sl-firmware
4beef8da03
- Add ota.h / ota.c: ota_enter_dfu() (armed guard, writes BKP15R, resets), ota_fw_crc32() using STM32F7 hardware CRC peripheral (CRC-32/MPEG-2, 512 KB) - Add JLINK_CMD_DFU_ENTER (0x06) and dfu_req flag to jlink.h / jlink.c - Handle dfu_req in main loop: calls ota_enter_dfu(is_armed) — no-op if armed - Update usbd_cdc_if.c: move DFU magic from BKP0R to BKP15R (OTA_DFU_BKP_IDX) resolving BKP register conflict with BNO055 calibration (BKP0R–6R, PR #150) - Add scripts/flash_firmware.py: CRC-32/MPEG-2 + ISO-HDLC verification, dfu-util flash, host-side backup/rollback, --trigger-dfu JLink serial path - Add test/test_ota.py: 42 tests passing (CRC-32/MPEG-2, CRC-16/XMODEM, DFU_ENTER frame structure, BKP register safety, flash constants) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
58 lines
1.5 KiB
C
58 lines
1.5 KiB
C
#include "ota.h"
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#include "stm32f7xx_hal.h"
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/* ---- ota_enter_dfu() ---- */
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bool ota_enter_dfu(bool is_armed)
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{
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if (is_armed) return false;
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/* Enable backup domain access */
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__HAL_RCC_PWR_CLK_ENABLE();
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HAL_PWR_EnableBkUpAccess();
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__HAL_RCC_RTC_ENABLE();
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/*
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* Write DFU magic to BKP15R.
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* checkForBootloader() runs on next boot and jumps to the ST system
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* bootloader at 0x1FF00000 when it finds this magic in BKP15R.
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* BKP15R avoids the BNO055 calibration range (BKP0R–BKP6R).
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*
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* RTC->BKP0R through BKP31R are laid out consecutively in memory,
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* so (&RTC->BKP0R)[OTA_DFU_BKP_IDX] reaches BKP15R.
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*/
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(&RTC->BKP0R)[OTA_DFU_BKP_IDX] = OTA_DFU_MAGIC;
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__disable_irq();
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NVIC_SystemReset();
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return true; /* never reached */
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}
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/* ---- ota_fw_crc32() ---- */
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uint32_t ota_fw_crc32(void)
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{
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/*
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* STM32F7 hardware CRC unit:
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* Polynomial : 0x04C11DB7 (CRC-32/MPEG-2)
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* Initial : 0xFFFFFFFF (CRC_INIT register default)
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* Width : 32 bits
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* Reflection : none
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*
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* The unit processes one 32-bit word at a time. Feeding the full
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* 512 KB flash (128 K words) takes ~0.5 ms at 216 MHz.
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*/
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__HAL_RCC_CRC_CLK_ENABLE();
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/* Reset CRC state; keep default 32-bit polynomial and no reversal */
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CRC->CR = CRC_CR_RESET;
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const uint32_t *p = (const uint32_t *)OTA_FLASH_BASE;
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uint32_t words = OTA_FLASH_SIZE / 4u;
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while (words--) {
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CRC->DR = *p++;
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}
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return CRC->DR;
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}
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