sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
64 lines
2.1 KiB
C
64 lines
2.1 KiB
C
#ifndef OTA_H
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#define OTA_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* OTA firmware update — Issue #124
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*
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* DFU entry triggered by JLINK_CMD_DFU_ENTER (0x06) or USB CDC 'R' command.
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* Uses RTC backup register OTA_DFU_BKP_IDX to pass magic across the soft reset.
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*
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* RTC BKP register map:
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* BKP0R–BKP5R : BNO055 calibration offsets (PR #150)
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* BKP6R : BNO055 magic (0xB055CA10, PR #150)
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* BKP7R–BKP14R : Reserved
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* BKP15R : OTA DFU magic (this module)
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*
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* Using BKP15R avoids collision with BNO055 (BKP0–6) and the old BKP0R
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* that the original request_bootloader() used before this module.
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*
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* Dual-bank note: STM32F722 has single-bank flash (512 KB). Hardware A/B
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* rollback is not supported without a custom bootloader. DFU via the ST
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* system bootloader at 0x1FF00000 is the supported update path. Rollback
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* is handled by the host-side flash_firmware.py script, which keeps a
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* backup of the previous binary.
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*/
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/* RTC backup register index used for DFU magic — avoids BNO055 BKP0–6 */
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#define OTA_DFU_BKP_IDX 15u
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/* Magic value written before reset to trigger DFU entry on next boot */
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#define OTA_DFU_MAGIC 0xDEADBEEFu
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/* STM32F722 internal flash: 512 KB starting at 0x08000000 */
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#define OTA_FLASH_BASE 0x08000000u
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#define OTA_FLASH_SIZE 0x00080000u /* 512 KB */
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/*
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* ota_enter_dfu(is_armed)
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*
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* Request entry to USB DFU mode (ST system bootloader at 0x1FF00000).
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* Returns false without side effects if is_armed is true.
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* Otherwise: enables backup domain, writes OTA_DFU_MAGIC to BKP15R,
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* disables IRQs, calls NVIC_SystemReset(). Never returns on success.
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*
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* Call from the main loop only (not from ISR context).
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*/
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bool ota_enter_dfu(bool is_armed);
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/*
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* ota_fw_crc32()
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*
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* Compute a CRC-32/MPEG-2 checksum of the full flash region using the
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* STM32 hardware CRC peripheral (poly 0x04C11DB7, init 0xFFFFFFFF,
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* 32-bit words, no reflection). Covers OTA_FLASH_SIZE bytes from
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* OTA_FLASH_BASE including erased padding.
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*
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* Takes ~0.5 ms at 216 MHz. Call only while disarmed.
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*/
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uint32_t ota_fw_crc32(void);
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#endif /* OTA_H */
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