Begin Crazyflie work

crazyflie/test/.gitignore

@@ -0,0 +1 @@
+build/

crazyflie/test/Makefile

@@ -0,0 +1,23 @@
+SKETCH = test
+
+FQBN = STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX
+
+PORT = /dev/ttyACM0
+
+BIN = build/$(SKETCH).ino.bin
+
+$(BIN): $(SKETCH).ino *.cpp *.h
+	arduino-cli compile --fqbn $(FQBN)  --build-path=$(PWD)/build $(SKETCH).ino
+
+flash: $(BIN)
+	./usb-bootloader.py
+	dfu-util -d 0483:df11 -a 0 -s 0x08004000:leave -D $(BIN)
+
+clean:
+	rm -rf build
+
+edit:
+	vim $(SKETCH).ino
+
+listen:
+	miniterm.py $(PORT) 115200

crazyflie/test/bootloader.cpp

@@ -0,0 +1,88 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie Firmware
+ *
+ * Copyright (C) Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @file bootloader.c
+ * Functions to handle transitioning from the firmware to bootloader (DFU) mode on startup
+ *
+ */
+
+#include <stm32f4xx.h>
+
+#include "bootloader.h"
+
+#if 0
+// bootloader code based from micropython machine_bootloader function
+
+// STM32H7 has ECC and writes to RAM must be 64-bit so they are fully committed
+// to actual SRAM before a system reset occurs.
+#define BL_STATE_PTR                ((uint64_t *) SRAM2_BASE)  //start of 16kb SRAM bank in stm32f405
+#define BL_STATE_KEY                (0x5a5) //arbitrary bit pattern used as a marker
+#define BL_STATE_KEY_MASK           (0xfff)
+#define BL_STATE_KEY_SHIFT          (32)
+#define BL_STATE_INVALID            (0)
+#define BL_STATE_VALID(reg, addr)   ((uint64_t)(reg) | ((uint64_t)((addr) | BL_STATE_KEY)) << BL_STATE_KEY_SHIFT)
+#define BL_STATE_GET_REG(s)         ((s) & 0xffffffff)
+#define BL_STATE_GET_KEY(s)         (((s) >> BL_STATE_KEY_SHIFT) & BL_STATE_KEY_MASK)
+#define BL_STATE_GET_ADDR(s)        (((s) >> BL_STATE_KEY_SHIFT) & ~BL_STATE_KEY_MASK)
+
+
+/**
+ * @brief Branch directly to the bootloader address, setting the 
+ * stack pointer and destination address first.
+ * Based from the micropython machine_bootloader function.
+ * 
+ * @param r0 The register to utilize
+ * @param bl_addr The bootloader address to jump to
+ */
+static void branch_to_bootloader(uint32_t r0, uint32_t bl_addr){
+    __asm volatile (
+        "ldr r2, [r1, #0]\n"    // get address of stack pointer
+        "msr msp, r2\n"         // get stack pointer
+        "ldr r2, [r1, #4]\n"    // get address of destination
+        "bx r2\n"               // branch to bootloader
+        );
+    //unreachable code
+    while(1);
+}
+
+void check_enter_bootloader(){
+    uint64_t bl_state = *BL_STATE_PTR;
+    //set to invalid for next boot
+    *BL_STATE_PTR = BL_STATE_INVALID;
+
+    if(BL_STATE_GET_KEY(bl_state) == BL_STATE_KEY && (RCC->CSR & RCC_CSR_SFTRSTF)){
+        //if botloader data valid and was just reset with NVIC_SystemReset
+
+        //remap memory to system flash
+        SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SystemFlash);
+        branch_to_bootloader(BL_STATE_GET_REG(bl_state), BL_STATE_GET_ADDR(bl_state));
+    }
+}
+
+void enter_bootloader(uint32_t r0, uint32_t bl_addr){
+    //set bootloader state values    
+    *BL_STATE_PTR = BL_STATE_VALID(r0, bl_addr);
+
+    NVIC_SystemReset();
+}
+#endif

crazyflie/test/bootloader.h

@@ -0,0 +1,56 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie Firmware
+ *
+ * Copyright (C) Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @file bootloader.h
+ * Functions to handle transitioning from the firmware to bootloader (DFU) mode on startup
+ *
+ */
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Check if memory is set after software 
+ * reboot indicating we need to branch to the bootloader.
+ * Run every time on startup.
+ */
+void check_enter_bootloader();
+
+/**
+ * @brief Initiate the procedure to reboot into the bootloader.
+ * 
+ * This function does not return, instead setting a flag to 
+ * jump to the bootloader on the next start and
+ * issuing a software reset.
+ * 
+ * @param r0 The register to utilize when jumping
+ * @param bl_addr The bootloader address to jump to
+ */
+void enter_bootloader(uint32_t r0, uint32_t bl_addr);
+
+#ifdef __cplusplus
+}
+#endif

crazyflie/test/test.ino

@@ -0,0 +1,15 @@
+#include "bootloader.h"
+
+void setup()
+{
+    Serial.begin(115200);
+}
+
+void loop()
+{  
+    static uint32_t count = 0;
+
+    Serial.println(count++);
+
+    delay(1000);
+}

crazyflie/test/usb-bootloader.py

@@ -0,0 +1,23 @@
+#!/usr/bin/python3
+
+#send a USB request to the crazyflie, causing it to enter DFU mode (bootloader) automatically
+#flash new firmware using 'make flash_dfu'
+
+from time import sleep
+import usb
+import usb.core
+
+#find connected crazyflie, usb vendor and product id = 0483:5740
+dev = usb.core.find(idVendor=0x0483, idProduct=0x5740)
+if dev is None:
+    raise ValueError('Could not find any USB connected crazyflie')
+
+#send signal to enter bootloader
+try:
+    dev.ctrl_transfer(bmRequestType=usb.TYPE_VENDOR, 
+        bRequest=0x01, wValue=0x01, wIndex=2)
+except IOError:
+    #io error expected because the crazyflie will not respond to USB request as it resets into the bootloader
+    #TODO usbd_cf_Setup function in firmware needs to return USBD_OK before rebooting to fix this
+        #sleep to allow time for crazyflie to get into DFU mode
+        sleep(0.5)