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7 | 7 |
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8 | 8 | #include "Bootloader.h" |
9 | 9 |
|
10 | | -void bootloader_init(){ |
11 | | - return; |
| 10 | +/**************************************************************************************** |
| 11 | +* Macro definitions |
| 12 | +****************************************************************************************/ |
| 13 | +#define BOOTLOADER_ACK (0x79) |
| 14 | +#define BOOTLOADER_NACK (0x1f) |
| 15 | + |
| 16 | + |
| 17 | +/**************************************************************************************** |
| 18 | +* Function prototypes |
| 19 | +****************************************************************************************/ |
| 20 | +void const __b_wait_until_fdcan_message_received(void); |
| 21 | +void const __b_clean_fdcan_packet_data(fdcan_packet_t* packet); |
| 22 | +void const __b_clean_fdcan_packet_all(fdcan_packet_t* packet); |
| 23 | +void const __b_send_ack(fdcan_packet_t* packet); |
| 24 | +void const __b_send_nack(fdcan_packet_t* packet); |
| 25 | +void const __b_data_copy_to_packet(fdcan_packet_t* packet, uint8_t* data); |
| 26 | +void const __b_data_copy_from_packet(fdcan_packet_t* packet, uint8_t* data); |
| 27 | +void const __b_get_version(fdcan_packet_t* packet); |
| 28 | +void const __b_read_memory(fdcan_packet_t* packet); |
| 29 | +void const __b_write_memory(fdcan_packet_t* packet); |
| 30 | +void const __b_erase_memory(fdcan_packet_t* packet); |
| 31 | +void const __b_go(fdcan_packet_t* packet); |
| 32 | + |
| 33 | + |
| 34 | +void bootloader_start(){ |
| 35 | + fdcan_packet_t packet; |
| 36 | + __b_clean_fdcan_packet_all(&packet); |
| 37 | + |
| 38 | + while(1){ |
| 39 | + __b_wait_until_fdcan_message_received(); |
| 40 | + fdcan_read(&packet); |
| 41 | + |
| 42 | + switch (packet.identifier) { |
| 43 | + case GET_VERSION_ORDER: |
| 44 | + __b_get_version(&packet); |
| 45 | + break; |
| 46 | + case READ_MEMORY_ORDER: |
| 47 | + __b_read_memory(&packet); |
| 48 | + break; |
| 49 | + case WRITE_MEMORY_ORDER: |
| 50 | + __b_write_memory(&packet); |
| 51 | + break; |
| 52 | + case ERASE_MEMORY_ORDER: |
| 53 | + __b_erase_memory(&packet); |
| 54 | + break; |
| 55 | + case GO_ORDER: |
| 56 | + __b_go(&packet); |
| 57 | + break; |
| 58 | + default: |
| 59 | + __b_send_nack(&packet); |
| 60 | + break; |
| 61 | + } |
| 62 | + |
| 63 | + __b_clean_fdcan_packet_all(&packet); |
| 64 | + } |
| 65 | +} |
| 66 | + |
| 67 | +void const __b_get_version(fdcan_packet_t* packet){ |
| 68 | + __b_clean_fdcan_packet_all(packet); |
| 69 | + |
| 70 | + __b_send_ack(packet); |
| 71 | + |
| 72 | + packet->data[0] = BOOTLOADER_VERSION; |
| 73 | + if (fdcan_transmit(packet) != FDCAN_OK) { |
| 74 | + __b_send_nack(packet); |
| 75 | + return; |
| 76 | + } |
| 77 | + |
| 78 | + __b_send_ack(packet); |
| 79 | +} |
| 80 | + |
| 81 | +void const __b_read_memory(fdcan_packet_t* packet){ |
| 82 | + uint32_t buffer[SECTOR_SIZE_IN_32BITS_WORDS]; |
| 83 | + sector_t sector; |
| 84 | + uint32_t address; |
| 85 | + uint16_t i; |
| 86 | + |
| 87 | + sector = packet->data[0]; |
| 88 | + address = flash_get_sector_starting_address(sector); |
| 89 | + |
| 90 | + if (address == FLASH_SECTOR_ERROR || address == FLASH_PROTECTED_SECTOR) { |
| 91 | + __b_send_nack(packet); |
| 92 | + return; |
| 93 | + } |
| 94 | + |
| 95 | + if (flash_read(address, buffer, SECTOR_SIZE_IN_32BITS_WORDS) != FLASH_OK) { |
| 96 | + __b_send_nack(packet); |
| 97 | + return; |
| 98 | + } |
| 99 | + |
| 100 | + __b_send_ack(packet); |
| 101 | + |
| 102 | + for (i = 0; i < SECTOR_SIZE_IN_32BITS_WORDS; i +=16) { |
| 103 | + __b_data_copy_to_packet(packet, ((uint8_t*)&(buffer[i]))); |
| 104 | + if (fdcan_transmit(packet) != FDCAN_OK) { |
| 105 | + __b_send_nack(packet); |
| 106 | + return; |
| 107 | + } |
| 108 | + HAL_Delay(1); |
| 109 | + } |
| 110 | + |
| 111 | + __b_send_ack(packet); |
| 112 | +} |
| 113 | + |
| 114 | +void const __b_write_memory(fdcan_packet_t* packet){ |
| 115 | + uint32_t buffer[SECTOR_SIZE_IN_32BITS_WORDS]; |
| 116 | + sector_t sector; |
| 117 | + uint32_t address; |
| 118 | + uint16_t i; |
| 119 | + |
| 120 | + sector = packet->data[0]; |
| 121 | + address = flash_get_sector_starting_address(sector); |
| 122 | + |
| 123 | + if (address == FLASH_SECTOR_ERROR || address == FLASH_PROTECTED_SECTOR) { |
| 124 | + __b_send_nack(packet); |
| 125 | + return; |
| 126 | + } |
| 127 | + |
| 128 | + __b_send_ack(packet); |
| 129 | + |
| 130 | + for (i = 0; i < SECTOR_SIZE_IN_32BITS_WORDS; i +=16) { |
| 131 | + __b_wait_until_fdcan_message_received(); |
| 132 | + if (fdcan_read(packet) != FDCAN_OK) { |
| 133 | + __b_send_nack(packet); |
| 134 | + return; |
| 135 | + } |
| 136 | + __b_data_copy_to_packet(packet, ((uint8_t*)&(buffer[i]))); |
| 137 | + } |
| 138 | +} |
| 139 | + |
| 140 | +void const __b_erase_memory(fdcan_packet_t* packet){ |
| 141 | + sector_t sector1, sector2; |
| 142 | + |
| 143 | + sector1 = packet->data[0]; |
| 144 | + sector2 = packet->data[1]; |
| 145 | + |
| 146 | + if (sector1 > FLASH_MAX_SECTOR || sector2 > FLASH_MAX_SECTOR) { |
| 147 | + __b_send_nack(packet); |
| 148 | + } |
| 149 | + |
| 150 | + __b_send_ack(packet); |
| 151 | + |
| 152 | + |
| 153 | + if(flash_erase(sector1, sector2) != FLASH_OK){ |
| 154 | + __b_send_nack(packet); |
| 155 | + } |
| 156 | + |
| 157 | + __b_send_ack(packet); |
| 158 | +} |
| 159 | + |
| 160 | +void const __b_go(fdcan_packet_t* packet){ |
| 161 | + __b_send_nack(packet); |
| 162 | +} |
| 163 | + |
| 164 | +void const __b_data_copy_to_packet(fdcan_packet_t* packet, uint8_t* data){ |
| 165 | + uint8_t i; |
| 166 | + |
| 167 | + for (i = 0; i < 64; ++i) { |
| 168 | + packet->data[i] = data[i]; |
| 169 | + } |
| 170 | +} |
| 171 | + |
| 172 | +void const __b_send_ack(fdcan_packet_t* packet){ |
| 173 | + __b_clean_fdcan_packet_data(packet); |
| 174 | + packet->data[0] = BOOTLOADER_ACK; |
| 175 | + fdcan_transmit(packet); |
| 176 | +} |
| 177 | + |
| 178 | +void const __b_send_nack(fdcan_packet_t* packet){ |
| 179 | + __b_clean_fdcan_packet_data(packet); |
| 180 | + packet->data[0] = BOOTLOADER_NACK; |
| 181 | + fdcan_transmit(packet); |
| 182 | +} |
| 183 | + |
| 184 | +uint32_t const __b_get_addr_from_data(uint8_t* data){ |
| 185 | + uint32_t address = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3]; |
| 186 | + |
| 187 | + return address; |
| 188 | +} |
| 189 | + |
| 190 | +void const __b_clean_fdcan_packet_data(fdcan_packet_t* packet){ |
| 191 | + uint16_t i; |
| 192 | + |
| 193 | + for (i = 0; i < 64; ++i) { |
| 194 | + packet->data[i] = 0; |
| 195 | + } |
| 196 | +} |
| 197 | + |
| 198 | +void const __b_clean_fdcan_packet_all(fdcan_packet_t* packet){ |
| 199 | + uint16_t i; |
| 200 | + |
| 201 | + for (i = 0; i < 64; ++i) { |
| 202 | + packet->data[i] = 0; |
| 203 | + } |
| 204 | + |
| 205 | + packet->identifier = 0; |
| 206 | +} |
| 207 | + |
| 208 | + |
| 209 | +void const __b_wait_until_fdcan_message_received(void){ |
| 210 | + while(!fdcan_test()){} |
12 | 211 | } |
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