Merging Colin's master branch, including a couple of fixes.

.gitignore

@@ -11,6 +11,7 @@ docs/html
 *.pyc
 *.gcno
 *.gcda
+*.swp
 libswiftnav/lcov
 /tags
 /libopencm3_for_ctags

Makefile

@@ -14,14 +14,18 @@ else
 	MAKEFLAGS += PRN=$(PRN)
 endif
 
-.PHONY: all tests firmware docs
+.PHONY: all tests firmware bootloader docs
 
-all: firmware tests
+all: firmware bootloader tests
 
 firmware:
 	@printf "BUILD   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS)
 
+bootloader:
+	@printf "BUILD   bootloader\n"; \
+	$(MAKE) -C bootloader $(MAKEFLAGS)
+
 tests:
 	$(Q)for i in tests/*; do \
 		if [ -d $$i ]; then \
@@ -32,6 +36,8 @@ tests:
 
 clean:
 	@printf "CLEAN   src\n"; \
+	$(MAKE) -C bootloader $(MAKEFLAGS) clean
+	@printf "CLEAN   bootloader\n"; \
 	$(MAKE) -C src $(MAKEFLAGS) clean
 	$(Q)for i in tests/*; do \
 		if [ -d $$i ]; then \

bootloader/Makefile

@@ -0,0 +1,19 @@
+BINARY = bootloader
+
+OBJS = bootloader.o \
+       ../src/debug.o \
+       ../src/settings.o \
+       ../src/error.o \
+       ../src/hw/usart.o \
+       ../src/hw/usart_rx.o \
+       ../src/hw/usart_tx.o \
+       ../src/hw/leds.o \
+       ../src/hw/stm_flash.o \
+
+CFLAGS += -I../src/
+
+SWIFTNAV_ROOT ?= ..
+
+LDSCRIPT ?= $(SWIFTNAV_ROOT)/bootloader/bootloader.ld
+
+include $(SWIFTNAV_ROOT)/stm32/Makefile.include

bootloader/README

@@ -0,0 +1,4 @@
+Use stm32_flash.py (in scripts directory) to upload new firmware using 
+the bootloader, via
+
+  "./stm32flash.py [filename.bin]"

bootloader/bootloader.c

@@ -0,0 +1,132 @@
+/*
+ * bootloader for the Swift Navigation Piksi GPS Receiver
+ *
+ * Copyright (C) 2010 Gareth McMullin <[email protected]>
+ * Copyright (C) 2011 Piotr Esden-Tempski <[email protected]>
+ * Copyright (C) 2013 Swift Navigation Inc <www.swift-nav.com>
+ *
+ * Contact: Colin Beighley <[email protected]>
+ *
+ * Based on luftboot, a bootloader for the Paparazzi UAV project.
+ *
+ * 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/>.
+ */
+
+#include <stdio.h>
+#include <libopencm3/cm3/scb.h>
+
+#include "main.h"
+#include "hw/leds.h"
+#include "debug.h"
+#include "hw/stm_flash.h"
+#include "hw/usart.h"
+
+#define APP_ADDRESS	0x08010000
+#define STACK_ADDRESS 0x10010000
+
+u8 pc_wants_bootload = 0;
+u8 current_app_valid = 0;
+
+void jump_to_app_callback(u8 buff[] __attribute__((unused))){
+  /* Disable peripherals used in the bootloader */
+  debug_disable();
+  /* Set vector table base address */
+  SCB_VTOR = APP_ADDRESS & 0x1FFFFF00;
+  /* Initialise master stack pointer */
+  asm volatile ("msr msp, %0"::"g"(*(volatile u32*)APP_ADDRESS));
+  /* Jump to application */
+  (*(void(**)())(APP_ADDRESS + 4))();
+}
+
+void pc_wants_bootload_callback(u8 buff[] __attribute__((unused))){
+  pc_wants_bootload = 1;
+}
+
+int main(void)
+{
+  /* Setup and turn on LEDs */
+  led_setup();
+  led_on(LED_GREEN);
+  led_on(LED_RED);
+
+  /* Setup UART and debug interface for
+   * transmitting and receiving callbacks */
+  debug_setup();
+
+  /* Add callbacks for erasing, programming and reading flash */
+  stm_flash_callbacks_setup();
+
+  /* Add callback for jumping to application after bootloading is finished */
+  static msg_callbacks_node_t jump_to_app_node;
+  debug_register_callback(MSG_JUMP_TO_APP, &jump_to_app_callback,
+    &jump_to_app_node);
+
+  /* Add callback for PC to tell bootloader it wants to load program */
+  static msg_callbacks_node_t pc_wants_bootload_node;
+  debug_register_callback(MSG_BOOTLOADER_HANDSHAKE,&pc_wants_bootload_callback,
+    &pc_wants_bootload_node);
+
+	/* rom (rx) : ORIGIN = 0x08010000, LENGTH = 896K */
+  /* Send message to PC indicating bootloader is ready to load program */
+  debug_send_msg(MSG_BOOTLOADER_HANDSHAKE,0,0);
+
+  /* Is current application we are programmed with valid? Check this
+   * by seeing if the first address of the application contains the
+   * correct stack address */
+  current_app_valid = (*(volatile u32*)APP_ADDRESS == STACK_ADDRESS) ? 1:0;
+
+  /*
+   * Wait a bit for response from PC. If it doesn't respond by calling
+   * pc_wants_bootload_callback and we have a valid application,
+   * then boot the application
+   * TODO : might as well make this as long as FPGA takes to configure itself
+   *        from the configuration flash, as it doesn't add to the startup time
+   */
+	for (u64 i=0; i<100000; i++){
+    DO_EVERY(3000,
+      led_toggle(LED_GREEN);
+      led_toggle(LED_RED);
+      debug_send_msg(MSG_BOOTLOADER_HANDSHAKE,0,0);
+    );
+    debug_process_messages(); /* to service pc_wants_bootload_callback */
+    if (pc_wants_bootload) break;
+  }
+  if ((pc_wants_bootload) || !(current_app_valid)){
+    /*
+     * We expect PC application passing application data to call
+     * jump_to_app_callback to break us out of this while loop after it has
+     * finished sending flash programming callbacks
+     */
+    while(1){
+      debug_process_messages();
+      DO_EVERY(50000,
+        DO_EVERY(2,
+          led_toggle(LED_GREEN);
+        );
+        led_toggle(LED_RED);
+        /*
+         * In case PC application was started after we entered the loop. It
+         * is expecting to get a bootloader handshake message before it will
+         * send flash programming callbacks
+         */
+        debug_send_msg(MSG_BOOTLOADER_HANDSHAKE,0,0);
+      );
+    }
+  }
+
+  /* Looks like the PC didn't want to update - boot the existing application */
+  jump_to_app_callback(NULL);
+
+  return 0;
+}

bootloader/bootloader.ld

@@ -0,0 +1,47 @@
+/*
+ * bootloader for the Swift Navigation Piksi GPS Receiver
+ * 
+ * Copyright (C) 2013 Swift Navigation Inc <www.swift-nav.com>
+ *
+ * Contacts: Fergus Noble <[email protected]>
+ *           Colin Beighley <[email protected]>
+ *
+ * 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/>.
+ */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
+	settings_flash (r) : ORIGIN = 0x080E0000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+  /* STM32F4 Core Coupled Memory, not accesible by peripherals or DMA. */
+  ccm (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f4.ld
+
+SECTIONS {
+  _stack_size = 65536;
+  _stack = ORIGIN(ccm)+LENGTH(ccm);
+  _stack_begin = _stack - _stack_size;
+
+  .settings_area : {
+    _settings_area = .;
+    *(.settings_area*)
+    _esettings_area = .;
+  } > settings_flash
+
+}

scripts/flash.py → scripts/m25_flash.py

@@ -36,7 +36,7 @@ def roundup_multiple(x, multiple):
 def rounddown_multiple(x, multiple):
   return x if x % multiple == 0 else x - x % multiple
 
-class Flash(Thread):
+class M25_flash(Thread):
   _flash_ready = Event()
   _command_queue = []
   _wants_to_exit = False
@@ -48,7 +48,7 @@ class Flash(Thread):
   _rd_cb_data = []
 
   def __init__(self, link):
-    super(Flash, self).__init__()
+    super(M25_flash, self).__init__()
     self._flash_ready.set()
     self.link = link
     self.link.add_callback(0xF0, self._flash_done_callback)
@@ -209,7 +209,7 @@ def write_ihx(self, filename):
   #Create SerialLink and Flash objects
   link = serial_link.SerialLink(port=serial_port)
   link.add_callback(serial_link.MSG_PRINT, serial_link.default_print_callback)
-  piksi_flash = Flash(link)
+  piksi_flash = M25_flash(link)
   piksi_flash.start()
   #Write configuration file to FPGA's flash
   piksi_flash.write_ihx(flash_file)

scripts/serial_link.py

@@ -80,10 +80,10 @@ def get_message(self):
             break
           else:
             self.unhandled_bytes += 1
-            print "Total unhandled bytes =", self.unhandled_bytes
+            print "Unhandled byte : 0x%02x," % ord(magic), "total", self.unhandled_bytes
         else:
           self.unhandled_bytes += 1
-          print "Total unhandled bytes =", self.unhandled_bytes
+          print "Unhandled byte : 0x%02x," % ord(magic), "total", self.unhandled_bytes
     msg_type = ord(self.ser.read(1))
     msg_len = ord(self.ser.read(1))
     data = ""