op_dfu.c

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/*
 * 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; either version 3 of the License, or
 * (at your option) any later version.
 *
 * 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, see <http://www.gnu.org/licenses/>
 */

/* Includes ------------------------------------------------------------------*/
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
//programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;

DFUProgType currentProgrammingDestination; //flash, flash_trough spi
uint8_t currentDeviceCanRead;
uint8_t currentDeviceCanWrite;
Device currentDevice;

uint8_t Buffer[64];
uint8_t echoBuffer[64];
uint8_t SendBuffer[64];
uint8_t Command = 0;
uint8_t EchoReqFlag = 0;
uint8_t EchoAnsFlag = 0;
uint8_t StartFlag = 0;
uint32_t Aditionals = 0;
uint32_t SizeOfTransfer = 0;
uint32_t Expected_CRC = 0;
uint8_t SizeOfLastPacket = 0;
uint32_t Next_Packet = 0;
uint8_t TransferType;
uint32_t Count = 0;
uint32_t Data;
uint8_t Data0;
uint8_t Data1;
uint8_t Data2;
uint8_t Data3;
uint8_t offset = 0;
uint32_t aux;
//Download vars
uint32_t downSizeOfLastPacket = 0;
uint32_t downPacketTotal = 0;
uint32_t downPacketCurrent = 0;
DFUTransfer downType = 0;
/* Extern variables ----------------------------------------------------------*/
extern DFUStates DeviceState;
extern uint8_t JumpToApp;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
void sendData(uint8_t * buf, uint16_t size);
uint32_t CalcFirmCRC(void);

void DataDownload(DownloadAction action) {
        if ((DeviceState == downloading)) {

                uint8_t packetSize;
                uint32_t offset;
                uint32_t partoffset;
                SendBuffer[0] = 0x01;
                SendBuffer[1] = Download;
                SendBuffer[2] = downPacketCurrent >> 24;
                SendBuffer[3] = downPacketCurrent >> 16;
                SendBuffer[4] = downPacketCurrent >> 8;
                SendBuffer[5] = downPacketCurrent;
                if (downPacketCurrent == downPacketTotal - 1) {
                        packetSize = downSizeOfLastPacket;
                } else {
                        packetSize = 14;
                }
                for (uint8_t x = 0; x < packetSize; ++x) {
                        partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
                        offset = baseOfAdressType(downType) + partoffset;
                        if (!flash_read(SendBuffer + (6 + x * 4), offset,
                                        currentProgrammingDestination)) {
                                DeviceState = Last_operation_failed;
                        }
                }
                downPacketCurrent = downPacketCurrent + 1;
                if (downPacketCurrent > downPacketTotal - 1) {
                        DeviceState = Last_operation_Success;
                        Aditionals = (uint32_t) Download;
                }
                sendData(SendBuffer + 1, 63);
        }
}
void processComand(uint8_t *xReceive_Buffer) {

        Command = xReceive_Buffer[COMMAND];
#ifdef DEBUG_SSP
        char str[63]= {0};
        sprintf(str,"Received COMMAND:%d|",Command);
        PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
        EchoReqFlag = (Command >> 7);
        EchoAnsFlag = (Command >> 6) & 0x01;
        StartFlag = (Command >> 5) & 0x01;
        Count = xReceive_Buffer[COUNT] << 24;
        Count += xReceive_Buffer[COUNT + 1] << 16;
        Count += xReceive_Buffer[COUNT + 2] << 8;
        Count += xReceive_Buffer[COUNT + 3];

        Data = xReceive_Buffer[DATA] << 24;
        Data += xReceive_Buffer[DATA + 1] << 16;
        Data += xReceive_Buffer[DATA + 2] << 8;
        Data += xReceive_Buffer[DATA + 3];
        Data0 = xReceive_Buffer[DATA];
        Data1 = xReceive_Buffer[DATA + 1];
        Data2 = xReceive_Buffer[DATA + 2];
        Data3 = xReceive_Buffer[DATA + 3];
        Command = Command & 0b00011111;

        if (EchoReqFlag == 1) {
                memcpy(echoBuffer, Buffer, 64);
        }
        switch (Command) {
        case EnterDFU:
                if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
                                || (DeviceState == DFUidle)) {
                        if (Data0 > 0)
                                OPDfuIni(true);
                        DeviceState = DFUidle;
                        currentProgrammingDestination = devicesTable[Data0].programmingType;
                        currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
                        currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
                                        & 0x01;
                        currentDevice = devicesTable[Data0];
                        uint8_t result = 0;
                        switch (currentProgrammingDestination) {
                        case Self_flash:
                                result = PIOS_BL_HELPER_FLASH_Ini();
                                break;
                        case Remote_flash_via_spi:
                                result = true;
                                break;
                        default:
                                DeviceState = Last_operation_failed;
                                Aditionals = (uint16_t) Command;
                        }
                        if (result != 1) {
                                DeviceState = Last_operation_failed;
                                Aditionals = (uint32_t) Command;
                        }
                }
                break;
        case Upload:
                if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
                        if ((StartFlag == 1) && (Next_Packet == 0)) {
                                TransferType = Data0;
                                SizeOfTransfer = Count;
                                Next_Packet = 1;
                                Expected_CRC = Data2 << 24;
                                Expected_CRC += Data3 << 16;
                                Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
                                Expected_CRC += xReceive_Buffer[DATA + 5];
                                SizeOfLastPacket = Data1;

                                if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
                                                * 14 * 4 + SizeOfLastPacket * 4) == true) {
                                        DeviceState = outsideDevCapabilities;
                                        Aditionals = (uint32_t) Command;
                                } else {
                                        uint8_t result = 1;
                                        if (TransferType == FW) {
                                                switch (currentProgrammingDestination) {
                                                case Self_flash:
                                                        result = PIOS_BL_HELPER_FLASH_Start();
                                                        break;
                                                case Remote_flash_via_spi:
                                                        result = false;
                                                        break;
                                                default:
                                                        break;
                                                }
                                        }
                                        if (result != 1) {
                                                DeviceState = Last_operation_failed;
                                                Aditionals = (uint32_t) Command;
                                        } else {

                                                DeviceState = uploading;
                                        }
                                }
                        } else if ((StartFlag != 1) && (Next_Packet != 0)) {
                                if (Count > SizeOfTransfer) {
                                        DeviceState = too_many_packets;
                                        Aditionals = Count;
                                } else if (Count == Next_Packet - 1) {
                                        uint8_t numberOfWords = 14;
                                        if (Count == SizeOfTransfer - 1)//is this the last packet?
                                        {
                                                numberOfWords = SizeOfLastPacket;
                                        }
                                        uint8_t result = 0;
                                        switch (currentProgrammingDestination) {
                                        case Self_flash:
                                                for (uint8_t x = 0; x < numberOfWords; ++x) {
                                                        offset = 4 * x;
                                                        Data = xReceive_Buffer[DATA + offset] << 24;
                                                        Data += xReceive_Buffer[DATA + 1 + offset] << 16;
                                                        Data += xReceive_Buffer[DATA + 2 + offset] << 8;
                                                        Data += xReceive_Buffer[DATA + 3 + offset];
                                                        aux = baseOfAdressType(TransferType) + (uint32_t)(
                                                                        Count * 14 * 4 + x * 4);
                                                        result = 0;
                                                        for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
                                                                if (result == 0) {
                                                                        result = (FLASH_ProgramWord(aux, Data)
                                                                                        == FLASH_COMPLETE) ? 1 : 0;
                                                                }
                                                        }
                                                }
                                                break;
                                        case Remote_flash_via_spi:
                                                result = false; // No support for this for the PipX
                                                break;
                                        default:
                                                result = 0;
                                                break;
                                        }
                                        if (result != 1) {
                                                DeviceState = Last_operation_failed;
                                                Aditionals = (uint32_t) Command;
                                        }

                                        ++Next_Packet;
                                } else {
                                        DeviceState = wrong_packet_received;
                                        Aditionals = Count;
                                }
                        } else {
                                DeviceState = Last_operation_failed;
                                Aditionals = (uint32_t) Command;
                        }
                }
                break;
        case Req_Capabilities:
                OPDfuIni(true);
                Buffer[0] = 0x01;
                Buffer[1] = Rep_Capabilities;
                if (Data0 == 0) {
                        Buffer[2] = 0;
                        Buffer[3] = 0;
                        Buffer[4] = 0;
                        Buffer[5] = 0;
                        Buffer[6] = 0;
                        Buffer[7] = numberOfDevices;
                        uint16_t WRFlags = 0;
                        for (int x = 0; x < numberOfDevices; ++x) {
                                WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
                                                | WRFlags);
                        }
                        Buffer[8] = WRFlags >> 8;
                        Buffer[9] = WRFlags;
                } else {
                        Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
                        Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
                        Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
                        Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
                        Buffer[6] = Data0;
                        Buffer[7] = devicesTable[Data0 - 1].BL_Version;
                        Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
                        Buffer[9] = devicesTable[Data0 - 1].devID;
                        Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
                        Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
                        Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
                        Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
                        Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
                        Buffer[15] = devicesTable[Data0 - 1].devID;
                }
                sendData(Buffer + 1, 63);
                break;
        case JumpFW:
                if ((Data & 0xFFFF) == 0x5AFE) {
                        /* Force board into safe mode */
                        PIOS_IAP_WriteBootCount(0xFFFF);
                }
                FLASH_Lock();
                JumpToApp = 1;
                break;
        case Reset:
                PIOS_SYS_Reset();
                break;
        case Abort_Operation:
                Next_Packet = 0;
                DeviceState = DFUidle;
                break;

        case Op_END:
                if (DeviceState == uploading) {
                        if (Next_Packet - 1 == SizeOfTransfer) {
                                Next_Packet = 0;
                                if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
                                        DeviceState = Last_operation_Success;
                                } else {
                                        DeviceState = CRC_Fail;
                                }
                        }
                        if (Next_Packet - 1 < SizeOfTransfer) {
                                Next_Packet = 0;
                                DeviceState = too_few_packets;
                        }
                }
                break;
        case Download_Req:
#ifdef DEBUG_SSP
                sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
                PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
                if (DeviceState == DFUidle) {
#ifdef DEBUG_SSP
                        PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
#endif
                        downType = Data0;
                        downPacketTotal = Count;
                        downSizeOfLastPacket = Data1;
                        if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
                                        + downSizeOfLastPacket) == 1) {
                                DeviceState = outsideDevCapabilities;
                                Aditionals = (uint32_t) Command;

                        } else {
                                downPacketCurrent = 0;
                                DeviceState = downloading;
                        }
                } else {
                        DeviceState = Last_operation_failed;
                        Aditionals = (uint32_t) Command;
                }
                break;

        case Status_Request:
                Buffer[0] = 0x01;
                Buffer[1] = Status_Rep;
                if (DeviceState == wrong_packet_received) {
                        Buffer[2] = Aditionals >> 24;
                        Buffer[3] = Aditionals >> 16;
                        Buffer[4] = Aditionals >> 8;
                        Buffer[5] = Aditionals;
                } else {
                        Buffer[2] = 0;
                        Buffer[3] = ((uint16_t) Aditionals) >> 8;
                        Buffer[4] = ((uint16_t) Aditionals);
                        Buffer[5] = 0;
                }
                Buffer[6] = DeviceState;
                Buffer[7] = 0;
                Buffer[8] = 0;
                Buffer[9] = 0;
                sendData(Buffer + 1, 63);
                if (DeviceState == Last_operation_Success) {
                        DeviceState = DFUidle;
                }
                break;
        case Status_Rep:

                break;

        }
        if (EchoReqFlag == 1) {
                echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
                sendData(echoBuffer + 1, 63);
        }
        return;
}
void OPDfuIni(uint8_t discover) {
        const struct pios_board_info * bdinfo = &pios_board_info_blob;
        Device dev;

        dev.programmingType = Self_flash;
        dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
        dev.startOfUserCode = bdinfo->fw_base;
        dev.sizeOfCode = bdinfo->fw_size;
        dev.sizeOfDescription = bdinfo->desc_size;
        dev.BL_Version = bdinfo->bl_rev;
        dev.FW_Crc = CalcFirmCRC();
        dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
        dev.devType = bdinfo->hw_type;
        numberOfDevices = 1;
        devicesTable[0] = dev;
        if (discover) {
                //TODO check other devices trough spi or whatever
        }
}
uint32_t baseOfAdressType(DFUTransfer type) {
        switch (type) {
        case FW:
                return currentDevice.startOfUserCode;
                break;
        case Descript:
                return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
                break;
        default:

                return 0;
        }
}
uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
        switch (type) {
        case FW:
                return (size > currentDevice.sizeOfCode) ? 1 : 0;
                break;
        case Descript:
                return (size > currentDevice.sizeOfDescription) ? 1 : 0;
                break;
        default:
                return true;
        }
}

uint32_t CalcFirmCRC() {
        switch (currentProgrammingDestination) {
        case Self_flash:
                return PIOS_BL_HELPER_CRC_Memory_Calc();
                break;
        case Remote_flash_via_spi:
                return 0;
                break;
        default:
                return 0;
                break;
        }

}
void sendData(uint8_t * buf, uint16_t size) {
        PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
}

bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
        switch (type) {
        case Remote_flash_via_spi:
                return false; // We should not get this for the PipX
                break;
        case Self_flash:
                for (uint8_t x = 0; x < 4; ++x) {
                        buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
                }
                return true;
                break;
        default:
                return false;
        }
}