git.gag.com Git - fw/altos/blob - ao-tools/ao-stmload/ao-stmload.c

   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include <err.h>
  19 #include <fcntl.h>
  20 #include <gelf.h>
  21 #include <stdio.h>
  22 #include <stdint.h>
  23 #include <stdlib.h>
  24 #include <sysexits.h>
  25 #include <unistd.h>
  26 #include <getopt.h>
  27 #include <string.h>
  28 #include "stlink-common.h"
  29 #include "ao-elf.h"
  30 #include "ccdbg.h"
  31 #include "cc-usb.h"
  32 #include "cc.h"
  33 #include "ao-stmload.h"
  34
  35 #define AO_USB_DESC_STRING              3
  36
  37 struct sym ao_symbols[] = {
  38
  39         { 0, AO_BOOT_APPLICATION_BASE + 0x100,  "ao_romconfig_version", 1 },
  40 #define AO_ROMCONFIG_VERSION    (ao_symbols[0].addr)
  41
  42         { 0, AO_BOOT_APPLICATION_BASE + 0x102,  "ao_romconfig_check",   1 },
  43 #define AO_ROMCONFIG_CHECK      (ao_symbols[1].addr)
  44
  45         { 0, AO_BOOT_APPLICATION_BASE + 0x104,  "ao_serial_number", 1 },
  46 #define AO_SERIAL_NUMBER        (ao_symbols[2].addr)
  47
  48         { 0, AO_BOOT_APPLICATION_BASE + 0x108,  "ao_radio_cal", 0 },
  49 #define AO_RADIO_CAL            (ao_symbols[3].addr)
  50
  51         { 0, AO_BOOT_APPLICATION_BASE + 0x10c,  "ao_usb_descriptors", 0 },
  52 #define AO_USB_DESCRIPTORS      (ao_symbols[4].addr)
  53 };
  54
  55 #define NUM_SYMBOLS             5
  56 #define NUM_REQUIRED_SYMBOLS    3
  57
  58 int ao_num_symbols = NUM_SYMBOLS;
  59 int ao_num_required_symbols = NUM_REQUIRED_SYMBOLS;
  60
  61 /*
  62  * Edit the to-be-written memory block
  63  */
  64 static int
  65 rewrite(struct hex_image *load, unsigned address, uint8_t *data, int length)
  66 {
  67         int             i;
  68
  69         if (address < load->address || load->address + load->length < address + length)
  70                 return 0;
  71
  72         printf("rewrite %04x:", address);
  73         for (i = 0; i < length; i++)
  74                 printf (" %02x", load->data[address - load->address + i]);
  75         printf(" ->");
  76         for (i = 0; i < length; i++)
  77                 printf (" %02x", data[i]);
  78         printf("\n");
  79         memcpy(load->data + address - load->address, data, length);
  80 }
  81
  82 /*
  83  * Read a 16-bit value from the USB target
  84  */
  85
  86 static uint16_t
  87 get_uint16_cc(struct cc_usb *cc, uint32_t addr)
  88 {
  89         struct hex_image        *hex = ao_self_read(cc, addr, 2);
  90         uint16_t                v;
  91         uint8_t                 *data;
  92
  93         if (!hex)
  94                 return 0;
  95         data = hex->data + addr - hex->address;
  96         v = data[0] | (data[1] << 8);
  97         free(hex);
  98         return v;
  99 }
 100
 101 static uint32_t
 102 get_uint32_cc(struct cc_usb *cc, uint32_t addr)
 103 {
 104         struct hex_image        *hex = ao_self_read(cc, addr, 4);
 105         uint32_t                v;
 106         uint8_t                 *data;
 107
 108         if (!hex)
 109                 return 0;
 110         data = hex->data + addr - hex->address;
 111         v = data[0] | (data[1] << 8) | (data[2] << 16) | (data[3] << 24);
 112         free(hex);
 113         return v;
 114 }
 115
 116 /*
 117  * Read a 16-bit value from the target device with arbitrary
 118  * alignment
 119  */
 120 static uint16_t
 121 get_uint16_sl(stlink_t *sl, uint32_t addr)
 122 {
 123         const           uint8_t *data = sl->q_buf;
 124         uint32_t        actual_addr;
 125         int             off;
 126         uint16_t        result;
 127
 128         sl->q_len = 0;
 129
 130
 131         actual_addr = addr & ~3;
 132
 133         stlink_read_mem32(sl, actual_addr, 8);
 134
 135         if (sl->q_len != 8)
 136                 abort();
 137
 138         off = addr & 3;
 139         result = data[off] | (data[off + 1] << 8);
 140         return result;
 141 }
 142
 143 static uint16_t
 144 get_uint16(stlink_t *sl, struct cc_usb *cc, uint32_t addr)
 145 {
 146         uint16_t        result;
 147         if (cc)
 148                 result = get_uint16_cc(cc, addr);
 149         else
 150                 result = get_uint16_sl(sl, addr);
 151         printf ("read 0x%08x = 0x%04x\n", addr, result);
 152         return result;
 153 }
 154
 155 /*
 156  * Read a 32-bit value from the target device with arbitrary
 157  * alignment
 158  */
 159 static uint32_t
 160 get_uint32_sl(stlink_t *sl, uint32_t addr)
 161 {
 162         const           uint8_t *data = sl->q_buf;
 163         uint32_t        actual_addr;
 164         int             off;
 165         uint32_t        result;
 166
 167         sl->q_len = 0;
 168
 169         printf ("read 0x%x\n", addr);
 170
 171         actual_addr = addr & ~3;
 172
 173         stlink_read_mem32(sl, actual_addr, 8);
 174
 175         if (sl->q_len != 8)
 176                 abort();
 177
 178         off = addr & 3;
 179         result = data[off] | (data[off + 1] << 8) | (data[off+2] << 16) | (data[off+3] << 24);
 180         return result;
 181 }
 182
 183 /*
 184  * Read a 32-bit value from the target device with arbitrary
 185  * alignment
 186  */
 187 static uint32_t
 188 get_uint32(stlink_t *sl, struct cc_usb *cc, uint32_t addr)
 189 {
 190         uint32_t        result;
 191
 192         if (cc)
 193                 result = get_uint32_cc(cc, addr);
 194         else
 195                 result = get_uint32_sl(sl, addr);
 196         printf ("read 0x%08x = 0x%08x\n", addr, result);
 197         return result;
 198 }
 199
 200 /*
 201  * Check to see if the target device has been
 202  * flashed with a similar firmware image before
 203  *
 204  * This is done by looking for the same romconfig version,
 205  * which should be at the same location as the linker script
 206  * places this at 0x100 from the start of the rom section
 207  */
 208 static int
 209 check_flashed(stlink_t *sl, struct cc_usb *cc)
 210 {
 211         uint16_t        romconfig_version = get_uint16(sl, cc, AO_ROMCONFIG_VERSION);
 212         uint16_t        romconfig_check = get_uint16(sl, cc, AO_ROMCONFIG_CHECK);
 213
 214         if (romconfig_version != (uint16_t) ~romconfig_check) {
 215                 fprintf (stderr, "Device has not been flashed before\n");
 216                 return 0;
 217         }
 218         return 1;
 219 }
 220
 221 static const struct option options[] = {
 222         { .name = "stlink", .has_arg = 0, .val = 'S' },
 223         { .name = "tty", .has_arg = 1, .val = 'T' },
 224         { .name = "device", .has_arg = 1, .val = 'D' },
 225         { .name = "cal", .has_arg = 1, .val = 'c' },
 226         { .name = "serial", .has_arg = 1, .val = 's' },
 227         { 0, 0, 0, 0},
 228 };
 229
 230 static void usage(char *program)
 231 {
 232         fprintf(stderr, "usage: %s [--stlink] [--device=<device>] [-tty=<tty>] [--cal=<radio-cal>] [--serial=<serial>] file.{elf,ihx}\n", program);
 233         exit(1);
 234 }
 235
 236 void
 237 done(stlink_t *sl, struct cc_usb *cc, int code)
 238 {
 239         if (cc) {
 240 /*              cc_usb_printf(cc, "a\n"); */
 241                 cc_usb_close(cc);
 242         }
 243         if (sl) {
 244                 stlink_reset(sl);
 245                 stlink_run(sl);
 246                 stlink_exit_debug_mode(sl);
 247                 stlink_close(sl);
 248         }
 249         exit (code);
 250 }
 251
 252 static int
 253 ends_with(char *whole, char *suffix)
 254 {
 255         int whole_len = strlen(whole);
 256         int suffix_len = strlen(suffix);
 257
 258         if (suffix_len > whole_len)
 259                 return 0;
 260         return strcmp(whole + whole_len - suffix_len, suffix) == 0;
 261 }
 262
 263 int
 264 main (int argc, char **argv)
 265 {
 266         char                    *device = NULL;
 267         char                    *filename;
 268         Elf                     *e;
 269         char                    *serial_end;
 270         unsigned int            serial = 0;
 271         char                    *serial_ucs2;
 272         int                     serial_ucs2_len;
 273         char                    serial_int[2];
 274         unsigned int            s;
 275         int                     i;
 276         int                     string_num;
 277         uint32_t                cal = 0;
 278         char                    cal_int[4];
 279         char                    *cal_end;
 280         int                     c;
 281         stlink_t                *sl = NULL;
 282         int                     was_flashed = 0;
 283         struct hex_image        *load;
 284         int                     tries;
 285         struct cc_usb           *cc = NULL;
 286         int                     use_stlink = 0;
 287         char                    *tty = NULL;
 288         int                     success;
 289
 290         while ((c = getopt_long(argc, argv, "T:D:c:s:S", options, NULL)) != -1) {
 291                 switch (c) {
 292                 case 'T':
 293                         tty = optarg;
 294                         break;
 295                 case 'D':
 296                         device = optarg;
 297                         break;
 298                 case 'c':
 299                         cal = strtoul(optarg, &cal_end, 10);
 300                         if (cal_end == optarg || *cal_end != '\0')
 301                                 usage(argv[0]);
 302                         break;
 303                 case 's':
 304                         serial = strtoul(optarg, &serial_end, 10);
 305                         if (serial_end == optarg || *serial_end != '\0')
 306                                 usage(argv[0]);
 307                         break;
 308                 case 'S':
 309                         use_stlink = 1;
 310                         break;
 311                 default:
 312                         usage(argv[0]);
 313                         break;
 314                 }
 315         }
 316
 317         filename = argv[optind];
 318         if (filename == NULL)
 319                 usage(argv[0]);
 320
 321         if (ends_with (filename, ".elf")) {
 322                 load = ao_load_elf(filename);
 323         } else if (ends_with (filename, ".ihx")) {
 324                 int     i;
 325                 load = ccdbg_hex_load(filename);
 326                 for (i = 0; i < ao_num_symbols; i++)
 327                         ao_symbols[i].addr = ao_symbols[i].default_addr;
 328         } else
 329                 usage(argv[0]);
 330
 331         if (use_stlink) {
 332                 /* Connect to the programming dongle
 333                  */
 334
 335                 for (tries = 0; tries < 3; tries++) {
 336                         if (device) {
 337                                 sl = stlink_v1_open(50);
 338                         } else {
 339                                 sl = stlink_open_usb(50);
 340
 341                         }
 342                         if (!sl) {
 343                                 fprintf (stderr, "No STLink devices present\n");
 344                                 done (sl, NULL, 1);
 345                         }
 346
 347                         if (sl->chip_id != 0)
 348                                 break;
 349                         stlink_reset(sl);
 350                         stlink_close(sl);
 351                         sl = NULL;
 352                 }
 353                 if (!sl) {
 354                         fprintf (stderr, "Debugger connection failed\n");
 355                         exit(1);
 356                 }
 357
 358                 /* Verify that the loaded image fits entirely within device flash
 359                  */
 360                 if (load->address < sl->flash_base ||
 361                     sl->flash_base + sl->flash_size < load->address + load->length) {
 362                         fprintf (stderr, "\%s\": Invalid memory range 0x%08x - 0x%08x\n", filename,
 363                                  load->address, load->address + load->length);
 364                         done(sl, NULL, 1);
 365                 }
 366
 367                 /* Enter debugging mode
 368                  */
 369                 if (stlink_current_mode(sl) == STLINK_DEV_DFU_MODE)
 370                         stlink_exit_dfu_mode(sl);
 371
 372                 if (stlink_current_mode(sl) != STLINK_DEV_DEBUG_MODE)
 373                         stlink_enter_swd_mode(sl);
 374         } else {
 375                 int     is_loader;
 376                 int     tries;
 377
 378                 for (tries = 0; tries < 3; tries++) {
 379                         char    *this_tty = tty;
 380                         if (!this_tty)
 381                                 this_tty = cc_usbdevs_find_by_arg(device, "AltosFlash");
 382                         if (!this_tty)
 383                                 this_tty = cc_usbdevs_find_by_arg(device, "MegaMetrum");
 384                         if (!this_tty)
 385                                 this_tty = getenv("ALTOS_TTY");
 386                         if (!this_tty)
 387                                 this_tty="/dev/ttyACM0";
 388
 389                         cc = cc_usb_open(this_tty);
 390
 391                         if (!cc)
 392                                 exit(1);
 393                         cc_usb_printf(cc, "v\n");
 394                         is_loader = 0;
 395                         for (;;) {
 396                                 char    line[256];
 397                                 cc_usb_getline(cc, line, sizeof(line));
 398                                 if (!strncmp(line, "altos-loader", 12))
 399                                         is_loader = 1;
 400                                 if (!strncmp(line, "software-version", 16))
 401                                         break;
 402                         }
 403                         if (is_loader)
 404                                 break;
 405                         printf ("rebooting to loader\n");
 406                         cc_usb_printf(cc, "X\n");
 407                         cc_usb_close(cc);
 408                         sleep(1);
 409                         cc = NULL;
 410                 }
 411                 if (!is_loader) {
 412                         fprintf(stderr, "Cannot switch to boot loader\n");
 413                         exit(1);
 414                 }
 415                 {
 416                         uint8_t check[256];
 417                         int     i = 0;
 418
 419                         ao_self_block_read(cc, AO_BOOT_APPLICATION_BASE, check);
 420                         for (;;) {
 421                                 uint8_t block[256];
 422                                 putchar ('.');
 423                                 if (++i == 40) {
 424                                         putchar('\n');
 425                                         i = 0;
 426                                 }
 427                                 fflush(stdout);
 428                                 ao_self_block_write(cc, AO_BOOT_APPLICATION_BASE, block);
 429                                 ao_self_block_read(cc, AO_BOOT_APPLICATION_BASE, block);
 430                                 if (memcmp(block, check, 256) != 0) {
 431                                         fprintf (stderr, "read differed\n");
 432                                         exit(1);
 433                                 }
 434                         }
 435                 }
 436         }
 437
 438         /* Go fetch existing config values
 439          * if available
 440          */
 441         was_flashed = check_flashed(sl, cc);
 442
 443         if (!serial) {
 444                 if (!was_flashed) {
 445                         fprintf (stderr, "Must provide serial number\n");
 446                         done(sl, cc, 1);
 447                 }
 448                 serial = get_uint16(sl, cc, AO_SERIAL_NUMBER);
 449                 if (!serial || serial == 0xffff) {
 450                         fprintf (stderr, "Invalid existing serial %d\n", serial);
 451                         done(sl, cc, 1);
 452                 }
 453         }
 454
 455         if (!cal && AO_RADIO_CAL && was_flashed) {
 456                 cal = get_uint32(sl, cc, AO_RADIO_CAL);
 457                 if (!cal || cal == 0xffffffff) {
 458                         fprintf (stderr, "Invalid existing rf cal %d\n", cal);
 459                         done(sl, cc, 1);
 460                 }
 461         }
 462
 463         /* Write the config values into the flash image
 464          */
 465
 466         serial_int[0] = serial & 0xff;
 467         serial_int[1] = (serial >> 8) & 0xff;
 468
 469         if (!rewrite(load, AO_SERIAL_NUMBER, serial_int, sizeof (serial_int))) {
 470                 fprintf(stderr, "Cannot rewrite serial integer at %08x\n",
 471                         AO_SERIAL_NUMBER);
 472                 done(sl, cc, 1);
 473         }
 474
 475         if (AO_USB_DESCRIPTORS) {
 476                 uint32_t        usb_descriptors = AO_USB_DESCRIPTORS - load->address;
 477                 string_num = 0;
 478
 479                 while (load->data[usb_descriptors] != 0 && usb_descriptors < load->length) {
 480                         if (load->data[usb_descriptors+1] == AO_USB_DESC_STRING) {
 481                                 ++string_num;
 482                                 if (string_num == 4)
 483                                         break;
 484                         }
 485                         usb_descriptors += load->data[usb_descriptors];
 486                 }
 487                 if (usb_descriptors >= load->length || load->data[usb_descriptors] == 0 ) {
 488                         fprintf(stderr, "Cannot rewrite serial string at %08x\n", AO_USB_DESCRIPTORS);
 489                         done(sl, cc, 1);
 490                 }
 491
 492                 serial_ucs2_len = load->data[usb_descriptors] - 2;
 493                 serial_ucs2 = malloc(serial_ucs2_len);
 494                 if (!serial_ucs2) {
 495                         fprintf(stderr, "Malloc(%d) failed\n", serial_ucs2_len);
 496                         done(sl, cc, 1);
 497                 }
 498                 s = serial;
 499                 for (i = serial_ucs2_len / 2; i; i--) {
 500                         serial_ucs2[i * 2 - 1] = 0;
 501                         serial_ucs2[i * 2 - 2] = (s % 10) + '0';
 502                         s /= 10;
 503                 }
 504                 if (!rewrite(load, usb_descriptors + 2 + load->address, serial_ucs2, serial_ucs2_len)) {
 505                         fprintf (stderr, "Cannot rewrite USB descriptor at %08x\n", AO_USB_DESCRIPTORS);
 506                         done(sl, cc, 1);
 507                 }
 508         }
 509
 510         if (cal && AO_RADIO_CAL) {
 511                 cal_int[0] = cal & 0xff;
 512                 cal_int[1] = (cal >> 8) & 0xff;
 513                 cal_int[2] = (cal >> 16) & 0xff;
 514                 cal_int[3] = (cal >> 24) & 0xff;
 515
 516                 if (!rewrite(load, AO_RADIO_CAL, cal_int, sizeof (cal_int))) {
 517                         fprintf(stderr, "Cannot rewrite radio calibration at %08x\n", AO_RADIO_CAL);
 518                         exit(1);
 519                 }
 520         }
 521
 522         /* And flash the resulting image to the device
 523          */
 524         if (cc)
 525                 success = ao_self_write(cc, load);
 526         else
 527                 success = (stlink_write_flash(sl, load->address, load->data, load->length) >= 0);
 528
 529         if (!success) {
 530                 fprintf (stderr, "\"%s\": Write failed\n", filename);
 531                 done(sl, cc, 1);
 532         }
 533
 534         done(sl, cc, 0);
 535 }