_len / 2; i; i--) { @@ -651,9 +513,9 @@ main (int argc, char **argv) serial_ucs2[i * 2 - 2] = (s % 10) + '0'; s /= 10; } - if (!rewrite(load, usb_descriptors + 2 + load->addr, serial_ucs2, serial_ucs2_len)) { + if (!rewrite(load, usb_descriptors + 2 + load->address, serial_ucs2, serial_ucs2_len)) { fprintf (stderr, "Cannot rewrite USB descriptor at %08x\n", AO_USB_DESCRIPTORS); - done(sl, 1); + done(sl, cc, 1); } } @@ -671,10 +533,15 @@ main (int argc, char **argv) /* And flash the resulting image to the device */ - if (stlink_write_flash(sl, load->addr, load->buf, load->len) < 0) { + if (cc) + success = ao_self_write(cc, load); + else + success = (stlink_write_flash(sl, load->address, load->data, load->length) >= 0); + + if (!success) { fprintf (stderr, "\"%s\": Write failed\n", filename); - done(sl, 1); + done(sl, cc, 1); } - done(sl, 0); + done(sl, cc, 0); } diff --git a/ao-tools/ao-stmload/ao-stmload.h b/ao-tools/ao-stmload/ao-stmload.h new file mode 100644 index 00000000..98884535 --- /dev/null +++ b/ao-tools/ao-stmload/ao-stmload.h @@ -0,0 +1,49 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_STMLOAD_H_ +#define _AO_STMLOAD_H_ + +struct sym { + unsigned addr; + unsigned default_addr; + char *name; + int required; +}; + +#define AO_BOOT_APPLICATION_BASE 0x08001000 + +extern struct sym ao_symbols[]; + +extern int ao_num_symbols; +extern int ao_num_required_symbols; + +void +ao_self_block_read(struct cc_usb *cc, uint32_t address, uint8_t block[256]); + +void +ao_self_block_write(struct cc_usb *cc, uint32_t address, uint8_t block[256]); + +struct hex_image * +ao_self_read(struct cc_usb *cc, uint32_t address, uint32_t length); + +int +ao_self_write(struct cc_usb *cc, struct hex_image *image); + +extern int ao_self_verbose; + +#endif /* _AO_STMLOAD_H_ */ diff --git a/ao-tools/lib/cc-usb.c b/ao-tools/lib/cc-usb.c index f8275243..d7ac138c 100644 --- a/ao-tools/lib/cc-usb.c +++ b/ao-tools/lib/cc-usb.c @@ -123,9 +123,10 @@ cc_handle_hex_read(struct cc_usb *cc) static void cc_usb_dbg(int indent, uint8_t *bytes, int len) { - int eol = 1; + static int eol = 1; int i; uint8_t c; + ccdbg_debug(CC_DEBUG_BITBANG, "<<<%d bytes>>>", len); while (len--) { c = *bytes++; if (eol) { @@ -135,12 +136,17 @@ cc_usb_dbg(int indent, uint8_t *bytes, int len) } switch (c) { case '\r': - ccdbg_debug(CC_DEBUG_BITBANG, "^M"); + ccdbg_debug(CC_DEBUG_BITBANG, "\\r"); break; case '\n': eol = 1; + ccdbg_debug(CC_DEBUG_BITBANG, "\\n\n"); + break; default: - ccdbg_debug(CC_DEBUG_BITBANG, "%c", c); + if (c < ' ' || c > '~') + ccdbg_debug(CC_DEBUG_BITBANG, "\\%02x", c); + else + ccdbg_debug(CC_DEBUG_BITBANG, "%c", c); } } } diff --git a/ao-tools/lib/ccdbg-hex.c b/ao-tools/lib/ccdbg-hex.c index dfea9156..184b4e3b 100644 --- a/ao-tools/lib/ccdbg-hex.c +++ b/ao-tools/lib/ccdbg-hex.c @@ -233,15 +233,6 @@ ccdbg_hex_file_free(struct hex_file *hex) free(hex); } -static int -ccdbg_hex_record_compar(const void *av, const void *bv) -{ - const struct hex_record *a = *(struct hex_record **) av; - const struct hex_record *b = *(struct hex_record **) bv; - - return (int) a->address - (int) b->address; -} - struct hex_file * ccdbg_hex_file_read(FILE *file, char *name) { @@ -272,11 +263,6 @@ ccdbg_hex_file_read(FILE *file, char *name) if (record->type == HEX_RECORD_EOF) done = 1; } - /* - * Sort them into increasing addresses, except for EOF - */ - qsort(hex->records, hex->nrecord - 1, sizeof (struct hex_record *), - ccdbg_hex_record_compar); return hex; bail: @@ -288,16 +274,45 @@ struct hex_image * ccdbg_hex_image_create(struct hex_file *hex) { struct hex_image *image; - struct hex_record *first, *last, *record; + struct hex_record *record; int i; + uint32_t addr; uint32_t base, bound; uint32_t offset; + uint32_t extended_addr; + int length; - first = hex->records[0]; - last = hex->records[hex->nrecord - 2]; /* skip EOF */ - base = (uint32_t) first->address; - bound = (uint32_t) last->address + (uint32_t) last->length; + base = 0xffffffff; + bound = 0x0; + extended_addr = 0; + for (i = 0; i < hex->nrecord; i++) { + uint32_t r_bound; + record = hex->records[i]; + switch (record->type) { + case 0: + addr = extended_addr + record->address; + r_bound = addr + record->length; + if (addr < base) + base = addr; + if (r_bound > bound) + bound = r_bound; + break; + case 1: + break; + case 2: + if (record->length != 2) + return NULL; + extended_addr = ((record->data[0] << 8) | record->data[1]) << 4; + break; + case 4: + if (record->length != 2) + return NULL; + extended_addr = ((record->data[0] << 8) | record->data[1]) << 16; + break; + } + + } length = bound - base; image = calloc(sizeof(struct hex_image) + length, 1); if (!image) @@ -305,10 +320,24 @@ ccdbg_hex_image_create(struct hex_file *hex) image->address = base; image->length = length; memset(image->data, 0xff, length); - for (i = 0; i < hex->nrecord - 1; i++) { + extended_addr = 0; + for (i = 0; i < hex->nrecord; i++) { record = hex->records[i]; - offset = record->address - base; - memcpy(image->data + offset, record->data, record->length); + switch (record->type) { + case 0: + addr = extended_addr + record->address; + offset = addr - base; + memcpy(image->data + offset, record->data, record->length); + break; + case 1: + break; + case 2: + extended_addr = ((record->data[0] << 8) | record->data[1]) << 4; + break; + case 4: + extended_addr = ((record->data[0] << 8) | record->data[1]) << 16; + break; + } } return image; } @@ -328,3 +357,25 @@ ccdbg_hex_image_equal(struct hex_image *a, struct hex_image *b) return 0; return 1; } + +struct hex_image * +ccdbg_hex_load(char *filename) +{ + FILE *file; + struct hex_file *hex_file; + struct hex_image *hex_image; + + file = fopen (filename, "r"); + if (!file) + return 0; + + hex_file = ccdbg_hex_file_read(file, filename); + fclose(file); + if (!hex_file) + return 0; + hex_image = ccdbg_hex_image_create(hex_file); + if (!hex_image) + return 0; + ccdbg_hex_file_free(hex_file); + return hex_image; +} diff --git a/ao-tools/lib/ccdbg.h b/ao-tools/lib/ccdbg.h index ca596143..a27ff5d1 100644 --- a/ao-tools/lib/ccdbg.h +++ b/ao-tools/lib/ccdbg.h @@ -122,8 +122,8 @@ struct hex_file { }; struct hex_image { - uint16_t address; - uint16_t length; + uint32_t address; + uint32_t length; uint8_t data[0]; }; @@ -253,6 +253,9 @@ ccdbg_hex_image_create(struct hex_file *hex); void ccdbg_hex_image_free(struct hex_image *image); +struct hex_image * +ccdbg_hex_load(char *filename); + int ccdbg_hex_image_equal(struct hex_image *a, struct hex_image *b); diff --git a/src/attiny/ao_arch.h b/src/attiny/ao_arch.h index 52bed981..8140dd30 100644 --- a/src/attiny/ao_arch.h +++ b/src/attiny/ao_arch.h @@ -55,7 +55,7 @@ #define putchar(c) ao_putchar(c) #define getchar ao_getchar -#define ao_arch_cpu_idle() do { \ +#define ao_arch_wait_interrupt() do { \ sleep_enable(); \ sei(); \ sleep_cpu(); \ diff --git a/src/avr-demo/ao_demo.c b/src/avr-demo/ao_demo.c index 756dd0d4..e35babb3 100644 --- a/src/avr-demo/ao_demo.c +++ b/src/avr-demo/ao_demo.c @@ -34,6 +34,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + ao_serial_init(); ao_led_init(LEDS_AVAILABLE); diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c index 2765853a..f9c0f88c 100644 --- a/src/avr/ao_avr_stdio.c +++ b/src/avr/ao_avr_stdio.c @@ -20,16 +20,7 @@ int stdio_put(char c, FILE *stream) { - if (ao_cur_task && ao_num_stdios) - putchar(c); - else - { - if (c == '\n') - stdio_put('\r', stream); - loop_until_bit_is_set(UCSR1A, UDRE1); - UDR1 = c; - } - + putchar(c); return 0; } diff --git a/src/core/ao.h b/src/core/ao.h index 977e10b8..f12ca9a5 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -45,6 +45,8 @@ #if HAS_TASK #include <ao_task.h> +#else +#include <ao_notask.h> #endif /* @@ -145,6 +147,9 @@ extern __pdata char ao_cmd_lex_c; extern __pdata enum ao_cmd_status ao_cmd_status; void +ao_put_string(__code char *s); + +void ao_cmd_lex(void); void diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c index 3d086a57..16cde919 100644 --- a/src/core/ao_cmd.c +++ b/src/core/ao_cmd.c @@ -16,6 +16,7 @@ */ #include "ao.h" +#include "ao_task.h" __pdata uint16_t ao_cmd_lex_i; __pdata uint32_t ao_cmd_lex_u32; @@ -28,8 +29,8 @@ static __xdata char cmd_line[CMD_LEN]; static __pdata uint8_t cmd_len; static __pdata uint8_t cmd_i; -static void -put_string(__code char *s) +void +ao_put_string(__code char *s) { char c; while ((c = *s++)) @@ -39,7 +40,7 @@ put_string(__code char *s) static void backspace(void) { - put_string ("\010 \010"); + ao_put_string ("\010 \010"); } static void @@ -47,7 +48,7 @@ readline(void) { char c; if (ao_echo()) - put_string("> "); + ao_put_string("> "); cmd_len = 0; for (;;) { flush(); @@ -262,6 +263,11 @@ ao_reboot(void) ao_panic(AO_PANIC_REBOOT); } +#ifndef HAS_VERSION +#define HAS_VERSION 1 +#endif + +#if HAS_VERSION static void version(void) { @@ -289,6 +295,7 @@ version(void) #endif printf("software-version %s\n", ao_version); } +#endif #ifndef NUM_CMDS #define NUM_CMDS 11 @@ -303,13 +310,21 @@ help(void) __pdata uint8_t cmds; __pdata uint8_t cmd; __code struct ao_cmds * __pdata cs; - const char *h; + __code char *h; + uint8_t e; for (cmds = 0; cmds < ao_ncmds; cmds++) { cs = ao_cmds[cmds]; for (cmd = 0; cs[cmd].func; cmd++) { h = cs[cmd].help; - printf("%-45s %s\n", h, h + 1 + strlen(h)); + ao_put_string(h); + e = strlen(h); + h += e + 1; + e = 45 - e; + while (e--) + putchar(' '); + ao_put_string(h); + putchar('\n'); } } } @@ -370,14 +385,33 @@ ao_cmd(void) } } +#if HAS_BOOT_LOADER + +#include <ao_boot.h> + +static void +ao_loader(void) +{ + flush(); + ao_boot_loader(); +} +#endif + __xdata struct ao_task ao_cmd_task; __code struct ao_cmds ao_base_cmds[] = { { help, "?\0Help" }, +#if HAS_TASK_INFO { ao_task_info, "T\0Tasks" }, +#endif { echo, "E <0 off, 1 on>\0Echo" }, { ao_reboot, "r eboot\0Reboot" }, +#if HAS_VERSION { version, "v\0Version" }, +#endif +#if HAS_BOOT_LOADER + { ao_loader, "X\0Switch to boot loader" }, +#endif { 0, NULL }, }; diff --git a/src/micropeak/ao_notask.c b/src/core/ao_notask.c index 0aef9cf3..a41712d2 100644 --- a/src/micropeak/ao_notask.c +++ b/src/core/ao_notask.c @@ -24,7 +24,7 @@ ao_sleep(__xdata void *wchan) { #if 1 ao_wchan = wchan; - ao_arch_cpu_idle(); + ao_arch_wait_interrupt(); #else uint8_t sreg; diff --git a/src/core/ao_notask.h b/src/core/ao_notask.h new file mode 100644 index 00000000..6b6b5bb8 --- /dev/null +++ b/src/core/ao_notask.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_NOTASK_H_ +#define _AO_NOTASK_H_ + +uint8_t +ao_sleep(__xdata void *wchan); + +void +ao_wakeup(__xdata void *wchan); + +#endif /* _AO_NOTASK_H_ */ diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c index 977d74b1..cd144d6b 100644 --- a/src/core/ao_stdio.c +++ b/src/core/ao_stdio.c @@ -66,8 +66,15 @@ #define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN) __xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS]; + +#if AO_NUM_STDIOS > 1 __pdata int8_t ao_cur_stdio; __pdata int8_t ao_num_stdios; +#else +__pdata int8_t ao_cur_stdio; +#define ao_cur_stdio 0 +#define ao_num_stdios 0 +#endif void putchar(char c) @@ -107,12 +114,16 @@ getchar(void) __reentrant c = ao_stdios[stdio]._pollchar(); if (c != AO_READ_AGAIN) break; +#if AO_NUM_STDIOS > 1 if (++stdio == ao_num_stdios) stdio = 0; if (stdio == ao_cur_stdio) +#endif ao_sleep(&ao_stdin_ready); } +#if AO_NUM_STDIOS > 1 ao_cur_stdio = stdio; +#endif ao_arch_release_interrupts(); return c; } @@ -128,11 +139,17 @@ ao_add_stdio(int (*_pollchar)(void), void (*putchar)(char), void (*flush)(void)) __reentrant { +#if AO_NUM_STDIOS > 1 if (ao_num_stdios == AO_NUM_STDIOS) ao_panic(AO_PANIC_STDIO); +#endif ao_stdios[ao_num_stdios]._pollchar = _pollchar; ao_stdios[ao_num_stdios].putchar = putchar; ao_stdios[ao_num_stdios].flush = flush; ao_stdios[ao_num_stdios].echo = 1; +#if AO_NUM_STDIOS > 1 return ao_num_stdios++; +#else + return 0; +#endif } diff --git a/src/core/ao_task.c b/src/core/ao_task.c index 9cb074b5..e1d35d67 100644 --- a/src/core/ao_task.c +++ b/src/core/ao_task.c @@ -512,6 +512,7 @@ ao_exit(void) /* we'll never get back here */ } +#if HAS_TASK_INFO void ao_task_info(void) { @@ -528,6 +529,7 @@ ao_task_info(void) ao_task_validate(); #endif } +#endif void ao_start_scheduler(void) diff --git a/src/core/ao_task.h b/src/core/ao_task.h index 50bfb220..1a4b5b6b 100644 --- a/src/core/ao_task.h +++ b/src/core/ao_task.h @@ -21,6 +21,10 @@ #include <ao_list.h> #endif +#ifndef HAS_TASK_INFO +#define HAS_TASK_INFO 1 +#endif + /* An AltOS task */ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ diff --git a/src/megadongle-v0.1/Makefile b/src/megadongle-v0.1/Makefile index fe392ce1..7f12963f 100644 --- a/src/megadongle-v0.1/Makefile +++ b/src/megadongle-v0.1/Makefile @@ -28,6 +28,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/product/ao_teledongle.c b/src/product/ao_teledongle.c index 25ebe73e..8bfd8b84 100644 --- a/src/product/ao_teledongle.c +++ b/src/product/ao_teledongle.c @@ -26,6 +26,8 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_cmd_init(); ao_usb_init(); diff --git a/src/product/ao_telelaunch.c b/src/product/ao_telelaunch.c index b6e4bfc1..dde66090 100644 --- a/src/product/ao_telelaunch.c +++ b/src/product/ao_telelaunch.c @@ -27,6 +27,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/product/ao_telemetrum.c b/src/product/ao_telemetrum.c index ea77f5af..221498d6 100644 --- a/src/product/ao_telemetrum.c +++ b/src/product/ao_telemetrum.c @@ -42,6 +42,8 @@ main(void) while (P1_3 == 0) ; } + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/product/ao_telemini.c b/src/product/ao_telemini.c index 21551ee9..a0d8e18a 100644 --- a/src/product/ao_telemini.c +++ b/src/product/ao_telemini.c @@ -46,6 +46,8 @@ main(void) ; } + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_cmd_init(); diff --git a/src/product/ao_telenano.c b/src/product/ao_telenano.c index d91983d0..77750efd 100644 --- a/src/product/ao_telenano.c +++ b/src/product/ao_telenano.c @@ -28,6 +28,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_cmd_init(); diff --git a/src/product/ao_telepyro.c b/src/product/ao_telepyro.c index 79454fb7..6f09be64 100644 --- a/src/product/ao_telepyro.c +++ b/src/product/ao_telepyro.c @@ -25,6 +25,8 @@ main(void) PORTE |= (1 << 6); DDRE |= (1 << 6); + ao_task_init(); + ao_avr_stdio_init(); ao_timer_init(); ao_cmd_init(); diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c index d448d318..2888c266 100644 --- a/src/product/ao_telescience.c +++ b/src/product/ao_telescience.c @@ -28,6 +28,8 @@ main(void) PORTE |= (1 << 6); DDRE |= (1 << 6); + ao_task_init(); + ao_avr_stdio_init(); ao_timer_init(); ao_cmd_init(); diff --git a/src/product/ao_teleterra.c b/src/product/ao_teleterra.c index d696b914..e739ae0b 100644 --- a/src/product/ao_teleterra.c +++ b/src/product/ao_teleterra.c @@ -26,6 +26,8 @@ main(void) /* Turn on the red LED until the system is stable */ ao_led_init(AO_LED_RED|AO_LED_GREEN); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_beep_init(); ao_cmd_init(); diff --git a/src/product/ao_teleterra_0_2.c b/src/product/ao_teleterra_0_2.c index 68f02596..4f7530f7 100644 --- a/src/product/ao_teleterra_0_2.c +++ b/src/product/ao_teleterra_0_2.c @@ -23,6 +23,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + ao_timer_init(); ao_beep_init(); ao_cmd_init(); diff --git a/src/product/ao_test.c b/src/product/ao_test.c index 14c2eb75..273a73b5 100644 --- a/src/product/ao_test.c +++ b/src/product/ao_test.c @@ -102,6 +102,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + // ao_add_task(&blink_0_task, blink_0); // ao_add_task(&blink_1_task, blink_1); // ao_add_task(&wakeup_task, wakeup); diff --git a/src/product/ao_tidongle.c b/src/product/ao_tidongle.c index cba0b122..b1a96bdd 100644 --- a/src/product/ao_tidongle.c +++ b/src/product/ao_tidongle.c @@ -27,6 +27,9 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(AO_LED_RED); ao_led_on(AO_LED_RED); + + ao_task_init(); + ao_timer_init(); ao_cmd_init(); ao_usb_init(); diff --git a/src/spiradio-v0.1/ao_spiradio.c b/src/spiradio-v0.1/ao_spiradio.c index d3647cc7..de9ea706 100644 --- a/src/spiradio-v0.1/ao_spiradio.c +++ b/src/spiradio-v0.1/ao_spiradio.c @@ -25,6 +25,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); + ao_task_init(); + ao_serial_init(); ao_timer_init(); ao_cmd_init(); diff --git a/src/stm-bringup/ao.h b/src/stm-bringup/ao.h index 27204fae..2c7d5282 100644 --- a/src/stm-bringup/ao.h +++ b/src/stm-bringup/ao.h @@ -16,3 +16,5 @@ */ #define ao_panic(n) for(;;); + +#define AO_BOOT_LOADER_BASE ((uint32_t *) 0x0) diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile index 3b1b671b..d1f825db 100644 --- a/src/stm-demo/Makefile +++ b/src/stm-demo/Makefile @@ -17,6 +17,7 @@ INC = \ # ALTOS_SRC = \ ao_interrupt.c \ + ao_boot_chain.c \ ao_product.c \ ao_romconfig.c \ ao_cmd.c \ @@ -46,17 +47,19 @@ IDPRODUCT=0x000a CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -Os -PROG=stm-demo +PROG=stm-demo-$(VERSION) +ELF=$(PROG).elf +IHX=$(PROG).ihx SRC=$(ALTOS_SRC) ao_demo.c OBJ=$(SRC:.c=.o) -all: $(PROG) +all: $(ELF) $(IHX) LDFLAGS=-L../stm -Wl,-Taltos.ld -$(PROG): Makefile $(OBJ) - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc +$(ELF): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $@ $(OBJ) $(SAT_CLIB) -lgcc ao_product.h: ao-make-product.5c ../Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c index b82cb735..5677cdf4 100644 --- a/src/stm-demo/ao_demo.c +++ b/src/stm-demo/ao_demo.c @@ -20,6 +20,7 @@ #include <ao_event.h> #include <ao_quadrature.h> #include <ao_button.h> +#include <ao_boot.h> struct ao_task demo_task; @@ -183,6 +184,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + ao_serial_init(); ao_timer_init(); ao_dma_init(); diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h index 07b4a19d..40e48a36 100644 --- a/src/stm-demo/ao_pins.h +++ b/src/stm-demo/ao_pins.h @@ -68,6 +68,8 @@ #define HAS_BEEP 0 #define PACKET_HAS_SLAVE 0 +#define AO_BOOT_CHAIN 1 + #define LOW_LEVEL_DEBUG 1 #define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOBEN diff --git a/src/stm-flash/Makefile b/src/stm-flash/Makefile new file mode 100644 index 00000000..1ea35581 --- /dev/null +++ b/src/stm-flash/Makefile @@ -0,0 +1,59 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_pins.h \ + ao_product.h + +# +# Common AltOS sources +# +ALTOS_SRC = \ + ao_interrupt.c \ + ao_boot_chain.c \ + ao_boot_pin.c \ + ao_product.c \ + ao_notask.c \ + ao_timer.c \ + ao_usb_stm.c \ + ao_flash_stm.c + +PRODUCT=AltosFlash-$(VERSION) +PRODUCT_DEF=-DALTOS_FLASH +IDPRODUCT=0x000a + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -Os + +PROG=altos-flash-$(VERSION).elf + +SRC=$(ALTOS_SRC) ao_stm_flash.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +LDFLAGS=-L../stm -Wl,-Taltos-loader.ld + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +$(OBJ): $(INC) + +distclean: clean + +clean: + rm -f *.o $(PROG) + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/stm-flash/ao_pins.h b/src/stm-flash/ao_pins.h new file mode 100644 index 00000000..d6c72653 --- /dev/null +++ b/src/stm-flash/ao_pins.h @@ -0,0 +1,79 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#define HAS_TASK_QUEUE 0 + +/* Bridge SB17 on the board and use the MCO from the other chip */ +#define AO_HSE 8000000 +#define AO_HSE_BYPASS 1 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 12 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12) + +/* SYSCLK = 32MHz */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHZ (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at HCLK/1 */ +#define AO_APB1_PRESCALER 1 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_1 + +/* Run APB2 at HCLK/1 */ +#define AO_APB2_PRESCALER 1 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1 + +#define HAS_USB 1 +#define USE_USB_STDIO 0 +#define HAS_BEEP 0 +#define HAS_TASK 0 +#define HAS_ECHO 0 +#define HAS_TICK 0 + +#define PACKET_HAS_SLAVE 0 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT (&stm_gpiob) +#define LED_PIN_RED 6 +#define LED_PIN_GREEN 7 +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) + +#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN) + +#define AO_TICK_TYPE uint32_t +#define AO_TICK_SIGNED int32_t + +#define HAS_TASK_INFO 0 +#define HAS_VERSION 0 + +#define AO_BOOT_CHAIN 1 +#define AO_BOOT_PIN 1 + +#define AO_BOOT_APPLICATION_GPIO stm_gpiod +#define AO_BOOT_APPLICATION_PIN 2 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +#endif /* _AO_PINS_H_ */ diff --git a/src/stm-flash/ao_stm_flash.c b/src/stm-flash/ao_stm_flash.c new file mode 100644 index 00000000..e6db565d --- /dev/null +++ b/src/stm-flash/ao_stm_flash.c @@ -0,0 +1,151 @@ +/* + * Copyright © 2011 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include <ao_exti.h> +#include <ao_boot.h> +#include <ao_flash_stm.h> + +void +ao_panic(uint8_t reason) +{ + for (;;); +} + +void +ao_put_string(__code char *s) +{ + char c; + while ((c = *s++)) { + if (c == '\n') + ao_usb_putchar('\r'); + ao_usb_putchar(c); + } +} + +void +ao_application(void) +{ + ao_boot_reboot(AO_BOOT_APPLICATION_BASE); +} + +static uint32_t +ao_get_hex32(void) +{ + int8_t n; + uint32_t v = 0; + + for (;;) { + n = ao_usb_getchar(); + if (n != ' ') + break; + } + for(;;) { + if ('0' <= n && n <= '9') + n = n - '0'; + else if ('a' <= n && n <= 'f') + n = n - ('a' - 10); + else if ('A' <= n && n <= 'F') + n = n - ('A' - 10); + else + break; + v = (v << 4) | n; + n = ao_usb_getchar(); + } + return v; +} + +void +ao_block_erase(void) +{ + uint32_t addr = ao_get_hex32(); + uint32_t *p = (uint32_t *) addr; + + ao_flash_erase_page(p); +} + +void +ao_block_write(void) +{ + uint32_t addr = ao_get_hex32(); + uint32_t *p = (uint32_t *) addr; + union { + uint8_t data8[256]; + uint32_t data32[64]; + } u; + uint16_t i; + + if (addr < (uint32_t) AO_BOOT_APPLICATION_BASE) { + ao_put_string("Invalid address\n"); + return; + } + for (i = 0; i < 256; i++) + u.data8[i] = ao_usb_getchar(); + ao_flash_page(p, u.data32); +} + +void +ao_block_read(void) +{ + uint32_t addr = ao_get_hex32(); + uint8_t *p = (uint8_t *) addr; + uint16_t i; + uint8_t c; + + for (i = 0; i < 256; i++) { + c = *p++; + ao_usb_putchar(c); + } +} + +static void +ao_show_version(void) +{ + ao_put_string("altos-loader"); + ao_put_string("\nmanufacturer "); ao_put_string(ao_manufacturer); + ao_put_string("\nproduct "); ao_put_string(ao_product); + ao_put_string("\nsoftware-version "); ao_put_string(ao_version); + ao_put_string("\n"); +} + +static void +ao_flash_task(void) { + for (;;) { + ao_usb_flush(); + switch (ao_usb_getchar()) { + case 'v': ao_show_version(); break; + case 'a': ao_application(); break; + case 'X': ao_block_erase(); break; + case 'W': ao_block_write(); break; + case 'R': ao_block_read(); break; + } + } +} + +int +main(void) +{ + ao_clock_init(); + +// ao_timer_init(); +// ao_dma_init(); +// ao_exti_init(); + ao_usb_init(); + + ao_flash_task(); + return 0; +} diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs index 1480f0b3..c8bb7d70 100644 --- a/src/stm/Makefile.defs +++ b/src/stm/Makefile.defs @@ -7,6 +7,11 @@ vpath load_csv.5c ../kalman vpath matrix.5c ../kalman vpath ao-make-product.5c ../util +.SUFFIXES: .elf .ihx + +.elf.ihx: + objcopy -O ihex $*.elf $@ + CC=arm-none-eabi-gcc SAT=/opt/cortex SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a diff --git a/src/stm/altos-loader.ld b/src/stm/altos-loader.ld new file mode 100644 index 00000000..5e10e5ba --- /dev/null +++ b/src/stm/altos-loader.ld @@ -0,0 +1,89 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +MEMORY { + rom : ORIGIN = 0x08000000, LENGTH = 4K + ram : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .text : { + __text_start__ = .; + *(.interrupt) /* Interrupt vectors */ + *(.romconfig*) + *(.text) /* Executable code */ + . = ALIGN(4); + *(.rodata*) /* Constants */ + . = ALIGN(4); + } > rom + + .ARM.exidx : { + . = ALIGN(4); + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + . = ALIGN(4); + } > rom + __text_end__ = .; + + /* Boot data which must live at the start of ram so that + * the application and bootloader share the same addresses. + * This must be all uninitialized data + */ + .boot (NOLOAD) : { + __boot_start__ = .; + *(.boot) + . = ALIGN(4); + __boot_end__ = .; + } >ram + + /* Functions placed in RAM (required for flashing) */ + .textram : { + __data_start__ = .; + __text_ram_start__ = .; + *(.text.ram) + __text_ram_end = .; + } >ram AT>rom + + /* Data -- relocated to RAM, but written to ROM + */ + .data : { + *(.data) /* initialized data */ + __data_end__ = .; + } >ram AT>rom + + + .bss : { + __bss_start__ = .; + *(.bss) + *(COMMON) + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); +} + +ENTRY(start); + + diff --git a/src/stm/altos.ld b/src/stm/altos.ld index f78a45d6..6affc376 100644 --- a/src/stm/altos.ld +++ b/src/stm/altos.ld @@ -16,7 +16,7 @@ */ MEMORY { - rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K + rom (rx) : ORIGIN = 0x08001000, LENGTH = 124K ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K } @@ -35,9 +35,19 @@ SECTIONS { . = ORIGIN(rom) + 0x100; + + /* Ick. What I want is to specify the + * addresses of some global constants so + * that I can find them across versions + * of the application. I can't figure out + * how to make gnu ld do that, so instead + * we just load the two files that include + * these defines in the right order here and + * expect things to 'just work'. Don't change + * the contents of those files, ok? + */ ao_romconfig.o(.romconfig*) ao_product.o(.romconfig*) - *(.text*) /* Executable code */ *(.rodata*) /* Constants */ @@ -45,21 +55,34 @@ SECTIONS { .ARM.exidx : { *(.ARM.exidx* .gnu.linkonce.armexidx.*) - __text_end__ = .; } > rom + __text_end__ = .; + + /* Boot data which must live at the start of ram so that + * the application and bootloader share the same addresses. + * This must be all uninitialized data + */ + .boot (NOLOAD) : { + __boot_start__ = .; + *(.boot) + . = ALIGN(4); + __boot_end__ = .; + } >ram /* Data -- relocated to RAM, but written to ROM */ - .data ORIGIN(ram) : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) { + .data : { __data_start__ = .; *(.data) /* initialized data */ + . = ALIGN(4); __data_end__ = .; - __bss_start__ = .; - } >ram + } >ram AT>rom .bss : { + __bss_start__ = .; *(.bss) *(COMMON) + . = ALIGN(4); __bss_end__ = .; } >ram diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index 007f7e2e..50bff5dd 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -128,5 +128,10 @@ extern const uint32_t ao_radio_cal; void ao_adc_init(); +#define AO_BOOT_APPLICATION_BASE ((uint32_t *) 0x08001000) +#define AO_BOOT_LOADER_BASE ((uint32_t *) 0x0) +#define HAS_BOOT_LOADER 1 + #endif /* _AO_ARCH_H_ */ + diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index d1779307..e152440a 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -113,6 +113,19 @@ ao_spi_init(void); stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); \ } while (0) +#define ao_disable_port(port) do { \ + if ((port) == &stm_gpioa) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOAEN); \ + else if ((port) == &stm_gpiob) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOBEN); \ + else if ((port) == &stm_gpioc) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOCEN); \ + else if ((port) == &stm_gpiod) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIODEN); \ + else if ((port) == &stm_gpioe) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOEEN); \ + } while (0) + #define ao_gpio_set(port, bit, pin, v) stm_gpio_set(port, bit, v) @@ -124,9 +137,7 @@ ao_spi_init(void); stm_moder_set(port, bit, STM_MODER_OUTPUT);\ } while (0) -#define ao_enable_input(port,bit,mode) do { \ - ao_enable_port(port); \ - stm_moder_set(port, bit, STM_MODER_INPUT); \ +#define ao_gpio_set_mode(port,bit,mode) do { \ if (mode == AO_EXTI_MODE_PULL_UP) \ stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP); \ else if (mode == AO_EXTI_MODE_PULL_DOWN) \ @@ -134,6 +145,12 @@ ao_spi_init(void); else \ stm_pupdr_set(port, bit, STM_PUPDR_NONE); \ } while (0) + +#define ao_enable_input(port,bit,mode) do { \ + ao_enable_port(port); \ + stm_moder_set(port, bit, STM_MODER_INPUT); \ + ao_gpio_set_mode(port, bit, mode); \ + } while (0) #define ao_enable_cs(port,bit) do { \ stm_gpio_set((port), bit, 1); \ @@ -250,6 +267,7 @@ ao_arch_memory_barrier() { asm volatile("" ::: "memory"); } +#if HAS_TASK static inline void ao_arch_init_stack(struct ao_task *task, void *start) { @@ -316,6 +334,7 @@ static inline void ao_arch_restore_stack(void) { /* Return to calling function */ asm("bx lr"); } +#endif #define ao_arch_isr_stack() diff --git a/src/stm/ao_boot.h b/src/stm/ao_boot.h new file mode 100644 index 00000000..e0ed4de7 --- /dev/null +++ b/src/stm/ao_boot.h @@ -0,0 +1,39 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_BOOT_H_ +#define _AO_BOOT_H_ + +void +ao_boot_chain(uint32_t *base); + +void +ao_boot_check_pin(void); + +/* Return true to switch to application (if present) */ +int +ao_boot_check_chain(void); + +void +ao_boot_reboot(uint32_t *base); + +static inline void +ao_boot_loader(void) { + ao_boot_reboot(AO_BOOT_LOADER_BASE); +} + +#endif /* _AO_BOOT_H_ */ diff --git a/src/stm/ao_boot_chain.c b/src/stm/ao_boot_chain.c new file mode 100644 index 00000000..6a3864a7 --- /dev/null +++ b/src/stm/ao_boot_chain.c @@ -0,0 +1,67 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_boot.h> + +void +ao_boot_chain(uint32_t *base) +{ + uint32_t sp; + uint32_t pc; + + sp = base[0]; + pc = base[1]; + if (0x08000100 <= pc && pc <= 0x08200000 && (pc & 1) == 1) { + asm ("mov sp, %0" : : "r" (sp)); + asm ("mov lr, %0" : : "r" (pc)); + asm ("bx lr"); + } +} + +#define AO_BOOT_SIGNAL 0x5a5aa5a5 +#define AO_BOOT_CHECK 0xc3c33c3c + +struct ao_boot { + uint32_t *base; + uint32_t signal; + uint32_t check; +}; + +static struct ao_boot __attribute__ ((section(".boot"))) ao_boot; + +int +ao_boot_check_chain(void) +{ + if (ao_boot.signal == AO_BOOT_SIGNAL && ao_boot.check == AO_BOOT_CHECK) { + ao_boot.signal = 0; + ao_boot.check = 0; + if (ao_boot.base == 0) + return 0; + ao_boot_chain(ao_boot.base); + } + return 1; +} + +void +ao_boot_reboot(uint32_t *base) +{ + ao_boot.base = base; + ao_boot.signal = AO_BOOT_SIGNAL; + ao_boot.check = AO_BOOT_CHECK; + ao_arch_reboot(); +} diff --git a/src/stm/ao_boot_pin.c b/src/stm/ao_boot_pin.c new file mode 100644 index 00000000..03b0214f --- /dev/null +++ b/src/stm/ao_boot_pin.c @@ -0,0 +1,43 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_boot.h> +#include <ao_exti.h> + +void +ao_boot_check_pin(void) +{ + uint16_t v; + + /* Enable power interface clock */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN); + + /* Enable the input pin */ + ao_enable_input(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN, + AO_BOOT_APPLICATION_MODE); + + /* Read the value */ + v = stm_gpio_get(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN); + + /* Reset the chip to turn off the port and the power interface clock */ + ao_gpio_set_mode(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN, 0); + ao_disable_port(&AO_BOOT_APPLICATION_GPIO); + stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_PWREN); + if (v == AO_BOOT_APPLICATION_VALUE) + ao_boot_chain(AO_BOOT_APPLICATION_BASE); +} diff --git a/src/stm/ao_flash_stm.c b/src/stm/ao_flash_stm.c new file mode 100644 index 00000000..b4d47024 --- /dev/null +++ b/src/stm/ao_flash_stm.c @@ -0,0 +1,127 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_flash_stm.h> + +static uint8_t +ao_flash_pecr_is_locked(void) +{ + return (stm_flash.pecr & (1 << STM_FLASH_PECR_PELOCK)) != 0; +} + +static uint8_t +ao_flash_pgr_is_locked(void) +{ + return (stm_flash.pecr & (1 << STM_FLASH_PECR_PRGLOCK)) != 0; +} + +static void +ao_flash_pecr_unlock(void) +{ + if (!ao_flash_pecr_is_locked()) + return; + + /* Unlock Data EEPROM and FLASH_PECR register */ + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1; + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2; + if (ao_flash_pecr_is_locked()) + ao_panic(AO_PANIC_FLASH); +} + +static void +ao_flash_pgr_unlock(void) +{ + if (!ao_flash_pgr_is_locked()) + return; + + /* Unlock program memory */ + stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY1; + stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY2; + if (ao_flash_pgr_is_locked()) + ao_panic(AO_PANIC_FLASH); +} + +static void +ao_flash_lock(void) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_OPTLOCK) | (1 << STM_FLASH_PECR_PRGLOCK) | (1 << STM_FLASH_PECR_PELOCK); +} + +static void +ao_flash_wait_bsy(void) +{ + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +static void __attribute__ ((section(".text.ram"),noinline)) +_ao_flash_erase_page(uint32_t *page) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_ERASE) | (1 << STM_FLASH_PECR_PROG); + + *page = 0x00000000; + + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +void +ao_flash_erase_page(uint32_t *page) +{ + ao_flash_pecr_unlock(); + ao_flash_pgr_unlock(); + + _ao_flash_erase_page(page); + + ao_flash_lock(); +} + +static void __attribute__ ((section(".text.ram"), noinline)) +_ao_flash_half_page(uint32_t *dst, uint32_t *src) +{ + uint8_t i; + + stm_flash.pecr |= (1 << STM_FLASH_PECR_FPRG); + stm_flash.pecr |= (1 << STM_FLASH_PECR_PROG); + + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; + + for (i = 0; i < 32; i++) { + *dst++ = *src++; + } + + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +void +ao_flash_page(uint32_t *page, uint32_t *src) +{ + uint8_t h; + + ao_flash_erase_page(page); + ao_flash_pecr_unlock(); + ao_flash_pgr_unlock(); + for (h = 0; h < 2; h++) { + _ao_flash_half_page(page, src); + page += 32; + src += 32; + } + ao_flash_lock(); +} diff --git a/src/stm/ao_flash_stm.h b/src/stm/ao_flash_stm.h new file mode 100644 index 00000000..09ca5ac1 --- /dev/null +++ b/src/stm/ao_flash_stm.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_FLASH_STM_H_ +#define _AO_FLASH_STM_H_ + +void +ao_flash_erase_page(uint32_t *page); + +void +ao_flash_page(uint32_t *page, uint32_t *src); + +#endif /* _AO_FLASH_STM_H_ */ diff --git a/src/stm/ao_interrupt.c b/src/stm/ao_interrupt.c index a423d8b1..969e6a0f 100644 --- a/src/stm/ao_interrupt.c +++ b/src/stm/ao_interrupt.c @@ -18,6 +18,7 @@ #include <ao.h> #include "stm32l.h" #include <string.h> +#include <ao_boot.h> extern void main(void); extern char __stack__; @@ -36,7 +37,19 @@ void stm_ignore_isr(void) { } -void start(void) { +const void *stm_interrupt_vector[]; + +void start(void) +{ +#ifdef AO_BOOT_CHAIN + if (ao_boot_check_chain()) { +#ifdef AO_BOOT_PIN + ao_boot_check_pin(); +#endif + } +#endif + /* Set interrupt vector table offset */ + stm_nvic.vto = (uint32_t) &stm_interrupt_vector; memcpy(&__data_start__, &__text_end__, &__data_end__ - &__data_start__); memset(&__bss_start__, '\0', &__bss_end__ - &__bss_start__); main(); diff --git a/src/stm/ao_romconfig.c b/src/stm/ao_romconfig.c index cbb922ec..5da15072 100644 --- a/src/stm/ao_romconfig.c +++ b/src/stm/ao_romconfig.c @@ -20,6 +20,8 @@ AO_ROMCONFIG_SYMBOL (0) uint16_t ao_romconfig_version = AO_ROMCONFIG_VERSION; AO_ROMCONFIG_SYMBOL (0) uint16_t ao_romconfig_check = ~AO_ROMCONFIG_VERSION; AO_ROMCONFIG_SYMBOL (0) uint16_t ao_serial_number = 0; -#ifdef AO_RADIO_CAL_DEFAULT -AO_ROMCONFIG_SYMBOL (0) uint32_t ao_radio_cal = AO_RADIO_CAL_DEFAULT; +#ifndef AO_RADIO_CAL_DEFAULT +#define AO_RADIO_CAL_DEFAULT 0x01020304 #endif +AO_ROMCONFIG_SYMBOL (0) uint32_t ao_radio_cal = AO_RADIO_CAL_DEFAULT; + diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index 8b7c2327..ff477a03 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -18,6 +18,11 @@ #include "ao.h" #include <ao_task.h> +#ifndef HAS_TICK +#define HAS_TICK 1 +#endif + +#if HAS_TICK volatile AO_TICK_TYPE ao_tick_count; AO_TICK_TYPE @@ -31,10 +36,6 @@ volatile __data uint8_t ao_data_interval = 1; volatile __data uint8_t ao_data_count; #endif -void -ao_debug_out(char c); - - void stm_tim6_isr(void) { if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) { @@ -110,6 +111,8 @@ ao_timer_init(void) (1 << STM_TIM67_CR1_CEN)); } +#endif + void ao_clock_init(void) { diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index e29abc87..11dde92e 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -23,6 +23,16 @@ #define USB_DEBUG_DATA 0 #define USB_ECHO 0 +#ifndef USE_USB_STDIO +#define USE_USB_STDIO 1 +#endif + +#if USE_USB_STDIO +#define AO_USB_OUT_SLEEP_ADDR (&ao_stdin_ready) +#else +#define AO_USB_OUT_SLEEP_ADDR (&ao_usb_out_avail) +#endif + #if USB_DEBUG #define debug(format, args...) printf(format, ## args); #else @@ -35,8 +45,6 @@ #define debug_data(format, args...) #endif -struct ao_task ao_usb_task; - struct ao_usb_setup { uint8_t dir_type_recip; uint8_t request; @@ -398,81 +406,6 @@ static uint16_t in_count; static uint16_t out_count; static uint16_t reset_count; -void -stm_usb_lp_isr(void) -{ - uint32_t istr = stm_usb.istr; - - if (istr & (1 << STM_USB_ISTR_CTR)) { - uint8_t ep = istr & STM_USB_ISTR_EP_ID_MASK; - uint32_t epr, epr_write; - - /* Preserve the SW write bits, don't mess with most HW writable bits, - * clear the CTR_RX and CTR_TX bits - */ - epr = stm_usb.epr[ep]; - epr_write = epr; - epr_write &= STM_USB_EPR_PRESERVE_MASK; - epr_write |= STM_USB_EPR_INVARIANT; - epr_write &= ~(1 << STM_USB_EPR_CTR_RX); - epr_write &= ~(1 << STM_USB_EPR_CTR_TX); - stm_usb.epr[ep] = epr_write; - - switch (ep) { - case 0: - ++control_count; - if (ao_usb_epr_ctr_rx(epr)) { - if (ao_usb_epr_setup(epr)) - ao_usb_ep0_receive |= AO_USB_EP0_GOT_SETUP; - else - ao_usb_ep0_receive |= AO_USB_EP0_GOT_RX_DATA; - } - if (ao_usb_epr_ctr_tx(epr)) - ao_usb_ep0_receive |= AO_USB_EP0_GOT_TX_ACK; - ao_wakeup(&ao_usb_ep0_receive); - break; - case AO_USB_OUT_EPR: - ++out_count; - if (ao_usb_epr_ctr_rx(epr)) { - _rx_dbg1("RX ISR", epr); - ao_usb_out_avail = 1; - _rx_dbg0("out avail set"); - ao_wakeup(&ao_stdin_ready); - _rx_dbg0("stdin awoken"); - } - break; - case AO_USB_IN_EPR: - ++in_count; - _tx_dbg1("TX ISR", epr); - if (ao_usb_epr_ctr_tx(epr)) { - ao_usb_in_pending = 0; - ao_wakeup(&ao_usb_in_pending); - } - break; - case AO_USB_INT_EPR: - ++int_count; - if (ao_usb_epr_ctr_tx(epr)) - _ao_usb_set_stat_tx(AO_USB_INT_EPR, STM_USB_EPR_STAT_TX_NAK); - break; - } - return; - } - - if (istr & (1 << STM_USB_ISTR_RESET)) { - ++reset_count; - stm_usb.istr &= ~(1 << STM_USB_ISTR_RESET); - ao_usb_ep0_receive |= AO_USB_EP0_GOT_RESET; - ao_wakeup(&ao_usb_ep0_receive); - } -} - -void -stm_usb_fs_wkup(void) -{ - /* USB wakeup, just clear the bit for now */ - stm_usb.istr &= ~(1 << STM_USB_ISTR_WKUP); -} - /* The USB memory holds 16 bit values on 32 bit boundaries * and must be accessed only in 32 bit units. Sigh. */ @@ -772,55 +705,117 @@ ao_usb_ep0_setup(void) ao_usb_ep0_in_start(ao_usb_setup.length); } -/* End point 0 receives all of the control messages. */ static void -ao_usb_ep0(void) +ao_usb_ep0_handle(uint8_t receive) { - uint8_t intx, udint; - - debug ("usb task started\n"); - ao_usb_ep0_state = AO_USB_EP0_IDLE; - for (;;) { - uint8_t receive; - ao_arch_critical( - while (!(receive = ao_usb_ep0_receive)) - ao_sleep(&ao_usb_ep0_receive); - ao_usb_ep0_receive = 0; - ); - - if (receive & AO_USB_EP0_GOT_RESET) { - debug ("\treset\n"); - ao_usb_set_ep0(); - continue; - } - if (receive & AO_USB_EP0_GOT_SETUP) { - debug ("\tsetup\n"); - ao_usb_ep0_setup(); - } - if (receive & AO_USB_EP0_GOT_RX_DATA) { - debug ("\tgot rx data\n"); - if (ao_usb_ep0_state == AO_USB_EP0_DATA_OUT) { - ao_usb_ep0_fill(); - if (ao_usb_ep0_out_len == 0) { - ao_usb_ep0_state = AO_USB_EP0_DATA_IN; - ao_usb_ep0_in_start(0); - } + ao_usb_ep0_receive = 0; + if (receive & AO_USB_EP0_GOT_RESET) { + debug ("\treset\n"); + ao_usb_set_ep0(); + return; + } + if (receive & AO_USB_EP0_GOT_SETUP) { + debug ("\tsetup\n"); + ao_usb_ep0_setup(); + } + if (receive & AO_USB_EP0_GOT_RX_DATA) { + debug ("\tgot rx data\n"); + if (ao_usb_ep0_state == AO_USB_EP0_DATA_OUT) { + ao_usb_ep0_fill(); + if (ao_usb_ep0_out_len == 0) { + ao_usb_ep0_state = AO_USB_EP0_DATA_IN; + ao_usb_ep0_in_start(0); } } - if (receive & AO_USB_EP0_GOT_TX_ACK) { - debug ("\tgot tx ack\n"); - - /* Wait until the IN packet is received from addr 0 - * before assigning our local address - */ - if (ao_usb_address_pending) - ao_usb_set_address(ao_usb_address); - if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN) - ao_usb_ep0_flush(); + } + if (receive & AO_USB_EP0_GOT_TX_ACK) { + debug ("\tgot tx ack\n"); + + /* Wait until the IN packet is received from addr 0 + * before assigning our local address + */ + if (ao_usb_address_pending) + ao_usb_set_address(ao_usb_address); + if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN) + ao_usb_ep0_flush(); + } +} + +void +stm_usb_lp_isr(void) +{ + uint32_t istr = stm_usb.istr; + + if (istr & (1 << STM_USB_ISTR_CTR)) { + uint8_t ep = istr & STM_USB_ISTR_EP_ID_MASK; + uint32_t epr, epr_write; + + /* Preserve the SW write bits, don't mess with most HW writable bits, + * clear the CTR_RX and CTR_TX bits + */ + epr = stm_usb.epr[ep]; + epr_write = epr; + epr_write &= STM_USB_EPR_PRESERVE_MASK; + epr_write |= STM_USB_EPR_INVARIANT; + epr_write &= ~(1 << STM_USB_EPR_CTR_RX); + epr_write &= ~(1 << STM_USB_EPR_CTR_TX); + stm_usb.epr[ep] = epr_write; + + switch (ep) { + case 0: + ++control_count; + if (ao_usb_epr_ctr_rx(epr)) { + if (ao_usb_epr_setup(epr)) + ao_usb_ep0_receive |= AO_USB_EP0_GOT_SETUP; + else + ao_usb_ep0_receive |= AO_USB_EP0_GOT_RX_DATA; + } + if (ao_usb_epr_ctr_tx(epr)) + ao_usb_ep0_receive |= AO_USB_EP0_GOT_TX_ACK; + ao_usb_ep0_handle(ao_usb_ep0_receive); + break; + case AO_USB_OUT_EPR: + ++out_count; + if (ao_usb_epr_ctr_rx(epr)) { + _rx_dbg1("RX ISR", epr); + ao_usb_out_avail = 1; + _rx_dbg0("out avail set"); + ao_wakeup(AO_USB_OUT_SLEEP_ADDR); + _rx_dbg0("stdin awoken"); + } + break; + case AO_USB_IN_EPR: + ++in_count; + _tx_dbg1("TX ISR", epr); + if (ao_usb_epr_ctr_tx(epr)) { + ao_usb_in_pending = 0; + ao_wakeup(&ao_usb_in_pending); + } + break; + case AO_USB_INT_EPR: + ++int_count; + if (ao_usb_epr_ctr_tx(epr)) + _ao_usb_set_stat_tx(AO_USB_INT_EPR, STM_USB_EPR_STAT_TX_NAK); + break; } + return; + } + + if (istr & (1 << STM_USB_ISTR_RESET)) { + ++reset_count; + stm_usb.istr &= ~(1 << STM_USB_ISTR_RESET); + ao_usb_ep0_receive |= AO_USB_EP0_GOT_RESET; + ao_usb_ep0_handle(ao_usb_ep0_receive); } } +void +stm_usb_fs_wkup(void) +{ + /* USB wakeup, just clear the bit for now */ + stm_usb.istr &= ~(1 << STM_USB_ISTR_WKUP); +} + /* Queue the current IN buffer for transmission */ static void _ao_usb_in_send(void) @@ -951,7 +946,7 @@ ao_usb_getchar(void) ao_arch_block_interrupts(); while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN) - ao_sleep(&ao_stdin_ready); + ao_sleep(AO_USB_OUT_SLEEP_ADDR); ao_arch_release_interrupts(); return c; } @@ -1071,7 +1066,7 @@ ao_usb_init(void) ao_usb_enable(); debug ("ao_usb_init\n"); - ao_add_task(&ao_usb_task, ao_usb_ep0, "usb"); + ao_usb_ep0_state = AO_USB_EP0_IDLE; #if USB_ECHO ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo"); #endif @@ -1079,8 +1074,10 @@ ao_usb_init(void) ao_cmd_register(&ao_usb_cmds[0]); #endif #if !USB_ECHO +#if USE_USB_STDIO ao_add_stdio(_ao_usb_pollchar, ao_usb_putchar, ao_usb_flush); #endif +#endif } #if TX_DBG || RX_DBG diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index 1d636037..47b443a0 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -435,6 +435,9 @@ extern struct stm_flash stm_flash; #define STM_FLASH_PEKEYR_PEKEY1 0x89ABCDEF #define STM_FLASH_PEKEYR_PEKEY2 0x02030405 +#define STM_FLASH_PRGKEYR_PRGKEY1 0x8C9DAEBF +#define STM_FLASH_PRGKEYR_PRGKEY2 0x13141516 + struct stm_rcc { vuint32_t cr; vuint32_t icscr; diff --git a/src/teleballoon-v1.1/ao_teleballoon.c b/src/teleballoon-v1.1/ao_teleballoon.c index c8bf7760..867e98ab 100644 --- a/src/teleballoon-v1.1/ao_teleballoon.c +++ b/src/teleballoon-v1.1/ao_teleballoon.c @@ -52,6 +52,8 @@ main(void) while (P1_3 == 0) ; } + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/telebt-v1.0/ao_telebt.c b/src/telebt-v1.0/ao_telebt.c index 4a50a9d4..935cde7d 100644 --- a/src/telebt-v1.0/ao_telebt.c +++ b/src/telebt-v1.0/ao_telebt.c @@ -25,6 +25,9 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + + ao_task_init(); + ao_timer_init(); ao_cmd_init(); ao_usb_init(); diff --git a/src/telefire-v0.1/ao_telefire.c b/src/telefire-v0.1/ao_telefire.c index cc0f668f..afa09e20 100644 --- a/src/telefire-v0.1/ao_telefire.c +++ b/src/telefire-v0.1/ao_telefire.c @@ -27,6 +27,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/telegps-v0.1/Makefile b/src/telegps-v0.1/Makefile index aae37660..2c41235b 100644 --- a/src/telegps-v0.1/Makefile +++ b/src/telegps-v0.1/Makefile @@ -33,6 +33,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telelco-v0.1/Makefile b/src/telelco-v0.1/Makefile index a4a83d02..24083308 100644 --- a/src/telelco-v0.1/Makefile +++ b/src/telelco-v0.1/Makefile @@ -30,6 +30,7 @@ INC = \ #PROFILE_DEF=-DAO_PROFILE=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telelco-v0.1/ao_telelco.c b/src/telelco-v0.1/ao_telelco.c index 080a140b..70665ec6 100644 --- a/src/telelco-v0.1/ao_telelco.c +++ b/src/telelco-v0.1/ao_telelco.c @@ -36,6 +36,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_GREEN); + ao_task_init(); + ao_timer_init(); ao_spi_init(); diff --git a/src/telemega-v0.1/Makefile b/src/telemega-v0.1/Makefile index 16393ea0..a72d08f2 100644 --- a/src/telemega-v0.1/Makefile +++ b/src/telemega-v0.1/Makefile @@ -45,6 +45,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telescience-v0.2/Makefile b/src/telescience-v0.2/Makefile index fbeeb75c..f16ef268 100644 --- a/src/telescience-v0.2/Makefile +++ b/src/telescience-v0.2/Makefile @@ -28,6 +28,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telescience-v0.2/ao_telescience.c b/src/telescience-v0.2/ao_telescience.c index 2fb3186a..74eef8f4 100644 --- a/src/telescience-v0.2/ao_telescience.c +++ b/src/telescience-v0.2/ao_telescience.c @@ -29,9 +29,11 @@ main(void) ao_mpu_init(); #endif - ao_task_init(); ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_GREEN); + + ao_task_init(); + ao_timer_init(); ao_spi_init(); diff --git a/src/teleshield-v0.1/ao_teleshield.c b/src/teleshield-v0.1/ao_teleshield.c index 4c32817a..d602f646 100644 --- a/src/teleshield-v0.1/ao_teleshield.c +++ b/src/teleshield-v0.1/ao_teleshield.c @@ -29,6 +29,7 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); ao_timer_init(); ao_cmd_init(); ao_spi_init(); |