From a838fb8854e23d495aa393bb5cdec987faad96f2 Mon Sep 17 00:00:00 2001
From: Benjamin Koch <bbbsnowball@gmail.com>
Date: Sun, 28 May 2023 02:36:52 +0200
Subject: [PATCH] adjust bootloader for us
---
firmware/rust1-bootloader/.gitignore | 1 +
firmware/rust1-bootloader/Cargo.lock | 1535 +++++++++++++++++
firmware/rust1-bootloader/Cargo.toml | 10 +-
firmware/rust1-bootloader/rust-toolchain.toml | 14 +
firmware/rust1-bootloader/src/main.rs | 55 +-
firmware/rust1/build.rs | 2 +-
firmware/rust1/memory.x | 20 +-
firmware/rust1/src/bin/heizung.rs | 41 +
8 files changed, 1661 insertions(+), 17 deletions(-)
create mode 100644 firmware/rust1-bootloader/.gitignore
create mode 100644 firmware/rust1-bootloader/Cargo.lock
create mode 100644 firmware/rust1-bootloader/rust-toolchain.toml
diff --git a/firmware/rust1-bootloader/.gitignore b/firmware/rust1-bootloader/.gitignore
new file mode 100644
index 0000000..b83d222
--- /dev/null
+++ b/firmware/rust1-bootloader/.gitignore
@@ -0,0 +1 @@
+/target/
diff --git a/firmware/rust1-bootloader/Cargo.lock b/firmware/rust1-bootloader/Cargo.lock
new file mode 100644
index 0000000..c0ad857
--- /dev/null
+++ b/firmware/rust1-bootloader/Cargo.lock
@@ -0,0 +1,1535 @@
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diff --git a/firmware/rust1-bootloader/Cargo.toml b/firmware/rust1-bootloader/Cargo.toml
index b4167bc..c4a5f87 100644
--- a/firmware/rust1-bootloader/Cargo.toml
+++ b/firmware/rust1-bootloader/Cargo.toml
@@ -1,17 +1,17 @@
[package]
edition = "2021"
-name = "rp-bootloader-example"
+name = "heizung-bootloader"
version = "0.1.0"
-description = "Example bootloader for RP2040 chips"
+description = "Bootloader for Subraum Heizung"
license = "MIT OR Apache-2.0"
[dependencies]
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.4", optional = true }
-embassy-rp = { path = "../../../../embassy-rp", default-features = false, features = ["nightly"] }
-embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false }
-embassy-time = { path = "../../../../embassy-time", features = ["nightly"] }
+embassy-rp = { path = "../rust1/embassy/embassy-rp", default-features = false, features = ["nightly", "unstable-pac"] }
+embassy-boot-rp = { path = "../rust1/embassy/embassy-boot/rp", default-features = false }
+embassy-time = { path = "../rust1/embassy/embassy-time", features = ["nightly"] }
cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
cortex-m-rt = { version = "0.7" }
diff --git a/firmware/rust1-bootloader/rust-toolchain.toml b/firmware/rust1-bootloader/rust-toolchain.toml
new file mode 100644
index 0000000..2301ddc
--- /dev/null
+++ b/firmware/rust1-bootloader/rust-toolchain.toml
@@ -0,0 +1,14 @@
+# Before upgrading check that everything is available on all tier1 targets here:
+# https://rust-lang.github.io/rustup-components-history
+[toolchain]
+channel = "nightly-2023-04-18"
+components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
+targets = [
+ "thumbv7em-none-eabi",
+ "thumbv7m-none-eabi",
+ "thumbv6m-none-eabi",
+ "thumbv7em-none-eabihf",
+ "thumbv8m.main-none-eabihf",
+ "riscv32imac-unknown-none-elf",
+ "wasm32-unknown-unknown",
+]
diff --git a/firmware/rust1-bootloader/src/main.rs b/firmware/rust1-bootloader/src/main.rs
index 8129591..4fb4e7d 100644
--- a/firmware/rust1-bootloader/src/main.rs
+++ b/firmware/rust1-bootloader/src/main.rs
@@ -5,28 +5,71 @@ use cortex_m_rt::{entry, exception};
#[cfg(feature = "defmt")]
use defmt_rtt as _;
use embassy_boot_rp::*;
+use embassy_rp::Peripheral;
use embassy_time::Duration;
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_rp::peripherals;
const FLASH_SIZE: usize = 2 * 1024 * 1024;
+// The pause bits are on by default after reset but I think Watchdog::enable()
+// disables them so let's enable them, again.
+fn watchdog_pause_on_debug(_watchdog: peripherals::WATCHDOG) {
+ // This turns off the watchdog - no good! :-/
+ //embassy_rp::watchdog::Watchdog::new(watchdog_copy).pause_on_debug(true);
+
+ use embassy_rp::pac;
+ let watchdog = pac::WATCHDOG;
+ //SAFETY: We know which values have been set by WatchdogFlash / Watchdog.
+ unsafe {
+ watchdog.ctrl().write(|w| {
+ w.set_pause_dbg0(true);
+ w.set_pause_dbg1(true);
+ w.set_pause_jtag(true);
+ w.set_enable(true);
+ });
+ }
+}
+
#[entry]
fn main() -> ! {
let p = embassy_rp::init(Default::default());
// Uncomment this if you are debugging the bootloader with debugger/RTT attached,
// as it prevents a hard fault when accessing flash 'too early' after boot.
- /*
- for i in 0..10000000 {
- cortex_m::asm::nop();
+ #[cfg(feature = "defmt")]
+ if true {
+ for _ in 0..10000000 {
+ cortex_m::asm::nop();
+ }
}
- */
- let mut bl: BootLoader = BootLoader::default();
- let flash = WatchdogFlash::<FLASH_SIZE>::start(p.FLASH, p.WATCHDOG, Duration::from_secs(8));
+ let mut led_b = Output::new(p.PIN_4, Level::Low);
+ let _led_g = Output::new(p.PIN_5, Level::Low);
+ let mut led_r = Output::new(p.PIN_6, Level::Low);
+ let _button_boot2 = Input::new(p.PIN_11, Pull::Up);
+
+ led_r.set_high();
+
+ // This is a bit problematic because it will remain active when probe-rs-cli is programming
+ // the flash and it will interrupt the programming. However, we cannot make this any longer
+ // than 8.4 seconds so there isn't much that we can do.
+ // Manual workaround: Put rp2040 into bootloader mode via a real reset before using probe-rs-cli.
+ // Workaround: Turn on "pause on debug". This seems to work well enough, for now. If not, use the
+ // manual workaround above.
+ let watchdog_interval = Duration::from_secs(8);
+ let watchdog_copy = unsafe { p.WATCHDOG.clone_unchecked() };
+
+ let mut bl: BootLoader = BootLoader::default(); // taking partition addresses from memory.x
+ let flash = WatchdogFlash::<FLASH_SIZE>::start(p.FLASH, p.WATCHDOG, watchdog_interval);
+ watchdog_pause_on_debug(watchdog_copy);
let mut flash = BootFlash::new(flash);
let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash));
core::mem::drop(flash);
+ led_r.set_low();
+ led_b.set_high();
+
unsafe { bl.load(start) }
}
diff --git a/firmware/rust1/build.rs b/firmware/rust1/build.rs
index 3f915f9..f64efb0 100644
--- a/firmware/rust1/build.rs
+++ b/firmware/rust1/build.rs
@@ -31,6 +31,6 @@ fn main() {
println!("cargo:rustc-link-arg-bins=--nmagic");
println!("cargo:rustc-link-arg-bins=-Tlink.x");
- println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
+ //println!("cargo:rustc-link-arg-bins=-Tlink-rp.x"); // This is for boot2 but the bootloader handles that for us.
println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
}
diff --git a/firmware/rust1/memory.x b/firmware/rust1/memory.x
index aba861a..c194731 100644
--- a/firmware/rust1/memory.x
+++ b/firmware/rust1/memory.x
@@ -1,5 +1,15 @@
-MEMORY {
- BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
- FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
- RAM : ORIGIN = 0x20000000, LENGTH = 256K
-}
\ No newline at end of file
+MEMORY
+{
+ /* NOTE 1 K = 1 KiBi = 1024 bytes */
+ BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+ BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4K
+ FLASH : ORIGIN = 0x10007000, LENGTH = 512K
+ DFU : ORIGIN = 0x10087000, LENGTH = 516K
+ RAM : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);
+__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(BOOT2);
+
+__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(BOOT2);
+__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(BOOT2);
diff --git a/firmware/rust1/src/bin/heizung.rs b/firmware/rust1/src/bin/heizung.rs
index 6e8762b..e10bdd2 100644
--- a/firmware/rust1/src/bin/heizung.rs
+++ b/firmware/rust1/src/bin/heizung.rs
@@ -11,6 +11,7 @@ use embassy_futures::select::*;
use embassy_rp::adc::{self, Adc};
use embassy_rp::flash::Flash;
use embassy_rp::peripherals::{*, self};
+use embassy_rp::watchdog::Watchdog;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::mutex::Mutex;
use embassy_time::{Duration, Timer, Instant};
@@ -464,6 +465,44 @@ impl<'a> ModbusRegisters for ModBusRegs<'a> {
}
}
+// The pause bits are on by default after reset but I think Watchdog::enable()
+// disables them so let's enable them, again.
+fn watchdog_pause_on_debug(_watchdog: &mut Watchdog) {
+ // This turns off the watchdog - no good! :-/
+ //_watchdog.pause_on_debug(true);
+
+ use embassy_rp::pac;
+ let watchdog = pac::WATCHDOG;
+ //SAFETY: We know which values have been set by WatchdogFlash / Watchdog.
+ unsafe {
+ // We use modify() to keep the enable bit at its current value.
+ watchdog.ctrl().modify(|w| {
+ w.set_pause_dbg0(true);
+ w.set_pause_dbg1(true);
+ w.set_pause_jtag(true);
+ });
+ }
+}
+
+#[embassy_executor::task]
+async fn dogfeeder(watchdog: peripherals::WATCHDOG) {
+ let mut watchdog = Watchdog::new(watchdog);
+ //watchdog.start(Duration::from_millis(500));
+
+ // Use the maximum value and turn on "pause on debug" to not interfere with
+ // probe-rs-cli's flash programming (which doesn't seem to turn off or feed
+ // the watchdog). This seems to work well enough but if it doesn't, manually
+ // put the board into bootloader mode before programming flash.
+ watchdog.start(Duration::from_secs(8));
+ watchdog_pause_on_debug(&mut watchdog);
+
+ loop {
+ watchdog.feed();
+ //Timer::after(Duration::from_millis(200)).await;
+ Timer::after(Duration::from_millis(2000)).await;
+ }
+}
+
//#[embassy_executor::main]
async fn main2(spawner: Spawner) {
let p = embassy_rp::init(Default::default());
@@ -537,6 +576,8 @@ async fn main2(spawner: Spawner) {
unwrap!(spawner.spawn(beeper_task(p.PWM_CH3, led_r)));
}
+ unwrap!(spawner.spawn(dogfeeder(p.WATCHDOG)));
+
loop {
led_b.set_high();
Timer::after(Duration::from_secs(1)).await;
--
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