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canbus: add bootloader support 

This adds a command which allows an external script to broadcast a
bootloader request, using a supplied UUID to match the request.
Included is a method to process requests to enter the canboot
bootloader.

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Eric Callahan 2022-04-14 11:07:40 -04:00 committed by KevinOConnor
parent b44eee609a
commit 3505f4cae5
1 changed files with 27 additions and 0 deletions
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27
src/generic/canbus.c
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@ -11,6 +11,7 @@
#include "command.h" // DECL_CONSTANT
#include "generic/io.h" // readb
#include "generic/irq.h" // irq_disable
#include "board/internal.h" // NVIC_SystemReset
#include "sched.h" // sched_wake_task
static uint32_t canbus_assigned_id;
@ -90,8 +91,13 @@ console_sendf(const struct command_encoder *ce, va_list args)
// Available commands and responses
#define CANBUS_CMD_QUERY_UNASSIGNED 0x00
#define CANBUS_CMD_SET_NODEID 0x01
#define CANBUS_CMD_REQUEST_BOOTLOADER 0x02
#define CANBUS_RESP_NEED_NODEID 0x20
// CanBoot definitions
#define CANBOOT_SIGNATURE 0x21746f6f426e6143
#define CANBOOT_REQUEST 0x5984E3FA6CA1589B
// Helper to verify a UUID in a command matches this chip's UUID
static int
can_check_uuid(uint32_t id, uint32_t len, uint8_t *data)
@ -153,6 +159,24 @@ can_process_set_nodeid(uint32_t id, uint32_t len, uint8_t *data)
}
}
static void
can_process_request_bootloader(uint32_t id, uint32_t len, uint8_t *data)
{
if (!can_check_uuid(id, len, data))
return;
uint32_t *bl_vectors = (uint32_t *)(CONFIG_FLASH_START & 0xFF000000);
uint64_t *boot_sig = (uint64_t *)(bl_vectors[1] - 9);
uint64_t *req_sig = (uint64_t *)bl_vectors[0];
if (boot_sig == (void *)ALIGN((size_t)boot_sig, 8) &&
*boot_sig == CANBOOT_SIGNATURE &&
req_sig == (void *)ALIGN((size_t)req_sig, 8))
{
irq_disable();
*req_sig = CANBOOT_REQUEST;
NVIC_SystemReset();
}
}
// Handle an "admin" command
static void
can_process(uint32_t id, uint32_t len, uint8_t *data)
@ -166,6 +190,9 @@ can_process(uint32_t id, uint32_t len, uint8_t *data)
case CANBUS_CMD_SET_NODEID:
can_process_set_nodeid(id, len, data);
break;
case CANBUS_CMD_REQUEST_BOOTLOADER:
can_process_request_bootloader(id, len, data);
break;
}
}