//----------------------------------------------------------------------------- // This code is licensed to you under the terms of the GNU GPL, version 2 or, // at your option, any later version. See the LICENSE.txt file for the text of // the license. //----------------------------------------------------------------------------- // Main code for the bootloader //----------------------------------------------------------------------------- #include #include "usb_cdc.h" #include "cmd.h" void DbpString(char *str) { byte_t len = 0; while (str[len] != 0x00) len++; cmd_send(CMD_DEBUG_PRINT_STRING, len, 0, 0, (byte_t*)str, len); } struct common_area common_area __attribute__((section(".commonarea"))); unsigned int start_addr, end_addr, bootrom_unlocked; extern char _bootrom_start, _bootrom_end, _flash_start, _flash_end; static void ConfigClocks(void) { // we are using a 16 MHz crystal as the basis for everything // slow clock runs at 32Khz typical regardless of crystal // enable system clock and USB clock AT91C_BASE_PMC->PMC_SCER = AT91C_PMC_PCK | AT91C_PMC_UDP; // enable the clock to the following peripherals AT91C_BASE_PMC->PMC_PCER = (1<PMC_MOR = AT91C_CKGR_MOSCEN | PMC_MAIN_OSC_STARTUP_DELAY(8); // wait for main oscillator to stabilize while ( !(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MOSCS) ) {}; // PLL output clock frequency in range 80 - 160 MHz needs CKGR_PLL = 00 // PLL output clock frequency in range 150 - 180 MHz needs CKGR_PLL = 10 // PLL output is MAINCK * multiplier / divisor = 16Mhz * 12 / 2 = 96Mhz AT91C_BASE_PMC->PMC_PLLR = PMC_PLL_DIVISOR(2) | //PMC_PLL_COUNT_BEFORE_LOCK(0x10) | PMC_PLL_COUNT_BEFORE_LOCK(0x3F) | PMC_PLL_FREQUENCY_RANGE(0) | PMC_PLL_MULTIPLIER(12) | PMC_PLL_USB_DIVISOR(1); // wait for PLL to lock while ( !(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_LOCK) ) {}; // we want a master clock (MCK) to be PLL clock / 2 = 96Mhz / 2 = 48Mhz // datasheet recommends that this register is programmed in two operations // when changing to PLL, program the prescaler first then the source AT91C_BASE_PMC->PMC_MCKR = AT91C_PMC_PRES_CLK_2; // wait for main clock ready signal while ( !(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY) ) {}; // set the source to PLL AT91C_BASE_PMC->PMC_MCKR = AT91C_PMC_PRES_CLK_2 | AT91C_PMC_CSS_PLL_CLK; // wait for main clock ready signal while ( !(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY) ) {}; } static void Fatal(void) { for(;;) {}; } void UsbPacketReceived(uint8_t *packet, int len) { int i, dont_ack=0; UsbCommand* c = (UsbCommand *)packet; volatile uint32_t *p; if ( len != sizeof(UsbCommand)) Fatal(); uint32_t arg0 = (uint32_t)c->arg[0]; switch(c->cmd) { case CMD_DEVICE_INFO: { dont_ack = 1; arg0 = DEVICE_INFO_FLAG_BOOTROM_PRESENT | DEVICE_INFO_FLAG_CURRENT_MODE_BOOTROM | DEVICE_INFO_FLAG_UNDERSTANDS_START_FLASH; if(common_area.flags.osimage_present) arg0 |= DEVICE_INFO_FLAG_OSIMAGE_PRESENT; cmd_send(CMD_DEVICE_INFO,arg0,1,2,0,0); } break; case CMD_SETUP_WRITE: { /* The temporary write buffer of the embedded flash controller is mapped to the * whole memory region, only the last 8 bits are decoded. */ p = (volatile uint32_t *)&_flash_start; for(i = 0; i < 12; i++) p[i+arg0] = c->d.asDwords[i]; } break; case CMD_FINISH_WRITE: { uint32_t* flash_mem = (uint32_t*)(&_flash_start); for ( int j=0; j<2; j++) { for(i = 0+(64*j); i < 64+(64*j); i++) { flash_mem[i] = c->d.asDwords[i]; } uint32_t flash_address = arg0 + (0x100*j); /* Check that the address that we are supposed to write to is within our allowed region */ if( ((flash_address + AT91C_IFLASH_PAGE_SIZE - 1) >= end_addr) || (flash_address < start_addr) ) { /* Disallow write */ dont_ack = 1; cmd_send(CMD_NACK,0,0,0,0,0); } else { uint32_t page_n = (flash_address - ((uint32_t)flash_mem)) / AT91C_IFLASH_PAGE_SIZE; /* Translate address to flash page and do flash, update here for the 512k part */ AT91C_BASE_EFC0->EFC_FCR = MC_FLASH_COMMAND_KEY | MC_FLASH_COMMAND_PAGEN(page_n) | AT91C_MC_FCMD_START_PROG; } // Wait until flashing of page finishes uint32_t sr; while(!((sr = AT91C_BASE_EFC0->EFC_FSR) & AT91C_MC_FRDY)); if(sr & (AT91C_MC_LOCKE | AT91C_MC_PROGE)) { dont_ack = 1; cmd_send(CMD_NACK,sr,0,0,0,0); } } } break; case CMD_HARDWARE_RESET: { usb_disable(); AT91C_BASE_RSTC->RSTC_RCR = RST_CONTROL_KEY | AT91C_RSTC_PROCRST; } break; case CMD_START_FLASH: { if (c->arg[2] == START_FLASH_MAGIC) bootrom_unlocked = 1; else bootrom_unlocked = 0; int prot_start = (int)&_bootrom_start; int prot_end = (int)&_bootrom_end; int allow_start = (int)&_flash_start; int allow_end = (int)&_flash_end; int cmd_start = c->arg[0]; int cmd_end = c->arg[1]; /* Only allow command if the bootrom is unlocked, or the parameters are outside of the protected * bootrom area. In any case they must be within the flash area. */ if( (bootrom_unlocked || ((cmd_start >= prot_end) || (cmd_end < prot_start))) && (cmd_start >= allow_start) && (cmd_end <= allow_end) ) { start_addr = cmd_start; end_addr = cmd_end; } else { start_addr = end_addr = 0; dont_ack = 1; cmd_send(CMD_NACK,0,0,0,0,0); } } break; default: { Fatal(); } break; } if (!dont_ack) cmd_send(CMD_ACK,arg0,0,0,0,0); } static void flash_mode(int externally_entered) { start_addr = 0; end_addr = 0; bootrom_unlocked = 0; byte_t rx[sizeof(UsbCommand)]; size_t rx_len; usb_enable(); //for (volatile size_t i=0; i<0x100000; i++) {}; for(;;) { WDT_HIT(); if ( usb_poll_validate_length()) { rx_len = usb_read(rx, sizeof(UsbCommand)); if (rx_len == sizeof(UsbCommand)) UsbPacketReceived(rx, rx_len); } if (!externally_entered && !BUTTON_PRESS()) { /* Perform a reset to leave flash mode */ usb_disable(); LED_B_ON(); AT91C_BASE_RSTC->RSTC_RCR = RST_CONTROL_KEY | AT91C_RSTC_PROCRST; for(;;) {}; } if (externally_entered && BUTTON_PRESS()) { /* Let the user's button press override the automatic leave */ externally_entered = 0; } } } extern uint32_t _osimage_entry; void BootROM(void) { //------------ // First set up all the I/O pins; GPIOs configured directly, other ones // just need to be assigned to the appropriate peripheral. // Kill all the pullups, especially the one on USB D+; leave them for // the unused pins, though. AT91C_BASE_PIOA->PIO_PPUDR = GPIO_USB_PU | GPIO_LED_A | GPIO_LED_B | GPIO_LED_C | GPIO_LED_D | GPIO_FPGA_DIN | GPIO_FPGA_DOUT | GPIO_FPGA_CCLK | GPIO_FPGA_NINIT | GPIO_FPGA_NPROGRAM | GPIO_FPGA_DONE | GPIO_MUXSEL_HIPKD | GPIO_MUXSEL_HIRAW | GPIO_MUXSEL_LOPKD | GPIO_MUXSEL_LORAW | GPIO_RELAY | GPIO_NVDD_ON; // (and add GPIO_FPGA_ON) // These pins are outputs AT91C_BASE_PIOA->PIO_OER = GPIO_LED_A | GPIO_LED_B | GPIO_LED_C | GPIO_LED_D | GPIO_RELAY | GPIO_NVDD_ON; // PIO controls the following pins AT91C_BASE_PIOA->PIO_PER = GPIO_USB_PU | GPIO_LED_A | GPIO_LED_B | GPIO_LED_C | GPIO_LED_D; // USB_D_PLUS_PULLUP_OFF(); usb_disable(); LED_D_OFF(); LED_C_ON(); LED_B_OFF(); LED_A_OFF(); // Set the first 256kb memory flashspeed AT91C_BASE_EFC0->EFC_FMR = AT91C_MC_FWS_1FWS | MC_FLASH_MODE_MASTER_CLK_IN_MHZ(48); // 9 = 256, 10+ is 512kb uint8_t id = ( *(AT91C_DBGU_CIDR) & 0xF00) >> 8; if ( id > 9 ) AT91C_BASE_EFC1->EFC_FMR = AT91C_MC_FWS_1FWS | MC_FLASH_MODE_MASTER_CLK_IN_MHZ(48); // Initialize all system clocks ConfigClocks(); LED_A_ON(); int common_area_present = 0; switch (AT91C_BASE_RSTC->RSTC_RSR & AT91C_RSTC_RSTTYP) { case AT91C_RSTC_RSTTYP_WATCHDOG: case AT91C_RSTC_RSTTYP_SOFTWARE: case AT91C_RSTC_RSTTYP_USER: /* In these cases the common_area in RAM should be ok, retain it if it's there */ if(common_area.magic == COMMON_AREA_MAGIC && common_area.version == 1) common_area_present = 1; break; default: /* Otherwise, initialize it from scratch */ break; } if (!common_area_present){ /* Common area not ok, initialize it */ int i; /* Makeshift memset, no need to drag util.c into this */ for(i=0; i