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bootloader cleanup
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@nicolas-rabault
nicolas-rabault committed Jun 19, 2023
1 parent 5cdfb8a commit 7005bca
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Showing 4 changed files with 113 additions and 116 deletions.
5 changes: 2 additions & 3 deletions engine/IO/src/luos_io.c
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Original file line number Diff line number Diff line change
Expand Up @@ -514,9 +514,8 @@ error_return_t LuosIO_ConsumeMsg(const msg_t *input)
break;
//**************************************** bootloader section ****************************************
case BOOTLOADER_CMD:
// send data to the bootloader
LuosBootloader_MsgHandler(input);
return SUCCEED;
// TODO add here the bootloader command used in application avoiding to include bootloader files.
return FAILED;
break;

default:
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221 changes: 110 additions & 111 deletions engine/bootloader/bootloader_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,6 @@
/*******************************************************************************
* Variables
******************************************************************************/
static bootloader_cmd_t bootloader_cmd;

#ifdef BOOTLOADER
// variables use to save binary data in flash
Expand All @@ -38,7 +37,6 @@ uint16_t residual_space = (uint16_t)BUFFER_SIZE;
uint32_t nb_bytes = 0;
uint8_t crc = 0;
bool load_flag = false;
uint16_t source_id = 0; // used to save source_id, ie gate_id
uint32_t tickstart = 0;

#ifndef BOOTLOADER_UPDATER
Expand All @@ -57,8 +55,9 @@ static inline uint8_t LuosBootloader_IsEnoughSpace(uint32_t);
static inline void LuosBootloader_EraseMemory(void);
static inline void LuosBootloader_ProcessData(void);
static inline void LuosBootloader_SaveLastData(void);
static void LuosBootloader_SendResponse(bootloader_cmd_t);
static void LuosBootloader_SendCrc(bootloader_cmd_t, uint8_t);
static void LuosBootloader_SendResponse(service_t *service, uint16_t source_id, bootloader_cmd_t response);
static void LuosBootloader_SendCrc(service_t *service, uint16_t source_id, bootloader_cmd_t, uint8_t);
static void LuosBootloader_MsgHandler(service_t *service, const msg_t *input);
#endif

/******************************************************************************
Expand Down Expand Up @@ -91,9 +90,9 @@ void LuosBootloader_Init(void)
{
revision_t version = {.major = 2, .minor = 0, .build = 0};
#ifdef BOOTLOADER_UPDATER
Luos_CreateService(0, VOID_TYPE, "boot_updater", version);
Luos_CreateService(LuosBootloader_MsgHandler, VOID_TYPE, "boot_updater", version);
#else
Luos_CreateService(0, VOID_TYPE, "boot_service", version);
Luos_CreateService(LuosBootloader_MsgHandler, VOID_TYPE, "boot_service", version);
#endif

// set ID node saved in flash
Expand Down Expand Up @@ -315,7 +314,7 @@ uint8_t compute_crc(void)
* @param data : The crc value
* @return None
******************************************************************************/
void LuosBootloader_SendCrc(bootloader_cmd_t response, uint8_t data)
void LuosBootloader_SendCrc(service_t *service, uint16_t source_id, bootloader_cmd_t response, uint8_t data)
{
msg_t ready_msg;
ready_msg.header.cmd = BOOTLOADER_RESP;
Expand All @@ -328,15 +327,15 @@ void LuosBootloader_SendCrc(bootloader_cmd_t response, uint8_t data)
uint32_t tick = LuosHAL_GetSystick();
while (LuosHAL_GetSystick() - tick < node->node_id)
;
Luos_SendMsg(0, &ready_msg);
Luos_SendMsg(service, &ready_msg);
}

/******************************************************************************
* @brief Send response to the gate
* @param response : The type of crc message
* @return None
******************************************************************************/
void LuosBootloader_SendResponse(bootloader_cmd_t response)
void LuosBootloader_SendResponse(service_t *service, uint16_t source_id, bootloader_cmd_t response)
{
msg_t ready_msg;
ready_msg.header.cmd = BOOTLOADER_RESP;
Expand All @@ -348,7 +347,7 @@ void LuosBootloader_SendResponse(bootloader_cmd_t response)
uint32_t tick = LuosHAL_GetSystick();
while (LuosHAL_GetSystick() - tick < node->node_id)
;
Luos_SendMsg(0, &ready_msg);
Luos_SendMsg(service, &ready_msg);
}

/******************************************************************************
Expand All @@ -363,115 +362,115 @@ void LuosBootloader_Loop(void)

/******************************************************************************
* @brief Message handler called from luos library
* @param service : Pointer to the service which received the message
* @param input : Pointer to message received from luos network
* @return None
******************************************************************************/
void LuosBootloader_MsgHandler(const msg_t *input)
void LuosBootloader_MsgHandler(service_t *service, const msg_t *input)
{
bootloader_cmd = input->data[0];

switch (bootloader_cmd)
if (input->header.cmd == BOOTLOADER_CMD)
{
switch (input->data[0])
{
#ifdef WITH_BOOTLOADER
case BOOTLOADER_START:
// We're in the app,
// set bootloader mode, save node ID and reboot
LuosBootloader_JumpToBootloader();
break;
case BOOTLOADER_START:
// We're in the app,
// set bootloader mode, save node ID and reboot
LuosBootloader_JumpToBootloader();
break;
#endif
#ifdef BOOTLOADER
// we're in the bootloader,
// process cmd and data
case BOOTLOADER_READY:
source_id = input->header.source;
bootloader_data_size = input->header.size - 2 * sizeof(char);
Luos_Subscribe(0, (uint16_t)input->data[1]);
memcpy(bootloader_data, &(input->data[2]), bootloader_data_size);

LuosHAL_SetMode((uint8_t)BOOT_MODE);

// save binary length
memcpy(&nb_bytes, &bootloader_data[0], sizeof(uint32_t));
// check free space in flash
if (LuosBootloader_IsEnoughSpace(nb_bytes) == SUCCEED)
{
// send READY response
LuosBootloader_SendResponse(BOOTLOADER_READY_RESP);
}
else
{
// send ERROR response
LuosBootloader_SendResponse(BOOTLOADER_ERROR_SIZE);
}
break;

case BOOTLOADER_ERASE:
// erase flash memory
LuosBootloader_EraseMemory();
// reset load flag
load_flag = false;
// send ERASE response
LuosBootloader_SendResponse(BOOTLOADER_ERASE_RESP);
break;

case BOOTLOADER_BIN_CHUNK:
source_id = input->header.source;
bootloader_data_size = input->header.size - sizeof(char);
memcpy(bootloader_data, &(input->data[1]), bootloader_data_size);

// handle binary data
LuosBootloader_ProcessData();
// send ack to the Host
LuosBootloader_SendResponse(BOOTLOADER_BIN_CHUNK_RESP);
break;

case BOOTLOADER_BIN_END:
source_id = input->header.source;
bootloader_data_size = input->header.size - sizeof(char);
memcpy(bootloader_data, &(input->data[1]), bootloader_data_size);

// save the current page in flash memory
LuosBootloader_SaveLastData();
// send ack to the Host
LuosBootloader_SendResponse(BOOTLOADER_BIN_END_RESP);
break;

case BOOTLOADER_CRC_TEST:
crc = compute_crc();
// send ack to the Host
LuosBootloader_SendCrc(BOOTLOADER_CRC_RESP, crc);
break;

case BOOTLOADER_APP_SAVED:
// set load flag
load_flag = true;
Luos_Unsubscribe(0, input->header.target);
break;

case BOOTLOADER_STOP:
// wait for the command to be send to all nodes
tickstart = LuosHAL_GetSystick();
while ((LuosHAL_GetSystick() - tickstart) < 1000)
;
// save bootloader mode in flash
if (load_flag || (LuosBootloader_GetMode() == APP_RELOAD_MODE))
{
// boot the application programmed in dedicated flash partition
LuosBootloader_DeInit();
LuosBootloader_JumpToApp();
}
else
{
// reboot the node
LuosHAL_Reboot();
}
break;
// we're in the bootloader,
// process cmd and data
case BOOTLOADER_READY:
bootloader_data_size = input->header.size - 2 * sizeof(char);
Luos_Subscribe(service, (uint16_t)input->data[1]);
memcpy(bootloader_data, &(input->data[2]), bootloader_data_size); // why?

LuosHAL_SetMode((uint8_t)BOOT_MODE);

// save binary length
memcpy(&nb_bytes, &bootloader_data[0], sizeof(uint32_t));
// check free space in flash
if (LuosBootloader_IsEnoughSpace(nb_bytes) == SUCCEED)
{
// send READY response
LuosBootloader_SendResponse(service, input->header.source, BOOTLOADER_READY_RESP);
}
else
{
// send ERROR response
LuosBootloader_SendResponse(service, input->header.source, BOOTLOADER_ERROR_SIZE);
}
break;

case BOOTLOADER_ERASE:
// erase flash memory
LuosBootloader_EraseMemory();
// reset load flag
load_flag = false;
// send ERASE response
LuosBootloader_SendResponse(service, input->header.source, BOOTLOADER_ERASE_RESP);
break;

case BOOTLOADER_BIN_CHUNK:
bootloader_data_size = input->header.size - sizeof(char);
memcpy(bootloader_data, &(input->data[1]), bootloader_data_size);

// handle binary data
LuosBootloader_ProcessData();

// send ack to the Host
LuosBootloader_SendResponse(service, input->header.source, BOOTLOADER_BIN_CHUNK_RESP);
break;

case BOOTLOADER_BIN_END:
bootloader_data_size = input->header.size - sizeof(char);
memcpy(bootloader_data, &(input->data[1]), bootloader_data_size);

// save the current page in flash memory
LuosBootloader_SaveLastData();
// send ack to the Host
LuosBootloader_SendResponse(service, input->header.source, BOOTLOADER_BIN_END_RESP);
break;

case BOOTLOADER_CRC_TEST:
crc = compute_crc();
// send ack to the Host
LuosBootloader_SendCrc(service, input->header.source, BOOTLOADER_CRC_RESP, crc);
break;

case BOOTLOADER_APP_SAVED:
// set load flag
load_flag = true;
Luos_Unsubscribe(service, input->header.target);
break;

case BOOTLOADER_STOP:
// wait for the command to be send to all nodes
tickstart = LuosHAL_GetSystick();
while ((LuosHAL_GetSystick() - tickstart) < 1000)
;
// save bootloader mode in flash
if (load_flag || (LuosBootloader_GetMode() == APP_RELOAD_MODE))
{
// boot the application programmed in dedicated flash partition
LuosBootloader_DeInit();
LuosBootloader_JumpToApp();
}
else
{
// reboot the node
LuosHAL_Reboot();
}
break;
#endif
case BOOTLOADER_RESET:
LuosHAL_SetMode((uint8_t)BOOT_MODE);
LuosHAL_Reboot();
break;
default:
break;
case BOOTLOADER_RESET:
LuosHAL_SetMode((uint8_t)BOOT_MODE);
LuosHAL_Reboot();
break;
default:
break;
}
}
}
1 change: 0 additions & 1 deletion engine/bootloader/bootloader_core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,6 @@ void LuosBootloader_Loop(void);
/******************************************************************************
* @brief function used by Luos to send message to the bootloader
******************************************************************************/
void LuosBootloader_MsgHandler(const msg_t *input);
#ifndef BOOTLOADER
void LuosBootloader_JumpToBootloader(void);
#endif
Expand Down
2 changes: 1 addition & 1 deletion test/tests_io/test_luos_io/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -785,7 +785,7 @@ void unittest_luosIO_ConsumeMsg()
error_return_t ret_val = LuosIO_ConsumeMsg(&msg);

// Check received message content
TEST_ASSERT_EQUAL(SUCCEED, ret_val);
TEST_ASSERT_EQUAL(FAILED, ret_val);
}
CATCH
{
Expand Down

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