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BL/BU: Handle bad bootloaders #1874

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merged 3 commits into from
Jul 3, 2017
Merged

BL/BU: Handle bad bootloaders #1874

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3fe6f26
BL/BU: Disable interrupts early (primask)
mlyle Jun 15, 2017
99d4cd2
BU: Set MSP explicitly at the beggining of _main
tracernz Jul 3, 2017
d93fd61
BL: Call initial PC using raw asm
tracernz Jul 3, 2017
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2 changes: 1 addition & 1 deletion flight/PiOS/STM32/chibi_main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ int main()
PIOS_heap_initialize_blocks();

halInit();
chSysInit();
chSysInit(); /* Enables interrupts */

boardInit();

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3 changes: 3 additions & 0 deletions flight/PiOS/STM32F30x/startup.c
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,9 @@ _main(void)
// that might bounds-check the stack
asm volatile ("mov r10, %0" : : "r" (&irq_stack[0]) : );

/* Disable all interrupts, until proper table etc is installed. */
__disable_irq();

/* enable usage, bus and memory faults */
SCB->SHCSR |= SCB_SHCSR_USGFAULTENA_Msk | SCB_SHCSR_BUSFAULTENA_Msk | SCB_SHCSR_MEMFAULTENA_Msk;

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10 changes: 8 additions & 2 deletions flight/PiOS/STM32F4xx/startup.c
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Original file line number Diff line number Diff line change
Expand Up @@ -63,10 +63,16 @@ struct cm3_vectors {
void
_main(void)
{
// load the stack base for the current stack before we attempt to branch to any function
// that might bounds-check the stack
/* At least some bootloaders increment the MSP off the top of the stack
* before jumping to here. Let's set it ourselves to make sure it's good */
asm volatile ("msr msp, %0" : : "r" (&irq_stack[sizeof(irq_stack)]) : );
/* load the stack base for the current stack before we attempt to branch to
* any function that might bounds-check the stack */
asm volatile ("mov r10, %0" : : "r" (&irq_stack[0]) : );

/* Disable all interrupts, until proper table etc is installed. */
__disable_irq();

/* enable usage, bus and memory faults */
SCB->SHCSR |= SCB_SHCSR_USGFAULTENA_Msk | SCB_SHCSR_BUSFAULTENA_Msk | SCB_SHCSR_MEMFAULTENA_Msk;

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4 changes: 2 additions & 2 deletions flight/targets/aq32/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x94
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
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@yamahabest yamahabest Jul 3, 2017 •
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It is already 0x88 at next, shouldn't it be 0x89 now?

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Would require a rebase and it's only been at 0x88 for a couple of days... will just ignore ;)

HW_TYPE := 0x00

CHIP := STM32F407VGT6
BOARD := STM32F4xx_AQ32
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "AeroQuad"
USB_PROD := "AQ32"
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5 changes: 4 additions & 1 deletion flight/targets/bl/common/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -357,7 +357,7 @@ static void go_jumping_to_app(struct bl_fsm_context * context)
__set_MSP(initial_sp);

/* Jump to the application entry point */
((void (*)(void))initial_pc)();
asm volatile("bx %r0" : : "r" (initial_pc) : );
}

static void go_dfu_idle(struct bl_fsm_context * context)
Expand Down Expand Up @@ -434,6 +434,9 @@ static void process_packet_rx(struct bl_fsm_context * context, const struct bl_m

int main(void)
{
/* Interrupts are OK immediately for the loader */
__enable_irq();

/* Configure and enable system clocks */
PIOS_SYS_Init();

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4 changes: 2 additions & 2 deletions flight/targets/brain/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x8A
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F405RGT
BOARD := STM32F4xx_BRAIN
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "BrainFPV"
USB_PROD := "BrainFPV"
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5 changes: 2 additions & 3 deletions flight/targets/brainre1/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x8B
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F446RET
BOARD := STM32F4xx_BRAINFPVRE1
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "BrainFPV"
USB_PROD := "RE1"
Expand Down Expand Up @@ -35,4 +35,3 @@ SYSCLK_FREQ := 180000000
# Include these here, so they get included in the firmware and bootloader
SRC += $(BOARD_INFO_DIR)/../re1fpga/fpga_drv.c
EXTRAINCDIRS += $(BOARD_INFO_DIR)/../re1fpga/

5 changes: 2 additions & 3 deletions flight/targets/dtfc/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0xD7
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00

CHIP := STM32F303VCT
BOARD := STM32F30x_DTFc
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "DTF Air"
USB_PROD := "DTFc"
Expand All @@ -31,4 +31,3 @@ EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootlo

OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 72000000

5 changes: 2 additions & 3 deletions flight/targets/lux/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0xCA
BOARD_REVISION := 0x02
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F303VCT
BOARD := STM32F30x_lux
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "Lumenier"
USB_PROD := "LUX"
Expand All @@ -31,4 +31,3 @@ EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootlo

OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 72000000

5 changes: 2 additions & 3 deletions flight/targets/pikoblx/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0xA2
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F303VCT
BOARD := STM32F30x_PIKOBLX
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "dRonin"
USB_PROD := "PikoBLX"
Expand All @@ -31,4 +31,3 @@ EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootlo

OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 72000000

3 changes: 1 addition & 2 deletions flight/targets/pipxtreme/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
BOARD_TYPE := 0x03
BOARD_REVISION := 0x02
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x01

CHIP := STM32F103CBT
Expand Down Expand Up @@ -28,4 +28,3 @@ EF_BANK_SIZE := 0x00020000 # Size of the entire flash image (from bootlo

OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 72000000

2 changes: 1 addition & 1 deletion flight/targets/playuavosd/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
BOARD_TYPE := 0xCB
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F405RGT
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4 changes: 2 additions & 2 deletions flight/targets/quanton/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x86
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F405RGT
BOARD := STM32F4xx_QUANTON
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "Quantec"
USB_PROD := "Quanton"
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4 changes: 2 additions & 2 deletions flight/targets/revolution/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x09
BOARD_REVISION := 0x03
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00

CHIP := STM32F405RGT
BOARD := STM32F4xx_RM
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "OpenPilot"
USB_PROD := "Revolution"
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4 changes: 2 additions & 2 deletions flight/targets/seppuku/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0xA1
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x88
BOOTLOADER_VERSION := 0x89
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F405RGT
BOARD := STM32F4xx_SEPPUKU
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "dRonin"
USB_PROD := "Seppuku"
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5 changes: 2 additions & 3 deletions flight/targets/sparky/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x88
BOARD_REVISION := 0x02
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F303VCT
BOARD := STM32F30x_SPARKY
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "Tau Labs"
USB_PROD := "Sparky"
Expand All @@ -31,4 +31,3 @@ EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootlo

OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 72000000

4 changes: 2 additions & 2 deletions flight/targets/sparky2/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0x92
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00

CHIP := STM32F405RGT
BOARD := STM32F4xx_RM
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "Tau Labs"
USB_PROD := "Sparky2"
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5 changes: 2 additions & 3 deletions flight/targets/sprf3e/board-info/board-info.mk
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
BOARD_TYPE := 0xCF
BOARD_REVISION := 0x02
BOOTLOADER_VERSION := 0x87
BOOTLOADER_VERSION := 0x88
HW_TYPE := 0x00 # seems to be unused

CHIP := STM32F303CCT
BOARD := STM32F30x_sprf3e
MODEL := HD
MODEL_SUFFIX :=
MODEL_SUFFIX :=

USB_VEND := "dRonin"
USB_PROD := "SPRF3E"
Expand All @@ -31,4 +31,3 @@ EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootlo

OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 72000000