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* bootloader datagram setup * datagram class complete with test cases * bootloader progress * remove crc32 from can_datagram.py + modified unit test * bootloader datagram setup * datagram class complete with test cases * bootloader progress * complete flash_application code, unit tests required * add jump application, both flash and jump app needs testing * test jump application, valid results * complete unit tests and remove typeerrors for flash app * add and test multi-board flashing and jumping * add and test validation static methods * fix crc bits for can_datagram.py * add state machine for bootloader * add BOOTLOADER_FLASH_COMPLETE state for the state machine * [API/CLI] Redid start and data messaging. Needs new tests. Begun API + Flash devlopment * [DATA STATES] Seperated first data msg and following messages with arbitration id * [JUMP APP/START] Wrote brief skeleton functions, needs more error handling * [ADDED BACK DATA_READY STATE FOR SIMPLICITY] * [LINKERSCRIPTS + SCON CHANGES FOR APPLICTION/BOOT FLASHING] * [JUMP APPLICATION ASSEMBLY AND BAREMETAL CAN DRIVER] * need to fix packet loss in can transmission * [Formatting] * BOOTLOADER * Semi-working * BOOTLOADER IS WORKING LETS GO * Major cleanup * formatingg/linting * fixed small changes * formatting * Build fix * build change * build system changes --------- Co-authored-by: Your Name <[email protected]> Co-authored-by: Aditya Sen <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| # Message Definitions in plaintext are on the wiki at: | ||
| # https://uwmidsun.atlassian.net/l/cp/Pxn8Xhm8 | ||
| # | ||
| # If you are making changes to this file please update the corresponding entry | ||
| # on the wiki. If you need to add a new message use a reasonable | ||
| # reserved ID. The higher ID the lower the priority. Generally | ||
| # - 0-13: Critical messages (have ACK) | ||
| # - 14-30: Actionable messages (trigger a change in another system) | ||
| # - 30-63: Data messages (usually not actionable by an onboard device) | ||
|
|
||
| --- | ||
| Messages: | ||
| bootloader_start: | ||
| id: 30 | ||
| target: | ||
| bootloader: | ||
| watchdog: 0 | ||
| critical: true | ||
| signals: | ||
| data0: | ||
| length: 8 | ||
| data1: | ||
| length: 8 | ||
| data2: | ||
| length: 8 | ||
| data3: | ||
| length: 8 | ||
| data4: | ||
| length: 8 | ||
| data5: | ||
| length: 8 | ||
| data6: | ||
| length: 8 | ||
| data7: | ||
| length: 8 | ||
| bootloader_data: | ||
| id: 31 | ||
| target: | ||
| bootloader: | ||
| watchdog: 0 | ||
| critical: true | ||
| signals: | ||
| data0: | ||
| length: 8 | ||
| data1: | ||
| length: 8 | ||
| data2: | ||
| length: 8 | ||
| data3: | ||
| length: 8 | ||
| data4: | ||
| length: 8 | ||
| data5: | ||
| length: 8 | ||
| data6: | ||
| length: 8 | ||
| data7: | ||
| length: 8 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| ENTRY(Reset_Handler) | ||
|
|
||
| _bootloader_size = 11K; | ||
|
|
||
| _flash_start = 0x08000000; | ||
| _flash_size = 64K; | ||
| _flash_page_size = 1K; | ||
|
|
||
| _ram_start = 0x20000000; | ||
| _ram_size = 20K; | ||
|
|
||
| _bootloader_start = _flash_start; | ||
| _application_start = _bootloader_start + _bootloader_size; | ||
|
|
||
| _application_size = _flash_size - (_application_start - _flash_start); | ||
|
|
||
| _vector_table_size = 0xEC; /* used for relocating the vector table to RAM for the application */ | ||
|
|
||
| /* TODO: explicitly set aside the last page for calib */ | ||
|
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||
| MEMORY | ||
| { | ||
| BOOTLOADER (rx) : ORIGIN = _flash_start, LENGTH = _bootloader_size | ||
| APPLICATION (rx) : ORIGIN = _application_start, LENGTH = _application_size | ||
| RAM (rwx) : ORIGIN = _ram_start, LENGTH = _ram_size | ||
| } | ||
|
|
||
| /* highest address of the user mode stack */ | ||
| _estack = _ram_start + _ram_size; |
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platform/linker_scripts/bootloader/sections_flash_application.ld
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,141 @@ | ||
| /* | ||
| Linker subscript for section definitions for the bootloaded application. | ||
| See https://uwmidsun.atlassian.net/l/c/mHxmqjvn for more information. | ||
| */ | ||
|
|
||
| SECTIONS | ||
| { | ||
| /* The vector table stored at .isr_vector must end up at the beginning of the application flash. | ||
| This isn't at address 0, but the bootloader will set the vector table here when jumping to the | ||
| application's reset handler. */ | ||
| .isr_vector : | ||
| { | ||
| . = ALIGN(4); | ||
| KEEP(*(.isr_vector)) /* Startup code */ | ||
| . = ALIGN(4); | ||
| } >APPLICATION | ||
|
|
||
| /* application program code is stored in the .text section, which goes to application flash */ | ||
| .text : | ||
| { | ||
| . = ALIGN(4); | ||
| *(.hardfault) /* Hardfault handlers */ | ||
| *(.text) /* normal code */ | ||
| *(.text.*) /* -ffunction-sections code */ | ||
| *(.rodata) /* read-only data (constants) */ | ||
| *(.rodata*) /* -fdata-sections read only data */ | ||
| *(.glue_7) /* TBD - needed ? */ | ||
| *(.glue_7t) /* TBD - needed ? */ | ||
|
|
||
| /* Necessary KEEP sections (see http://sourceware.org/ml/newlib/2005/msg00255.html) */ | ||
| KEEP (*(.init)) | ||
| KEEP (*(.fini)) | ||
|
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||
| . = ALIGN(4); | ||
| _etext = .; | ||
| /* This is used by the startup in order to initialize the .data section */ | ||
| _sidata = _etext; | ||
| } >APPLICATION | ||
|
|
||
| /* Dummy section to provide an offset for the vector table at the start of RAM. | ||
| The bootloader relocates the vector table to the start of RAM, so the .data section needs to start | ||
| after the vector table. This phony section increments the RAM counter to accomplish this. */ | ||
| .data_phony : AT ( _sidata ) | ||
| { | ||
| . += _vector_table_size; | ||
| } >RAM | ||
|
|
||
| /* This is the initialized data section | ||
| The program executes knowing that the data is in the RAM | ||
| but the loader puts the initial values in the APPLICATION flash. | ||
| It is one task of the startup to copy the initial values from flash to RAM. */ | ||
| .data : AT ( _sidata ) | ||
| { | ||
| . = ALIGN(4); | ||
| /* This is used by the startup in order to initialize the .data secion */ | ||
| _sdata = .; | ||
| _data = .; | ||
|
|
||
| *(.data) | ||
| *(.data.*) | ||
| *(.RAMtext) | ||
|
|
||
| . = ALIGN(4); | ||
| /* This is used by the startup in order to initialize the .data secion */ | ||
| _edata = .; | ||
| } >RAM | ||
|
|
||
| /* This is the uninitialized data section */ | ||
| .bss : | ||
| { | ||
| . = ALIGN(4); | ||
| /* This is used by the startup in order to initialize the .bss secion */ | ||
| _sbss = .; | ||
| __bss_start__ = .; | ||
| _bss = .; | ||
| *(.bss) | ||
| *(.bss.*) /* patched by elias - allows the use of -fdata-sections */ | ||
| *(COMMON) | ||
|
|
||
| . = ALIGN(4); | ||
| /* This is used by the startup in order to initialize the .bss secion */ | ||
| _ebss = . ; | ||
| __bss_end__ = .; | ||
| } >RAM | ||
|
|
||
| .eh_frame : | ||
| { | ||
| . = ALIGN(4); | ||
| KEEP (*(.eh_frame)) | ||
| } >RAM | ||
|
|
||
| PROVIDE ( end = _ebss ); | ||
| PROVIDE ( _end = _ebss ); | ||
|
|
||
| __exidx_start = .; | ||
| __exidx_end = .; | ||
|
|
||
| /* after that it's only debugging information. */ | ||
|
|
||
| /* remove the debugging information from the standard libraries */ | ||
| /DISCARD/ : | ||
| { | ||
| libc.a ( * ) | ||
| libm.a ( * ) | ||
| libgcc.a ( * ) | ||
| } | ||
|
|
||
| /* Stabs debugging sections. */ | ||
| .stab 0 : { *(.stab) } | ||
| .stabstr 0 : { *(.stabstr) } | ||
| .stab.excl 0 : { *(.stab.excl) } | ||
| .stab.exclstr 0 : { *(.stab.exclstr) } | ||
| .stab.index 0 : { *(.stab.index) } | ||
| .stab.indexstr 0 : { *(.stab.indexstr) } | ||
| .comment 0 : { *(.comment) } | ||
| /* DWARF debug sections. | ||
| Symbols in the DWARF debugging sections are relative to the beginning | ||
| of the section so we begin them at 0. */ | ||
| /* DWARF 1 */ | ||
| .debug 0 : { *(.debug) } | ||
| .line 0 : { *(.line) } | ||
| /* GNU DWARF 1 extensions */ | ||
| .debug_srcinfo 0 : { *(.debug_srcinfo) } | ||
| .debug_sfnames 0 : { *(.debug_sfnames) } | ||
| /* DWARF 1.1 and DWARF 2 */ | ||
| .debug_aranges 0 : { *(.debug_aranges) } | ||
| .debug_pubnames 0 : { *(.debug_pubnames) } | ||
| /* DWARF 2 */ | ||
| .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } | ||
| .debug_abbrev 0 : { *(.debug_abbrev) } | ||
| .debug_line 0 : { *(.debug_line) } | ||
| .debug_frame 0 : { *(.debug_frame) } | ||
| .debug_str 0 : { *(.debug_str) } | ||
| .debug_loc 0 : { *(.debug_loc) } | ||
| .debug_macinfo 0 : { *(.debug_macinfo) } | ||
| /* SGI/MIPS DWARF 2 extensions */ | ||
| .debug_weaknames 0 : { *(.debug_weaknames) } | ||
| .debug_funcnames 0 : { *(.debug_funcnames) } | ||
| .debug_typenames 0 : { *(.debug_typenames) } | ||
| .debug_varnames 0 : { *(.debug_varnames) } | ||
| } |
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