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Bootloader works with FreeRTOS yay!
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@lupyuen
lupyuen committed May 21, 2020
1 parent 611d4ba commit 8a3bbe7
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Showing 5 changed files with 6,630 additions and 6,506 deletions.
29 changes: 17 additions & 12 deletions apps/boot_stub/src/boot.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,8 @@
/// Contains addresses of flash sections. Defined in bin/targets/nrf52_boot/generated/src/nrf52_boot-sysflash.c
extern const struct flash_area sysflash_map_dflt[];

static void relocate_vector_table(void *vector_table, void *relocated_vector_table);

/// This is a Stub Bootloader. We jump straight into the application without doing any processing.
/// This simple bootloader allows the application to take up more ROM space.
/// And it allows debugging of application firmware that doesn't have a valid MCUBoot Image Header.
Expand All @@ -52,28 +54,33 @@ int main(void) {
// Previously: flash_map_init();
// Previously: rc = boot_go(&rsp);

// img_start points to the nRF52 Vector Table for the app...
// vector_table points to the Arm Vector Table for the appplication...
// First word contains initial MSP value (estack = end of RAM)
// Second word contains address of entry point (Reset_Handler = 0x0800112d)
void *img_start = (void *) (
sysflash_map_dflt[1].fa_off // Offset of FLASH_AREA_IMAGE_0 (application image): 0x00008000
+ 0x20 // Size of Mynewt image header
); // Equals 0x00008020 (__isr_vector)
// Second word contains address of entry point (Reset_Handler)
void *vector_table = (void *) (
sysflash_map_dflt[1].fa_off // Offset of FLASH_AREA_IMAGE_0 (application image): 0x8000
+ 0x20 // Size of MCUBoot image header
); // Equals 0x8020 (__isr_vector)

// Relocate the application vector table to a 0x100 page boundary in ROM.
relocate_vector_table( // Relocate the vector table...
vector_table, // From the non-aligned application address (0x8020)
(void *) RELOCATED_VECTOR_TABLE // To the relocated address aligned to 0x100 page boundary
);

// Jump to Reset_Handler of the application. Uses first word and second word of img_start.
hal_system_start(img_start);
// Jump to Reset_Handler of the application. Uses first word and second word of vector table at img_start.
hal_system_start(vector_table);

// Should never come here.
return 0;
}

/// Relocate the Arm Vector Table from vector_table to relocated_vector_table.
/// vector_table must be aligned to 0x100 page boundary.
void relocate_vector_table(void *vector_table, void *relocated_vector_table) {
static void relocate_vector_table(void *vector_table, void *relocated_vector_table) {
uint32_t *current_location = (uint32_t *) vector_table;
uint32_t *new_location = (uint32_t *) relocated_vector_table;
if (new_location == current_location) { return; } // No need to relocate

// Check whether we need to copy the vectors.
int vector_diff = 0; // Non-zero if a vector is different
for (int i = 0; i < NVIC_NUM_VECTORS; i++) {
Expand All @@ -82,7 +89,6 @@ void relocate_vector_table(void *vector_table, void *relocated_vector_table) {
break;
}
}

// If we need to copy the vectors, erase the flash ROM and write the vectors.
if (vector_diff) {
hal_flash_erase( // Erase...
Expand All @@ -97,7 +103,6 @@ void relocate_vector_table(void *vector_table, void *relocated_vector_table) {
0x100 // Assume that we copy an entire page
);
}

// Point VTOR Register in the System Control Block to the relocated vector table.
*SCB_VTOR = (uint32_t) relocated_vector_table;
}
78 changes: 67 additions & 11 deletions libs/pinetime_boot/src/pinetime_boot.c
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Original file line number Diff line number Diff line change
Expand Up @@ -22,13 +22,25 @@
#include <hal/hal_bsp.h>
#include <hal/hal_gpio.h>
#include <hal/hal_system.h>
#include <hal/hal_flash.h>
#include <console/console.h>
#include "bootutil/image.h"
#include <bootutil/bootutil.h>
#include "pinetime_boot/pinetime_boot.h"

#define PUSH_BUTTON_IN 13 // P0.13: PUSH BUTTON_IN
#define PUSH_BUTTON_OUT 15 // P0.15/TRACEDATA2: PUSH BUTTON_OUT
#define PUSH_BUTTON_IN 13 // GPIO Pin P0.13: PUSH BUTTON_IN
#define PUSH_BUTTON_OUT 15 // GPIO Pin P0.15/TRACEDATA2: PUSH BUTTON_OUT

/// Vector Table will be relocated here.
#define RELOCATED_VECTOR_TABLE 0x7F00

/// Number of entries in the Vector Table.
#define NVIC_NUM_VECTORS (16 + 38)

/// Address of the VTOR Register in the System Control Block.
#define SCB_VTOR ((uint32_t *) 0xE000ED08)

static void relocate_vector_table(void *vector_table, void *relocated_vector_table);

/// Init the display and render the boot graphic. Called by sysinit() during startup, defined in pkg.yml.
void pinetime_boot_init(void) {
Expand All @@ -42,7 +54,7 @@ void pinetime_boot_init(void) {

// Display the image.
pinetime_boot_display_image();
console_printf("Button: %d\n", hal_gpio_read(PUSH_BUTTON_IN)); console_flush();
console_printf("Check button: %d\n", hal_gpio_read(PUSH_BUTTON_IN)); console_flush();
}

/// Called by MCUBoot when it has completed its work.
Expand All @@ -51,21 +63,33 @@ void boot_custom_start(
struct boot_rsp *rsp
) {
// Wait 5 seconds for button press.
console_printf("Button: %d\n", hal_gpio_read(PUSH_BUTTON_IN)); console_flush();
console_printf("Waiting 5 seconds for button: %d...\n", hal_gpio_read(PUSH_BUTTON_IN)); console_flush();
for (int i = 0; i < 15; i++) {
pinetime_boot_check_button();
}
console_printf("Button: %d\n", hal_gpio_read(PUSH_BUTTON_IN)); console_flush();
console_printf("Waited for button: %d\n", hal_gpio_read(PUSH_BUTTON_IN)); console_flush();

// TODO: If button is pressed and held for 5 seconds, rollback the firmware.
console_printf("Bootloader done\n"); console_flush();

// Start the Active Firmware Image. Copied from MCUBoot main().
hal_system_start((void *)(
flash_base +
rsp->br_image_off +
rsp->br_hdr->ih_hdr_size
));
// vector_table points to the Arm Vector Table for the appplication...
// First word contains initial MSP value (estack = end of RAM)
// Second word contains address of entry point (Reset_Handler)
void *vector_table = (void *) ( // Copied from MCUBoot main()
flash_base + // 0
rsp->br_image_off + // Offset of FLASH_AREA_IMAGE_0 (application image): 0x8000
rsp->br_hdr->ih_hdr_size // Size of MCUBoot image header (0x20)
); // Equals 0x8020 (__isr_vector)
// console_printf("vector_table=%lx, flash_base=%lx, image_off=%lx, hdr_size=%lx\n", (uint32_t) vector_table, (uint32_t) flash_base, (uint32_t) rsp->br_image_off, (uint32_t) rsp->br_hdr->ih_hdr_size); console_flush();

// Relocate the application vector table to a 0x100 page boundary in ROM.
relocate_vector_table( // Relocate the vector table...
vector_table, // From the non-aligned application address (0x8020)
(void *) RELOCATED_VECTOR_TABLE // To the relocated address aligned to 0x100 page boundary
);

// Start the Active Firmware Image at the Reset_Handler function.
hal_system_start(vector_table);
}

/// Check whether the watch button is pressed
Expand All @@ -75,6 +99,38 @@ void pinetime_boot_check_button(void) {
}
}

/// Relocate the Arm Vector Table from vector_table to relocated_vector_table.
/// vector_table must be aligned to 0x100 page boundary.
static void relocate_vector_table(void *vector_table, void *relocated_vector_table) {
uint32_t *current_location = (uint32_t *) vector_table;
uint32_t *new_location = (uint32_t *) relocated_vector_table;
if (new_location == current_location) { return; } // No need to relocate
// Check whether we need to copy the vectors.
int vector_diff = 0; // Non-zero if a vector is different
for (int i = 0; i < NVIC_NUM_VECTORS; i++) {
if (new_location[i] != current_location[i]) {
vector_diff = 1;
break;
}
}
// If we need to copy the vectors, erase the flash ROM and write the vectors.
if (vector_diff) {
hal_flash_erase( // Erase...
0, // Internal Flash ROM
(uint32_t) relocated_vector_table, // At the relocated address
0x100 // Assume that we erase an entire page
);
hal_flash_write( // Write...
0, // Internal Flash ROM
(uint32_t) relocated_vector_table, // To the relocated address
vector_table, // From the original address
0x100 // Assume that we copy an entire page
);
}
// Point VTOR Register in the System Control Block to the relocated vector table.
*SCB_VTOR = (uint32_t) relocated_vector_table;
}

/* Log:
Starting Bootloader...
Displaying image...
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