diff options
Diffstat (limited to 'src/Platform.cpp')
| -rw-r--r-- | src/Platform.cpp | 65 |
1 files changed, 46 insertions, 19 deletions
diff --git a/src/Platform.cpp b/src/Platform.cpp index 7b9e479f..6946c4c6 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -113,7 +113,7 @@ void setup() SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk; // When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it - // being held in the capacitor and changing the reset reason form Software to User. So enable it again here. We hope that the reset signal + // being held in the capacitor and changing the reset reason from Software to User. So enable it again here. We hope that the reset signal // will have gone away by now. #ifndef RSTC_MR_KEY_PASSWD // Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files @@ -828,8 +828,6 @@ void Platform::UpdateFirmware() #if (SAM4S || SAM4E) // The EWP command is not supported for non-8KByte sectors in the SAM4 series. // So we have to unlock and erase the complete 64Kb sector first. - // TODO save the NVRAM area and restore it later - flash_unlock(IAP_FLASH_START, IAP_FLASH_END, nullptr, nullptr); flash_erase_sector(IAP_FLASH_START); @@ -936,7 +934,7 @@ void Platform::UpdateFirmware() Message(FIRMWARE_UPDATE_MESSAGE, "Updating main firmware\n"); // Allow time for the firmware update message to be sent - uint32_t now = millis(); + const uint32_t now = millis(); while (FlushMessages() && millis() - now < 2000) { } // Step 2 - Let the firmware do whatever is necessary before we exit this program @@ -946,15 +944,29 @@ void Platform::UpdateFirmware() // This does essentially what the Atmel AT02333 paper suggests (see 3.2.2 ff) // Disable all IRQs + SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk; // disable the system tick exception cpu_irq_disable(); - for(size_t i = 0; i < 8; i++) + for (size_t i = 0; i < 8; i++) + { + NVIC->ICER[i] = 0xFFFFFFFF; // Disable IRQs + NVIC->ICPR[i] = 0xFFFFFFFF; // Clear pending IRQs + } + + // Newer versions of iap4e.bin reserve space above the stack for us to pass the firmware filename + static const char filename[] = "0:/sys/" IAP_FIRMWARE_FILE; + const uint32_t topOfStack = *reinterpret_cast<uint32_t *>(IAP_FLASH_START); + if (topOfStack + sizeof(filename) <= +#if (SAM4S || SAM4E) + IRAM_ADDR + IRAM_SIZE +#else + IRAM1_ADDR + IRAM1_SIZE +#endif + ) { - NVIC->ICER[i] = 0xFFFFFFFF; // Disable IRQs - NVIC->ICPR[i] = 0xFFFFFFFF; // Clear pending IRQs + memcpy(reinterpret_cast<char*>(topOfStack), filename, sizeof(filename)); } - // Our SAM3X doesn't support disabling the watchdog, so leave it running. - // The IAP binary will kick it as soon as it's started + wdt_restart(WDT); // kick the watchdog one last time // Modify vector table location __DSB(); @@ -963,12 +975,13 @@ void Platform::UpdateFirmware() __DSB(); __ISB(); - // Reset stack pointer, enable IRQs again and start the new IAP binary - __set_MSP(*(uint32_t *)IAP_FLASH_START); cpu_irq_enable(); - void *entryPoint = (void *)(*(uint32_t *)(IAP_FLASH_START + 4)); - goto *entryPoint; + __asm volatile ("mov r3, %0" : : "r" (IAP_FLASH_START) : "r3"); + __asm volatile ("ldr sp, [r3]"); + __asm volatile ("ldr r1, [r3, #4]"); + __asm volatile ("orr r1, r1, #1"); + __asm volatile ("bx r1"); } // Send the beep command to the aux channel. There is no flow control on this port, so it can't block for long. @@ -1008,7 +1021,7 @@ float Platform::Time() void Platform::Exit() { // Close all files - for(size_t i = 0; i < MAX_FILES; i++) + for (size_t i = 0; i < MAX_FILES; i++) { while (files[i]->inUse) { @@ -1024,6 +1037,14 @@ void Platform::Exit() // Stop processing data. Don't try to send a message because it will probably never get there. active = false; + + // Close down USB and serial ports + SERIAL_MAIN_DEVICE.end(); + SERIAL_AUX_DEVICE.end(); +#ifdef SERIAL_AUX2_DEVICE + SERIAL_AUX2_DEVICE.end(); +#endif + } Compatibility Platform::Emulating() const @@ -1455,13 +1476,19 @@ void Platform::Diagnostics(MessageType mtype) Message(mtype, "Last software reset code "); if (slot >= 0 && srdBuf[slot].magic == SoftwareResetData::magicValue) { - scratchString.Clear(); - for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i) + // Our format buffer is only 256 characters long, so the next 2 lines must be written separately + MessageF(mtype, "0x%04x, HFSR 0x%08x, CFSR 0x%08x, ICSR 0x%08x, BFAR 0x%08x, SP 0x%08x\n", + srdBuf[slot].resetReason, srdBuf[slot].hfsr, srdBuf[slot].cfsr, srdBuf[slot].icsr, srdBuf[slot].bfar, srdBuf[slot].sp); + if (srdBuf[slot].sp != 0xFFFFFFFF) { - scratchString.catf(" %08x", srdBuf[slot].stack[i]); + // We saved a stack dump, so print it + scratchString.Clear(); + for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i) + { + scratchString.catf(" %08x", srdBuf[slot].stack[i]); + } + MessageF(mtype, "Stack:%s\n", scratchString.Pointer()); } - MessageF(mtype, "0x%04x, HFSR 0x%08x, CFSR 0x%08x, ICSR 0x%08x, BFAR 0x%08x, SP 0x%08x\nStack:%s\n", - srdBuf[slot].resetReason, srdBuf[slot].hfsr, srdBuf[slot].cfsr, srdBuf[slot].icsr, srdBuf[slot].bfar, srdBuf[slot].sp, scratchString.Pointer()); MessageF(mtype, "Spinning module during software reset: %s, available RAM %u bytes (slot %d)\n", moduleName[srdBuf[slot].resetReason & 0x0F], srdBuf[slot].neverUsedRam, slot); } |