diff options
Diffstat (limited to 'src')
41 files changed, 932 insertions, 18 deletions
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/core/ao.h b/src/core/ao.h index 977e10b8..548e8738 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -145,6 +145,9 @@ 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..de5ccc35 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'); } } } @@ -374,10 +389,14 @@ __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 { 0, NULL }, }; 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/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-demo/Makefile b/src/stm-demo/Makefile index 3b1b671b..e84a7675 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) $(IHX) -LDFLAGS=-L../stm -Wl,-Taltos.ld +LDFLAGS=-L../stm -Wl,-Taltos-application.ld -$(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..ec572fdc 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; @@ -168,6 +169,13 @@ ao_event(void) } +static void +ao_boot_loader(void) +{ + flush(); + ao_boot_reboot((uint32_t *) 0); +} + __code struct ao_cmds ao_demo_cmds[] = { { ao_dma_test, "D\0DMA test" }, { ao_spi_write, "W\0SPI write" }, @@ -175,6 +183,7 @@ __code struct ao_cmds ao_demo_cmds[] = { { ao_i2c_write, "i\0I2C write" }, { ao_temp, "t\0Show temp" }, { ao_event, "e\0Monitor event queue" }, + { ao_boot_loader, "L\0Reboot to boot loader" }, { 0, NULL } }; @@ -183,6 +192,8 @@ 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..46bc61af --- /dev/null +++ b/src/stm-flash/Makefile @@ -0,0 +1,63 @@ +# +# 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_romconfig.c \ + ao_task.c \ + ao_timer.c \ + ao_mutex.c \ + ao_usb_stm.c \ + ao_stdio.c \ + ao_flash_stm.c \ + ao_cmd.c + +PRODUCT=StmFlash-v0.0 +PRODUCT_DEF=-DSTM_FLASH +IDPRODUCT=0x000a + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -Os + +PROG=stm-flash-$(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..048fc828 --- /dev/null +++ b/src/stm-flash/ao_pins.h @@ -0,0 +1,77 @@ +/* + * 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_STDIN 1 +#define HAS_BEEP 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_gpioa +#define AO_BOOT_APPLICATION_PIN 0 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE 0 +#define AO_BOOT_APPLICATION_BASE ((uint32_t *) 0x2000) + +#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..a70db48a --- /dev/null +++ b/src/stm-flash/ao_stm_flash.c @@ -0,0 +1,162 @@ +/* + * 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_application(void) +{ + ao_boot_reboot(AO_BOOT_APPLICATION_BASE); +} + +static uint32_t +ao_cmd_hex32(void) +{ + __pdata uint8_t r = ao_cmd_lex_error; + int8_t n; + uint32_t v = 0; + + ao_cmd_white(); + for(;;) { + n = ao_cmd_hexchar(ao_cmd_lex_c); + if (n < 0) + break; + v = (v << 4) | n; + r = ao_cmd_success; + ao_cmd_lex(); + } + if (r != ao_cmd_success) + ao_cmd_status = r; + return v; +} + +void +ao_block_erase(void) +{ + uint32_t addr = ao_cmd_hex32(); + uint32_t *p = (uint32_t *) addr; + + ao_flash_erase_page(p); +} + +void +ao_block_write(void) +{ + uint32_t addr = ao_cmd_hex32(); + uint32_t *p = (uint32_t *) addr; + union { + uint8_t data8[256]; + uint32_t data32[64]; + } u; + uint16_t i; + + if (addr < 0x08002000 || 0x08200000 <= addr) { + ao_put_string("Invalid address\n"); + return; + } + for (i = 0; i < 256; i++) + u.data8[i] = getchar(); + ao_flash_page(p, u.data32); +} + +static void +puthex(uint8_t c) +{ + c &= 0xf; + if (c < 10) + c += '0'; + else + c += 'a' - 10; + putchar (c); +} + +void +ao_block_read(void) +{ + uint32_t addr = ao_cmd_hex32(); + uint8_t *p = (uint8_t *) addr; + uint16_t i; + uint8_t c; + + for (i = 0; i < 256; i++) { + c = *p++; + (*ao_stdios[ao_cur_stdio].putchar)(c); + } +} + +void +ao_block_read_hex(void) +{ + uint32_t addr = ao_cmd_hex32(); + uint8_t *p = (uint8_t *) addr; + uint16_t i; + uint8_t c; + + for (i = 0; i < 256; i++) { + c = *p++; + puthex(c>>4); + puthex(c); + if ((i & 0xf) == 0xf) + putchar('\n'); + } +} + +static void +ao_show_version(void) +{ + puts("altos-loader"); + ao_put_string("manufacturer "); puts(ao_manufacturer); + ao_put_string("product "); puts(ao_product); + ao_put_string("software-version "); puts(ao_version); +} + +__code struct ao_cmds ao_flash_cmds[] = { + { ao_show_version, "v\0Version" }, + { ao_application, "a\0Switch to application" }, + { ao_block_erase, "X <addr>\0Erase block." }, + { ao_block_write, "W <addr>\0Write block. 256 binary bytes follow newline" }, + { ao_block_read, "R <addr>\0Read block. Returns 256 binary bytes" }, + { ao_block_read_hex, "H <addr>\0Hex read block. Returns 256 bytes in hex" }, + { 0, NULL }, +}; + +int +main(void) +{ + ao_clock_init(); + + ao_task_init(); + + ao_timer_init(); +// ao_dma_init(); + ao_cmd_init(); +// ao_exti_init(); + ao_usb_init(); + + ao_cmd_register(&ao_flash_cmds[0]); + ao_start_scheduler(); + 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-application.ld b/src/stm/altos-application.ld new file mode 100644 index 00000000..c94c06b8 --- /dev/null +++ b/src/stm/altos-application.ld @@ -0,0 +1,95 @@ +/* + * 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 (rx) : ORIGIN = 0x08002000, LENGTH = 120K + ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .text ORIGIN(rom) : { + __text_start__ = .; + *(.interrupt) /* Interrupt vectors */ + + . = 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 */ + + } > rom + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + } > 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 : { + __data_start__ = .; + *(.data) /* initialized data */ + . = ALIGN(4); + __data_end__ = .; + } >ram AT>rom + + .bss : { + __bss_start__ = .; + *(.bss) + *(COMMON) + . = ALIGN(4); + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); +} + +ENTRY(start); + + diff --git a/src/stm/altos-loader.ld b/src/stm/altos-loader.ld new file mode 100644 index 00000000..14b45351 --- /dev/null +++ b/src/stm/altos-loader.ld @@ -0,0 +1,101 @@ +/* + * 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 = 8K + ram : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .text : { + __text_start__ = .; + *(.interrupt) /* Interrupt vectors */ + + . = 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 */ + + } > rom + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + } > 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 : { + __text_ram_start__ = .; + __data_start__ = .; + *(.text.ram) + . = ALIGN(4); + } >ram AT>rom + __text_ram_end = .; + + /* Data -- relocated to RAM, but written to ROM + */ + .data : { + *(.data) /* initialized data */ + . = ALIGN (4); + } >ram AT>rom + __data_end__ = .; + + .bss : { + __bss_start__ = .; + *(.bss) + *(COMMON) + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); +} + +ENTRY(start); + + diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index d1779307..a45b6ab3 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); \ diff --git a/src/stm/ao_boot.h b/src/stm/ao_boot.h new file mode 100644 index 00000000..3e8c50ba --- /dev/null +++ b/src/stm/ao_boot.h @@ -0,0 +1,33 @@ +/* + * 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); + +void +ao_boot_check_chain(void); + +void +ao_boot_reboot(uint32_t *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..668f6e6d --- /dev/null +++ b/src/stm/ao_boot_chain.c @@ -0,0 +1,64 @@ +/* + * 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) { + 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; + +void +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; + ao_boot_chain(ao_boot.base); + } +} + +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..49156285 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 +37,18 @@ void stm_ignore_isr(void) { } -void start(void) { +const void *stm_interrupt_vector[]; + +void start(void) +{ +#ifdef AO_BOOT_CHAIN + ao_boot_check_chain(); +#endif +#ifdef AO_BOOT_PIN + ao_boot_check_pin(); +#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/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/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/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(); |