#include <stdio.h>
#include <math.h>
#include "inertialSenseBootLoader.h"
#include "ISConstants.h"
#include "ISUtilities.h"

Include dependency graph for inertialSenseBootLoader.c:

Go to the source code of this file.

Classes
struct	bootloader_state_t

struct	xmodem_chunk_t

Macros
#define	bootloader_max(a, b) (a > b ? a : b)

#define	bootloader_min(a, b) (a < b ? a : b)

#define	bootloader_perror(s, ...)

#define	bootloader_snprintf snprintf

#define	BOOTLOADER_TIMEOUT_DEFAULT 1000

#define	BUF_SIZE 100

#define	BUFFER_SIZE 1024

#define	CRC_POLY 0x1021

#define	ENABLE_HEX_BOOT_LOADER 1

#define	FLASH_PAGE_SIZE 65536

#define	MAX_SEND_COUNT 510

#define	MAX_VERIFY_CHUNK_SIZE 1024

#define	SAM_BA_BAUDRATE 115200

#define	SAM_BA_BOOTLOADER_SIZE 16384

#define	SAM_BA_FLASH_PAGE_SIZE 512

#define	SAM_BA_FLASH_START_ADDRESS 0x00400000

#define	X_ACK 0x06

#define	X_CAN 0x18

#define	X_EOT 0x04

#define	X_NAK 0x15

#define	X_SOH 0x01

#define	XMODEM_PAYLOAD_SIZE 128

Functions
static int	bootloaderBeginProgramForCurrentPage (serial_port_t *s, int startOffset, int endOffset)

static int	bootloaderChecksum (int checkSum, unsigned char *ptr, int start, int end, int checkSumPosition, int finalCheckSum)

int	bootloaderClosestBaudRate (int baudRate)

int	bootloaderCycleBaudRate (int baudRate)

static int	bootloaderDownloadData (serial_port_t *s, int startOffset, int endOffset)

static int	bootloaderEraseFlash (serial_port_t *s)

static int	bootloaderFillCurrentPage (serial_port_t s, int currentPage, int currentOffset, int totalBytes, int *verifyCheckSum)

static int	bootloaderHandshake (bootload_params_t *p)

static int	bootloaderNegotiateVersion (bootloader_state_t *state)

static int	bootloaderProcessBinFile (FILE file, bootload_params_t p)

static int	bootloaderProcessHexFile (FILE file, bootloader_state_t state)

static int	bootloaderReadLine (FILE *file, char line[1024])

static void	bootloaderRestart (serial_port_t *s)

static void	bootloaderRestartAssist (serial_port_t *s)

static int	bootloaderSelectPage (serial_port_t *s, int page)

static int	bootloaderSync (serial_port_t *s)

static int	bootloaderUploadHexData (serial_port_t s, unsigned char hexData, int charCount, int currentOffset, int currentPage, int totalBytes, int verifyCheckSum)

static int	bootloaderUploadHexDataPage (serial_port_t s, unsigned char hexData, int byteCount, int currentOffset, int totalBytes, int *verifyCheckSum)

static int	bootloaderVerify (int lastPage, int checkSum, bootloader_state_t *state)

int	bootloadFile (serial_port_t port, const char fileName, const char bootName, const void obj, pfnBootloadProgress uploadProgress, pfnBootloadProgress verifyProgress)

int	bootloadFileEx (bootload_params_t *params)

static int	bootloadFileInternal (FILE file, bootload_params_t p)

int	bootloadGetBootloaderVersionFromFile (const char bootName, int verMajor, char *verMinor)

static void	bootloadGetVersion (serial_port_t s, int major, char minor, int sambaAvaliable)

int	bootloadUpdateBootloader (serial_port_t port, const char fileName, const void *obj, pfnBootloadProgress uploadProgress, pfnBootloadProgress verifyProgress)

int	bootloadUpdateBootloaderEx (bootload_params_t *p)

static int	bootloadUpdateBootloaderSendFile (bootload_params_t *p)

static uint16_t	crc16 (uint8_t *data, uint16_t size)

static uint16_t	crc_update (uint16_t crc_in, int incr)

int	disableBootloader (serial_port_t port, char error, int errorLength)

static int	disableBootloaderInternal (serial_port_t port, char error, int errorLength, int baud)

int	enableBootloader (serial_port_t port, int baudRate, char error, int errorLength, const char *bootloadEnableCmd)

static int	samBaFlashEraseWritePage (serial_port_t *port, size_t offset, unsigned char buf[SAM_BA_FLASH_PAGE_SIZE], int isUSB)

static uint32_t	samBaFlashWaitForReady (serial_port_t *port)

static uint32_t	samBaReadWord (serial_port_t *port, uint32_t address)

static int	samBaSetBootFromFlash (serial_port_t *port)

static int	samBaSoftReset (serial_port_t *port)

static int	samBaVerify (serial_port_t port, uint32_t checksum, const void obj, pfnBootloadProgress verifyProgress)

static int	samBaWriteWord (serial_port_t *port, uint32_t address, uint32_t value)

static int	serialPortOpenInternal (serial_port_t s, int baudRate, char error, int errorLength)

static int	xModemSend (serial_port_t s, uint8_t buf, size_t len)

Variables
static const unsigned char	hexLookupTable [16] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' }

static const int	s_baudRateList [] = { IS_BAUD_RATE_BOOTLOADER, IS_BAUD_RATE_BOOTLOADER_LEGACY, IS_BAUD_RATE_BOOTLOADER_RS232, IS_BAUD_RATE_BOOTLOADER_SLOW }

Macro Definition Documentation

◆ bootloader_max

#define bootloader_max	(	a,
		b
	)	(a > b ? a : b)

Definition at line 79 of file inertialSenseBootLoader.c.

◆ bootloader_min

#define bootloader_min	(	a,
		b
	)	(a < b ? a : b)

Definition at line 78 of file inertialSenseBootLoader.c.

◆ bootloader_perror

#define bootloader_perror	(	s,
		...
	)

Value:

if ((s)->error != 0 && BOOTLOADER_ERROR_LENGTH > 0) \
    { \
        bootloader_snprintf((s)->error + strlen((s)->error), BOOTLOADER_ERROR_LENGTH - strlen((s)->error), __VA_ARGS__); \
    }

Definition at line 72 of file inertialSenseBootLoader.c.

◆ bootloader_snprintf

#define bootloader_snprintf snprintf

Definition at line 68 of file inertialSenseBootLoader.c.

◆ BOOTLOADER_TIMEOUT_DEFAULT

#define BOOTLOADER_TIMEOUT_DEFAULT 1000

Definition at line 22 of file inertialSenseBootLoader.c.

◆ BUF_SIZE

#define BUF_SIZE 100

◆ BUFFER_SIZE

#define BUFFER_SIZE 1024

◆ CRC_POLY

#define CRC_POLY 0x1021

Definition at line 33 of file inertialSenseBootLoader.c.

◆ ENABLE_HEX_BOOT_LOADER

#define ENABLE_HEX_BOOT_LOADER 1

Definition at line 19 of file inertialSenseBootLoader.c.

◆ FLASH_PAGE_SIZE

#define FLASH_PAGE_SIZE 65536

Definition at line 37 of file inertialSenseBootLoader.c.

◆ MAX_SEND_COUNT

#define MAX_SEND_COUNT 510

Definition at line 20 of file inertialSenseBootLoader.c.

◆ MAX_VERIFY_CHUNK_SIZE

#define MAX_VERIFY_CHUNK_SIZE 1024

Definition at line 21 of file inertialSenseBootLoader.c.

◆ SAM_BA_BAUDRATE

#define SAM_BA_BAUDRATE 115200

Definition at line 23 of file inertialSenseBootLoader.c.

◆ SAM_BA_BOOTLOADER_SIZE

#define SAM_BA_BOOTLOADER_SIZE 16384

Definition at line 26 of file inertialSenseBootLoader.c.

◆ SAM_BA_FLASH_PAGE_SIZE

#define SAM_BA_FLASH_PAGE_SIZE 512

Definition at line 24 of file inertialSenseBootLoader.c.

◆ SAM_BA_FLASH_START_ADDRESS

#define SAM_BA_FLASH_START_ADDRESS 0x00400000

Definition at line 25 of file inertialSenseBootLoader.c.

◆ X_ACK

#define X_ACK 0x06

Definition at line 30 of file inertialSenseBootLoader.c.

◆ X_CAN

#define X_CAN 0x18

Definition at line 32 of file inertialSenseBootLoader.c.

◆ X_EOT

#define X_EOT 0x04

Definition at line 29 of file inertialSenseBootLoader.c.

◆ X_NAK

#define X_NAK 0x15

Definition at line 31 of file inertialSenseBootLoader.c.

◆ X_SOH

#define X_SOH 0x01

Definition at line 28 of file inertialSenseBootLoader.c.

◆ XMODEM_PAYLOAD_SIZE

#define XMODEM_PAYLOAD_SIZE 128

Definition at line 34 of file inertialSenseBootLoader.c.

Function Documentation

◆ bootloaderBeginProgramForCurrentPage()

static int bootloaderBeginProgramForCurrentPage	(	serial_port_t *	s,
		int	startOffset,
		int	endOffset
	)

static

Definition at line 369 of file inertialSenseBootLoader.c.

◆ bootloaderChecksum()

static int bootloaderChecksum	(	int	checkSum,
		unsigned char *	ptr,
		int	start,
		int	end,
		int	checkSumPosition,
		int	finalCheckSum
	)

static

Definition at line 298 of file inertialSenseBootLoader.c.

◆ bootloaderClosestBaudRate()

int bootloaderClosestBaudRate ( int baudRate )

Definition at line 221 of file inertialSenseBootLoader.c.

◆ bootloaderCycleBaudRate()

int bootloaderCycleBaudRate ( int baudRate )

Definition at line 203 of file inertialSenseBootLoader.c.

◆ bootloaderDownloadData()

static int bootloaderDownloadData	(	serial_port_t *	s,
		int	startOffset,
		int	endOffset
	)

static

Definition at line 543 of file inertialSenseBootLoader.c.

◆ bootloaderEraseFlash()

static int bootloaderEraseFlash ( serial_port_t * s )

static

Definition at line 327 of file inertialSenseBootLoader.c.

◆ bootloaderFillCurrentPage()

static int bootloaderFillCurrentPage	(	serial_port_t *	s,
		int *	currentPage,
		int *	currentOffset,
		int *	totalBytes,
		int *	verifyCheckSum
	)

static

Definition at line 516 of file inertialSenseBootLoader.c.

◆ bootloaderHandshake()

static int bootloaderHandshake ( bootload_params_t * p )

static

Definition at line 1112 of file inertialSenseBootLoader.c.

◆ bootloaderNegotiateVersion()

static int bootloaderNegotiateVersion ( bootloader_state_t * state )

static

Definition at line 236 of file inertialSenseBootLoader.c.

◆ bootloaderProcessBinFile()

static int bootloaderProcessBinFile	(	FILE *	file,
		bootload_params_t *	p
	)

static

Definition at line 912 of file inertialSenseBootLoader.c.

◆ bootloaderProcessHexFile()

static int bootloaderProcessHexFile	(	FILE *	file,
		bootloader_state_t *	state
	)

static

Definition at line 717 of file inertialSenseBootLoader.c.

◆ bootloaderReadLine()

static int bootloaderReadLine	(	FILE *	file,
		char	line[1024]
	)

static

Definition at line 388 of file inertialSenseBootLoader.c.

◆ bootloaderRestart()

static void bootloaderRestart ( serial_port_t * s )

static

Definition at line 1080 of file inertialSenseBootLoader.c.

◆ bootloaderRestartAssist()

static void bootloaderRestartAssist ( serial_port_t * s )

static

Definition at line 1069 of file inertialSenseBootLoader.c.

◆ bootloaderSelectPage()

static int bootloaderSelectPage	(	serial_port_t *	s,
		int	page
	)

static

Definition at line 353 of file inertialSenseBootLoader.c.

◆ bootloaderSync()

static int bootloaderSync ( serial_port_t * s )

static

Definition at line 1089 of file inertialSenseBootLoader.c.

◆ bootloaderUploadHexData()

static int bootloaderUploadHexData	(	serial_port_t *	s,
		unsigned char *	hexData,
		int	charCount,
		int *	currentOffset,
		int *	currentPage,
		int *	totalBytes,
		int *	verifyCheckSum
	)

static

Definition at line 471 of file inertialSenseBootLoader.c.

◆ bootloaderUploadHexDataPage()

static int bootloaderUploadHexDataPage	(	serial_port_t *	s,
		unsigned char *	hexData,
		int	byteCount,
		int *	currentOffset,
		int *	totalBytes,
		int *	verifyCheckSum
	)

static

Definition at line 421 of file inertialSenseBootLoader.c.

◆ bootloaderVerify()

static int bootloaderVerify	(	int	lastPage,
		int	checkSum,
		bootloader_state_t *	state
	)

static

Definition at line 561 of file inertialSenseBootLoader.c.

◆ bootloadFile()

int bootloadFile	(	serial_port_t *	port,
		const char *	fileName,
		const char *	bootName,
		const void *	obj,
		pfnBootloadProgress	uploadProgress,
		pfnBootloadProgress	verifyProgress
	)

Boot load a .hex or .bin file to a device

Parameters

port	the serial port to bootload to, will be opened and closed, must have port set
error	a buffer to store any error messages in - can be NULL
errorLength	the number of bytes available in error
obj	custom user object that will be passed in the callback
uploadProgress	called periodically during firmware upload - can be NULL
verifyProgress	called periodically during firmware verification - can be NULL

Returns: 0 if failure, non-zero if success

Definition at line 1489 of file inertialSenseBootLoader.c.

◆ bootloadFileEx()

int bootloadFileEx ( bootload_params_t * params )

Definition at line 1508 of file inertialSenseBootLoader.c.

◆ bootloadFileInternal()

static int bootloadFileInternal	(	FILE *	file,
		bootload_params_t *	p
	)

static

Definition at line 1184 of file inertialSenseBootLoader.c.

◆ bootloadGetBootloaderVersionFromFile()

int bootloadGetBootloaderVersionFromFile	(	const char *	bootName,
		int *	verMajor,
		char *	verMinor
	)

Retrieve the bootloader version from .bin file

Parameters

fileName	for the new bootloader .bin file
pointer	to int to store major version
pointer	to char to store minor version

Returns: 0 if failure, 1 if success

Definition at line 1590 of file inertialSenseBootLoader.c.

◆ bootloadGetVersion()

static void bootloadGetVersion	(	serial_port_t *	s,
		int *	major,
		char *	minor,
		int *	sambaAvaliable
	)

static

Definition at line 1158 of file inertialSenseBootLoader.c.

◆ bootloadUpdateBootloader()

int bootloadUpdateBootloader	(	serial_port_t *	port,
		const char *	fileName,
		const void *	obj,
		pfnBootloadProgress	uploadProgress,
		pfnBootloadProgress	verifyProgress
	)

Boot load a new bootloader .bin file to device. Device must be in application or bootloader assist mode, not bootloader mode.

Parameters

port	the serial port, must be initialized and have the port set
fileName	the new bootloader .bin file
error	a buffer to store any error messages in - can be NULL
errorLength	the number of bytes available in error
obj	custom user object that will be passed in the callback
uploadProgress	called periodically during firmware upload - can be NULL
verifyProgress	called periodically during firmware verification - can be NULL 0 if failure, non-zero if success

Definition at line 1627 of file inertialSenseBootLoader.c.

◆ bootloadUpdateBootloaderEx()

int bootloadUpdateBootloaderEx ( bootload_params_t * p )

Definition at line 1783 of file inertialSenseBootLoader.c.

◆ bootloadUpdateBootloaderSendFile()

static int bootloadUpdateBootloaderSendFile ( bootload_params_t * p )

static

Definition at line 1644 of file inertialSenseBootLoader.c.

◆ crc16()

static uint16_t crc16	(	uint8_t *	data,
		uint16_t	size
	)

static

Definition at line 105 of file inertialSenseBootLoader.c.

◆ crc_update()

static uint16_t crc_update	(	uint16_t	crc_in,
		int	incr
	)

static

Definition at line 86 of file inertialSenseBootLoader.c.

◆ disableBootloader()

int disableBootloader	(	serial_port_t *	port,
		char *	error,
		int	errorLength
	)

Disables the bootloader and goes back to program mode

the port to go back to program mode on a buffer to store any error messages - can be NULL the number of bytes available in error

Returns: 0 if failure, non-zero if success

Definition at line 1926 of file inertialSenseBootLoader.c.

◆ disableBootloaderInternal()

static int disableBootloaderInternal	(	serial_port_t *	port,
		char *	error,
		int	errorLength,
		int	baud
	)

static

Definition at line 1910 of file inertialSenseBootLoader.c.

◆ enableBootloader()

int enableBootloader	(	serial_port_t *	port,
		int	baudRate,
		char *	error,
		int	errorLength,
		const char *	bootloadEnableCmd
	)

Enable bootloader mode for a device

Parameters

port	the port to enable the bootloader on
baudRate	the baud rate to communicate with, IS_BAUD_RATE_BOOTLOADER or IS_BAUD_RATE_BOOTLOADER_RS232
error	a buffer to store any error messages - can be NULL
errorLength	the number of bytes available in error

Returns: 0 if failure, non-zero if success

Definition at line 1840 of file inertialSenseBootLoader.c.

◆ samBaFlashEraseWritePage()

static int samBaFlashEraseWritePage	(	serial_port_t *	port,
		size_t	offset,
		unsigned char	buf[SAM_BA_FLASH_PAGE_SIZE],
		int	isUSB
	)

static

Definition at line 1394 of file inertialSenseBootLoader.c.

◆ samBaFlashWaitForReady()

static uint32_t samBaFlashWaitForReady ( serial_port_t * port )

static

Definition at line 1369 of file inertialSenseBootLoader.c.

◆ samBaReadWord()

static uint32_t samBaReadWord	(	serial_port_t *	port,
		uint32_t	address
	)

static

Definition at line 1356 of file inertialSenseBootLoader.c.

◆ samBaSetBootFromFlash()

static int samBaSetBootFromFlash ( serial_port_t * port )

static

Definition at line 1384 of file inertialSenseBootLoader.c.

◆ samBaSoftReset()

static int samBaSoftReset ( serial_port_t * port )

static

Definition at line 1469 of file inertialSenseBootLoader.c.

◆ samBaVerify()

static int samBaVerify	(	serial_port_t *	port,
		uint32_t	checksum,
		const void *	obj,
		pfnBootloadProgress	verifyProgress
	)

static

Definition at line 1428 of file inertialSenseBootLoader.c.

◆ samBaWriteWord()

static int samBaWriteWord	(	serial_port_t *	port,
		uint32_t	address,
		uint32_t	value
	)

static

Definition at line 1349 of file inertialSenseBootLoader.c.

◆ serialPortOpenInternal()

static int serialPortOpenInternal	(	serial_port_t *	s,
		int	baudRate,
		char *	error,
		int	errorLength
	)

static

Definition at line 279 of file inertialSenseBootLoader.c.

◆ xModemSend()

static int xModemSend	(	serial_port_t *	s,
		uint8_t *	buf,
		size_t	len
	)

static

Definition at line 125 of file inertialSenseBootLoader.c.

Variable Documentation

◆ hexLookupTable

const unsigned char hexLookupTable[16] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' }

static

Definition at line 81 of file inertialSenseBootLoader.c.

◆ s_baudRateList

const int s_baudRateList[] = { IS_BAUD_RATE_BOOTLOADER, IS_BAUD_RATE_BOOTLOADER_LEGACY, IS_BAUD_RATE_BOOTLOADER_RS232, IS_BAUD_RATE_BOOTLOADER_SLOW }

static

Definition at line 84 of file inertialSenseBootLoader.c.

Classes

Macros

Functions

Variables

Macro Definition Documentation

◆ bootloader_max

◆ bootloader_min

◆ bootloader_perror

◆ bootloader_snprintf

◆ BOOTLOADER_TIMEOUT_DEFAULT

◆ BUF_SIZE

◆ BUFFER_SIZE

◆ CRC_POLY

◆ ENABLE_HEX_BOOT_LOADER

◆ FLASH_PAGE_SIZE

◆ MAX_SEND_COUNT

◆ MAX_VERIFY_CHUNK_SIZE

◆ SAM_BA_BAUDRATE

◆ SAM_BA_BOOTLOADER_SIZE

◆ SAM_BA_FLASH_PAGE_SIZE

◆ SAM_BA_FLASH_START_ADDRESS

◆ X_ACK

◆ X_CAN

◆ X_EOT

◆ X_NAK

◆ X_SOH

◆ XMODEM_PAYLOAD_SIZE

Function Documentation

◆ bootloaderBeginProgramForCurrentPage()

◆ bootloaderChecksum()

◆ bootloaderClosestBaudRate()

◆ bootloaderCycleBaudRate()

◆ bootloaderDownloadData()

◆ bootloaderEraseFlash()

◆ bootloaderFillCurrentPage()

◆ bootloaderHandshake()

◆ bootloaderNegotiateVersion()

◆ bootloaderProcessBinFile()

◆ bootloaderProcessHexFile()

◆ bootloaderReadLine()

◆ bootloaderRestart()

◆ bootloaderRestartAssist()

◆ bootloaderSelectPage()

◆ bootloaderSync()

◆ bootloaderUploadHexData()

◆ bootloaderUploadHexDataPage()

◆ bootloaderVerify()

◆ bootloadFile()

◆ bootloadFileEx()

◆ bootloadFileInternal()

◆ bootloadGetBootloaderVersionFromFile()

◆ bootloadGetVersion()

◆ bootloadUpdateBootloader()

◆ bootloadUpdateBootloaderEx()

◆ bootloadUpdateBootloaderSendFile()

◆ crc16()

◆ crc_update()

◆ disableBootloader()

◆ disableBootloaderInternal()

◆ enableBootloader()

◆ samBaFlashEraseWritePage()

◆ samBaFlashWaitForReady()

◆ samBaReadWord()

◆ samBaSetBootFromFlash()

◆ samBaSoftReset()

◆ samBaVerify()

◆ samBaWriteWord()

◆ serialPortOpenInternal()

◆ xModemSend()

Variable Documentation

◆ hexLookupTable

◆ s_baudRateList