Classes | Macros | Functions | Variables
inertialSenseBootLoader.c File Reference
#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,
 
)    (a > b ? a : b)

Definition at line 79 of file inertialSenseBootLoader.c.

◆ bootloader_min

#define bootloader_min (   a,
 
)    (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__); \
}
#define BOOTLOADER_ERROR_LENGTH

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
portthe serial port to bootload to, will be opened and closed, must have port set
errora buffer to store any error messages in - can be NULL
errorLengththe number of bytes available in error
objcustom user object that will be passed in the callback
uploadProgresscalled periodically during firmware upload - can be NULL
verifyProgresscalled 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
fileNamefor the new bootloader .bin file
pointerto int to store major version
pointerto 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
portthe serial port, must be initialized and have the port set
fileNamethe new bootloader .bin file
errora buffer to store any error messages in - can be NULL
errorLengththe number of bytes available in error
objcustom user object that will be passed in the callback
uploadProgresscalled periodically during firmware upload - can be NULL
verifyProgresscalled 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
portthe port to enable the bootloader on
baudRatethe baud rate to communicate with, IS_BAUD_RATE_BOOTLOADER or IS_BAUD_RATE_BOOTLOADER_RS232
errora buffer to store any error messages - can be NULL
errorLengththe 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

Definition at line 84 of file inertialSenseBootLoader.c.



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autogenerated on Sat Sep 19 2020 03:19:05