/*

Copyright 2016 - 2022 Benjamin Vedder [email protected]

This file is part of the VESC firmware.

The VESC firmware 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.

The VESC firmware 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 "flash_helper.h"

#include "ch.h"

#include "hal.h"

#include "stm32f4xx_conf.h"

#include "utils.h"

#include "mc_interface.h"

#include "timeout.h"

#include "hw.h"

#include "crc.h"

#include "buffer.h"

#include <string.h>

/*

* Defines

*/

#define FLASH_SECTORS 12

#define BOOTLOADER_BASE 11

#define APP_BASE 0

#define NEW_APP_BASE 8

#define NEW_APP_SECTORS 3

#define APP_MAX_SIZE (1024 * 128 * 4 - 8) // Note that the bootloader needs 8 extra bytes

#define QMLUI_BASE 9

#define LISP_BASE 10

#define QMLUI_MAX_SIZE (1024 * 128 - 8)

#define LISP_MAX_SIZE (1024 * 128 - 8)

// Base address of the Flash sectors

#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) // Base @ of Sector 0, 16 Kbytes

#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08004000) // Base @ of Sector 1, 16 Kbytes

#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08008000) // Base @ of Sector 2, 16 Kbytes

#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x0800C000) // Base @ of Sector 3, 16 Kbytes

#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08010000) // Base @ of Sector 4, 64 Kbytes

#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x08020000) // Base @ of Sector 5, 128 Kbytes

#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x08040000) // Base @ of Sector 6, 128 Kbytes

#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x08060000) // Base @ of Sector 7, 128 Kbytes

#define ADDR_FLASH_SECTOR_8 ((uint32_t)0x08080000) // Base @ of Sector 8, 128 Kbytes

#define ADDR_FLASH_SECTOR_9 ((uint32_t)0x080A0000) // Base @ of Sector 9, 128 Kbytes

#define ADDR_FLASH_SECTOR_10 ((uint32_t)0x080C0000) // Base @ of Sector 10, 128 Kbytes

#define ADDR_FLASH_SECTOR_11 ((uint32_t)0x080E0000) // Base @ of Sector 11, 128 Kbytes

#define VECTOR_TABLE_ADDRESS ((uint32_t*)ADDR_FLASH_SECTOR_0)

#define VECTOR_TABLE_SIZE ((uint32_t)(ADDR_FLASH_SECTOR_1 - ADDR_FLASH_SECTOR_0))

#define EEPROM_EMULATION_SIZE ((uint32_t)(ADDR_FLASH_SECTOR_4 - ADDR_FLASH_SECTOR_2))

#define APP_START_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_3))

#define APP_SIZE ((uint32_t)(APP_MAX_SIZE - VECTOR_TABLE_SIZE - EEPROM_EMULATION_SIZE))

#define APP_CRC_WAS_CALCULATED_FLAG ((uint32_t)0x00000000)

#define APP_CRC_WAS_CALCULATED_FLAG_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_0 APP_MAX_SIZE - 8))

#define APP_CRC_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_0 APP_MAX_SIZE - 4))

typedef struct {

uint32_t crc_flag;

uint32_t crc;

} crc_info_t;

// Make sure the app image has the CRC bits set to '1' to later write the flag and CRC.

const crc_info_t __attribute__((section (".crcinfo"))) crc_info = {0xFFFFFFFF, 0xFFFFFFFF};

// Private functions

static uint16_t erase_sector(uint32_t sector);

static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len);

static void qmlui_check(int ind);

// Private variables

typedef struct {

bool check_done;

bool ok;

} _code_checks;

static _code_checks code_checks[2] = {0};

static int code_sectors[2] = {QMLUI_BASE, LISP_BASE};

// Private constants

static const uint32_t flash_addr[FLASH_SECTORS] = {

ADDR_FLASH_SECTOR_0,

ADDR_FLASH_SECTOR_1,

ADDR_FLASH_SECTOR_2,

ADDR_FLASH_SECTOR_3,

ADDR_FLASH_SECTOR_4,

ADDR_FLASH_SECTOR_5,

ADDR_FLASH_SECTOR_6,

ADDR_FLASH_SECTOR_7,

ADDR_FLASH_SECTOR_8,

ADDR_FLASH_SECTOR_9,

ADDR_FLASH_SECTOR_10,

ADDR_FLASH_SECTOR_11

};

static const uint16_t flash_sector[FLASH_SECTORS] = {

FLASH_Sector_0,

FLASH_Sector_1,

FLASH_Sector_2,

FLASH_Sector_3,

FLASH_Sector_4,

FLASH_Sector_5,

FLASH_Sector_6,

FLASH_Sector_7,

FLASH_Sector_8,

FLASH_Sector_9,

FLASH_Sector_10,

FLASH_Sector_11

};

uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {

FLASH_Unlock();

FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |

FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

new_app_size = flash_addr[NEW_APP_BASE];

mc_interface_ignore_input_both(5000);

mc_interface_release_motor_override_both();

if (!mc_interface_wait_for_motor_release_both(3.0)) {

return 100;

}

utils_sys_lock_cnt();

timeout_configure_IWDT_slowest();

for (int i = 0;i < NEW_APP_SECTORS;i ) {

if (new_app_size > flash_addr[NEW_APP_BASE i]) {

uint16_t res = FLASH_EraseSector(flash_sector[NEW_APP_BASE i], VoltageRange_3);

if (res != FLASH_COMPLETE) {

FLASH_Lock();

timeout_configure_IWDT();

mc_interface_ignore_input_both(5000);

utils_sys_unlock_cnt();

return res;

}

} else {

break;

}

}

FLASH_Lock();

timeout_configure_IWDT();

mc_interface_ignore_input_both(5000);

utils_sys_unlock_cnt();

return FLASH_COMPLETE;

}

uint16_t flash_helper_erase_bootloader(void) {

return erase_sector(flash_sector[BOOTLOADER_BASE]);

}

uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {

return write_data(flash_addr[NEW_APP_BASE] offset, data, len);

}

uint16_t flash_helper_erase_code(int ind) {

code_checks[ind].check_done = false;

code_checks[ind].ok = false;

return erase_sector(flash_sector[code_sectors[ind]]);

}

uint16_t flash_helper_write_code(int ind, uint32_t offset, uint8_t *data, uint32_t len) {

code_checks[ind].check_done = false;

code_checks[ind].ok = false;

return write_data(flash_addr[code_sectors[ind]] offset, data, len);

}

uint8_t* flash_helper_code_data(int ind) {

qmlui_check(ind);

if (code_checks[ind].check_done && code_checks[ind].ok) {

return (uint8_t*)(flash_addr[code_sectors[ind]]) 8;

} else {

return 0;

}

}

uint32_t flash_helper_code_size(int ind) {

qmlui_check(ind);

if (code_checks[ind].check_done && code_checks[ind].ok) {

uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);

int32_t index = 0;

return buffer_get_uint32(base, &index);

} else {

return 0;

}

}

uint16_t flash_helper_code_flags(int ind) {

qmlui_check(ind);

if (code_checks[ind].check_done && code_checks[ind].ok) {

uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);

int32_t index = 6;

return buffer_get_uint16(base, &index);

} else {

return 0;

}

}

/**

* Stop the system and jump to the bootloader.

*/

void flash_helper_jump_to_bootloader(void) {

typedef void (*pFunction)(void);

mc_interface_release_motor_override();

usbDisconnectBus(&USBD1);

usbStop(&USBD1);

sdStop(&HW_UART_DEV);

palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT);

palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);

// Disable watchdog

timeout_configure_IWDT_slowest();

chSysDisable();

pFunction jump_to_bootloader;

// Variable that will be loaded with the start address of the application

volatile uint32_t* jump_address;

const volatile uint32_t* bootloader_address = (volatile uint32_t*)0x080E0000;

// Get jump address from application vector table

jump_address = (volatile uint32_t*) bootloader_address[1];

// Load this address into function pointer

jump_to_bootloader = (pFunction) jump_address;

// Clear pending interrupts

SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk;

// Disable all interrupts

for(int i = 0;i < 8;i ) {

NVIC->ICER[i] = NVIC->IABR[i];

}

// Set stack pointer

__set_MSP((uint32_t) (bootloader_address[0]));

// Jump to the bootloader

jump_to_bootloader();

}

uint8_t* flash_helper_get_sector_address(uint32_t fsector) {

uint8_t *res = 0;

for (int i = 0;i < FLASH_SECTORS;i ) {

if (flash_sector[i] == fsector) {

res = (uint8_t *)flash_addr[i];

break;

}

}

return res;

}

/**

* @brief Compute the CRC of the application code to verify its integrity

* @retval FAULT_CODE_NONE or FAULT_CODE_FLASH_CORRUPTION

*/

uint32_t flash_helper_verify_flash_memory(void) {

uint32_t crc;

// Look for a flag indicating that the CRC was previously computed.

// If it is blank (0xFFFFFFFF), calculate and store the CRC.

if(APP_CRC_WAS_CALCULATED_FLAG_ADDRESS[0] == APP_CRC_WAS_CALCULATED_FLAG) {

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);

crc32_reset();

// compute vector table (sector 0)

crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);

// skip emulated EEPROM (sector 1 and 2)

// compute application code

crc = crc32(APP_START_ADDRESS, (APP_SIZE) / 4);

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);

// A CRC over the full image should return zero.

return (crc == 0) ? FAULT_CODE_NONE : FAULT_CODE_FLASH_CORRUPTION;

} else {

FLASH_Unlock();

FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |

FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

// Write the flag to indicate CRC has been computed.

uint16_t res = FLASH_ProgramWord((uint32_t)APP_CRC_WAS_CALCULATED_FLAG_ADDRESS, APP_CRC_WAS_CALCULATED_FLAG);

if (res != FLASH_COMPLETE) {

FLASH_Lock();

return FAULT_CODE_FLASH_CORRUPTION;

}

// Compute flash crc including the new flag

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);

crc32_reset();

// compute vector table (sector 0)

crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);

// skip emulated EEPROM (sector 1 and 2)

// compute application code

crc = crc32(APP_START_ADDRESS, (APP_SIZE - 4) / 4);

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);

//Store CRC

res = FLASH_ProgramWord((uint32_t)APP_CRC_ADDRESS, crc);

if (res != FLASH_COMPLETE) {

FLASH_Lock();

return FAULT_CODE_FLASH_CORRUPTION;

}

FLASH_Lock();

// reboot

NVIC_SystemReset();

return FAULT_CODE_NONE;

}

}

uint32_t flash_helper_verify_flash_memory_chunk(void) {

static uint32_t index = 0;

uint32_t chunk_size = 1024;

uint32_t res = FAULT_CODE_NONE;

uint32_t crc = 0;

uint32_t tot_bytes = VECTOR_TABLE_SIZE APP_SIZE;

// Make sure RCC_AHB1Periph_CRC is enabled

if (index == 0) {

crc32_reset();

}

if ((index chunk_size) >= tot_bytes) {

chunk_size = tot_bytes - index;

}

if (index < VECTOR_TABLE_SIZE) {

crc32(VECTOR_TABLE_ADDRESS index / 4, chunk_size / 4);

} else {

crc = crc32(APP_START_ADDRESS (index - VECTOR_TABLE_SIZE) / 4, chunk_size / 4);

}

index = chunk_size;

if (index >= tot_bytes) {

index = 0;

if (crc != 0) {

res = FAULT_CODE_FLASH_CORRUPTION;

}

}

return res;

}

static uint16_t erase_sector(uint32_t sector) {

FLASH_Unlock();

FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |

FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

mc_interface_ignore_input_both(5000);

mc_interface_release_motor_override_both();

if (!mc_interface_wait_for_motor_release_both(3.0)) {

return 100;

}

utils_sys_lock_cnt();

timeout_configure_IWDT_slowest();

uint16_t res = FLASH_EraseSector(sector, VoltageRange_3);

if (res != FLASH_COMPLETE) {

FLASH_Lock();

timeout_configure_IWDT();

mc_interface_ignore_input_both(5000);

utils_sys_unlock_cnt();

return res;

}

FLASH_Lock();

timeout_configure_IWDT();

mc_interface_ignore_input_both(1000);

utils_sys_unlock_cnt();

return FLASH_COMPLETE;

}

static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len) {

FLASH_Unlock();

FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |

FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

mc_interface_ignore_input_both(5000);

mc_interface_release_motor_override_both();

if (!mc_interface_wait_for_motor_release_both(3.0)) {

return 100;

}

utils_sys_lock_cnt();

timeout_configure_IWDT_slowest();

for (uint32_t i = 0;i < len;i ) {

uint16_t res = FLASH_ProgramByte(base i, data[i]);

if (res != FLASH_COMPLETE) {

FLASH_Lock();

timeout_configure_IWDT();

mc_interface_ignore_input_both(5000);

utils_sys_unlock_cnt();

return res;

}

}

FLASH_Lock();

timeout_configure_IWDT();

mc_interface_ignore_input_both(5000);

utils_sys_unlock_cnt();

return FLASH_COMPLETE;

}

static void qmlui_check(int ind) {

if (code_checks[ind].check_done) {

return;

}

uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);

int32_t index = 0;

uint32_t qmlui_len = buffer_get_uint32(base, &index);

uint16_t qmlui_crc = buffer_get_uint16(base, &index);

if (qmlui_len <= QMLUI_MAX_SIZE) {

uint16_t crc_calc = crc16(base index, qmlui_len 2); // CRC includes the 2 byte flags

code_checks[ind].ok = crc_calc == qmlui_crc;

} else {

code_checks[ind].ok = false;

}

code_checks[ind].check_done = true;

}