void bricklet_write_plugin_to_flash(const char *plugin,
const uint8_t position,
const uint8_t bricklet) {
// Disable all irqs before plugin is written to flash.
// While writing to flash there can't be any other access to the flash
// (e.g. via interrupts).
DISABLE_RESET_BUTTON();
__disable_irq();
// Unlock flash region
FLASHD_Unlock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
// Write plugin to flash
uint16_t add = position*PLUGIN_CHUNK_SIZE;
FLASHD_Write(baddr[bricklet].plugin + add, plugin, PLUGIN_CHUNK_SIZE);
// Lock flash and enable irqs again
FLASHD_Lock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
__enable_irq();
ENABLE_RESET_BUTTON();
}
void bricklet_write_asc_to_flash(const uint8_t bricklet) {
// Disable all irqs before plugin is written to flash.
// While writing to flash there can't be any other access to the flash
// (e.g. via interrupts).
DISABLE_RESET_BUTTON();
__disable_irq();
// Unlock flash region
FLASHD_Unlock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
// Write api address to flash
int adr = (int)&ba;
FLASHD_Write(baddr[bricklet].api, &adr, sizeof(int*));
// Write settings address to flash
adr = (int)&bs[bricklet];
FLASHD_Write(baddr[bricklet].settings, &adr, sizeof(int*));
// Write context address to flash
adr = (int)&bc[bricklet];
FLASHD_Write(baddr[bricklet].context, &adr, sizeof(int*));
// Lock flash and enable irqs again
FLASHD_Lock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
__enable_irq();
ENABLE_RESET_BUTTON();
}
bool read_calibration_from_bno055_and_save_to_flash(void) {
if(sensor_data.calibration_status != 0xFF) {
return false;
}
bmo_write_register(REG_OPR_MODE, 0b00000000); // Configuration Mode
SLEEP_MS(19);
IMUCalibration imu_calibration = {{0}};
bmo_read_registers(REG_ACC_OFFSET_X_LSB, (uint8_t *)&imu_calibration, IMU_CALIBRATION_LENGTH);
imu_calibration.password = IMU_CALIBRATION_PASSWORD;
bmo_write_register(REG_OPR_MODE, 0b00001100); // Enable NDOF, see Table 3-5
SLEEP_MS(7);
logimui("Read calibration from BNO055 and save to flash:\n\r");
logimui(" Mag Offset: %d %d %d\n\r", imu_calibration.mag_offset[0], imu_calibration.mag_offset[1], imu_calibration.mag_offset[2]);
logimui(" Acc Offset: %d %d %d\n\r", imu_calibration.acc_offset[0], imu_calibration.acc_offset[1], imu_calibration.acc_offset[2]);
logimui(" Gyr Offset: %d %d %d\n\r", imu_calibration.gyr_offset[0], imu_calibration.gyr_offset[1], imu_calibration.gyr_offset[2]);
logimui(" Acc Radius: %d\n\r", imu_calibration.acc_radius);
logimui(" Mag Radius: %d\n\r", imu_calibration.mag_radius);
DISABLE_RESET_BUTTON();
__disable_irq();
// Unlock flash region
if(FLASHD_Unlock(IMU_CALIBRATION_ADDRESS,
END_OF_BRICKLET_MEMORY,
NULL,
NULL) != 0) {
return false;
}
if(FLASHD_Write(IMU_CALIBRATION_ADDRESS,
&imu_calibration,
sizeof(IMUCalibration)) != 0) {
return false;
}
if(FLASHD_Lock(IMU_CALIBRATION_ADDRESS,
END_OF_BRICKLET_MEMORY,
NULL,
NULL) != 0) {
return false;
}
__enable_irq();
ENABLE_RESET_BUTTON();
return true;
}
/**
* \brief Applet main entry. This function decodes received command and executes it.
*
* \param argc always 1
* \param argv Address of the argument area..
*/
int main(int argc, char **argv)
{
struct _Mailbox *pMailbox = (struct _Mailbox *) argv;
uint32_t bytesToWrite, bufferAddr, memoryOffset;
uint32_t l_start, l_end;
uint32_t *pActualStart = NULL;
uint32_t *pActualEnd = NULL;
uint8_t error ;
uint32_t writeSize;
/* Save info of communication link */
comType = pMailbox->argument.inputInit.comType;
/*----------------------------------------------------------
* INIT:
*----------------------------------------------------------*/
if (pMailbox->command == APPLET_CMD_INIT) {
/* Re-configurate UART (MCK maybe change in LowLevelInit()) */
UART_Configure(115200, BOARD_MCK);
/* Set 6 WS for internal Flash writing (refer to errata) */
EFC_SetWaitState(EFC0, 6);
#if defined (EFC1)
EFC_SetWaitState(EFC1, 6);
#endif
#if (DYN_TRACES == 1)
dwTraceLevel = pMailbox->argument.inputInit.traceLevel;
#endif
flashBaseAddr = IFLASH_ADDR;
flashBaseAddrInit = IFLASH_ADDR;
flashSize = IFLASH_SIZE;
flashPageSize = IFLASH_PAGE_SIZE;
flashNbLockBits = IFLASH_NB_OF_LOCK_BITS;
flashLockRegionSize = IFLASH_LOCK_REGION_SIZE;
TRACE_INFO("-- Internal Flash SAM-BA Applet %s --\n\r", SAM_BA_APPLETS_VERSION);
TRACE_INFO("-- %s\n\r", BOARD_NAME);
TRACE_INFO("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
/* Initialize flash driver */
FLASHD_Initialize(BOARD_MCK, 1);
/* flash accesses must be 4 bytes aligned */
pMailbox->argument.outputInit.bufferAddress = ((uint32_t) &end);
bufferSize = IRAM_SIZE /* sram size */
- ( ((uint32_t) &end) - IRAM_ADDR ) /* program size (romcode, code+data) */
- STACK_SIZE; /* stack size at the end */
/* integer number of pages can be contained in each buffer */
/* operation is : buffersize -= bufferSize % flashPageSize */
/* modulo can be done with a mask since flashpagesize is a power of two integer */
bufferSize = bufferSize > SECTOR_SIZE ? SECTOR_SIZE: bufferSize;
pMailbox->argument.outputInit.bufferSize = bufferSize;
pMailbox->argument.outputInit.memorySize = flashSize;
pMailbox->argument.outputInit.memoryInfo.lockRegionSize = flashLockRegionSize;
pMailbox->argument.outputInit.memoryInfo.numbersLockBits = flashNbLockBits;
TRACE_INFO("bufferSize : %d bufferAddr: 0x%x \n\r",
(int)pMailbox->argument.outputInit.bufferSize,
(unsigned int) &end );
TRACE_INFO("memorySize : %d lockRegionSize : 0x%x numbersLockBits : 0x%x \n\r",
(int)pMailbox->argument.outputInit.memorySize,
(unsigned int)pMailbox->argument.outputInit.memoryInfo.lockRegionSize,
(unsigned int)pMailbox->argument.outputInit.memoryInfo.numbersLockBits);
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* WRITE:
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_WRITE) {
memoryOffset = pMailbox->argument.inputWrite.memoryOffset;
bufferAddr = pMailbox->argument.inputWrite.bufferAddr;
bytesToWrite = pMailbox->argument.inputWrite.bufferSize;
TRACE_INFO("WRITE at offset: 0x%x buffer at : 0x%x of: 0x%x Bytes (flash base addr : 0x%x)\n\r",
(unsigned int)memoryOffset, (unsigned int)bufferAddr,
(unsigned int)bytesToWrite, (unsigned int)flashBaseAddr);
/* Check the giving sector have been locked before. */
if (FLASHD_IsLocked(flashBaseAddr + memoryOffset, flashBaseAddr + memoryOffset + bytesToWrite) != 0) {
TRACE_INFO("Error page locked\n\r");
pMailbox->argument.outputWrite.bytesWritten = 0;
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
if (memoryOffset % SECTOR_SIZE) {
writeSize = SECTOR_SIZE - memoryOffset % SECTOR_SIZE;
writeSize = writeSize > bufferSize ? bufferSize : writeSize;
} else {
writeSize = bytesToWrite;
}
TRACE_INFO("Write <%x> bytes from <#%x> \n\r", (unsigned int )writeSize, (unsigned int )memoryOffset );
l_start = memoryOffset / SECTOR_SIZE;
if ((memoryOffset % SECTOR_SIZE == 0) ||
((memoryOffset % SECTOR_SIZE != 0) && ( memoryOffset != (lastWrittenAddr + 1)))) {
TRACE_INFO("Erase sector <#%d> \n\r", (unsigned int )l_start );
TRACE_INFO("Unlock from <#%x> to <#%x> for sector erasing \n\r",
(unsigned int )(l_start * SECTOR_SIZE), (unsigned int)((l_start + 1) * SECTOR_SIZE -1));
FLASHD_Unlock(flashBaseAddr + l_start * SECTOR_SIZE, flashBaseAddr + (l_start + 1) * SECTOR_SIZE -1 , pActualStart, pActualEnd);
#if defined (EFC1)
if (memoryOffset < SECTOR_SIZE) {
FLASHD_EraseSector(IFLASH_ADDR); /* Small sector 0: 8K */
FLASHD_EraseSector(IFLASH_ADDR + 1024 * 8); /* Small sector 1: 8K */
FLASHD_EraseSector(IFLASH_ADDR + 1024 * 16); /* Large sector : 48K */
} else if ((memoryOffset >= IFLASH_SIZE / 2) && (memoryOffset < (IFLASH_SIZE / 2 + SECTOR_SIZE))) {
FLASHD_EraseSector(IFLASH_ADDR + IFLASH_SIZE / 2); /* Small sector 0: 8K */
FLASHD_EraseSector(IFLASH_ADDR + IFLASH_SIZE / 2 + 1024 * 8); /* Small sector 1: 8K */
FLASHD_EraseSector(IFLASH_ADDR + IFLASH_SIZE / 2 + 1024 * 16); /* Large sector : 48K */
} else {
/* Common erase Other sectors */
FLASHD_EraseSector(flashBaseAddr + memoryOffset);
}
#else
if (memoryOffset < SECTOR_SIZE) {
FLASHD_EraseSector(IFLASH_ADDR); /* Small sector 0: 8K */
FLASHD_EraseSector(IFLASH_ADDR + 1024 * 8); /* Small sector 1: 8K */
FLASHD_EraseSector(IFLASH_ADDR + 1024 * 16); /* Large sector : 48K */
} else {
/* Common erase Other sectors */
FLASHD_EraseSector(flashBaseAddr + memoryOffset);
}
#endif
}
/* Write data */
if (FLASHD_Write(flashBaseAddr + memoryOffset, (const void *)bufferAddr, writeSize) != 0) {
TRACE_INFO("Error write operation\n\r");
pMailbox->argument.outputWrite.bytesWritten = writeSize ;
pMailbox->status = APPLET_WRITE_FAIL;
goto exit;
}
lastWrittenAddr = memoryOffset + writeSize - 1;
TRACE_INFO("Write achieved\n\r");
pMailbox->argument.outputWrite.bytesWritten = writeSize;
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* READ:
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_READ) {
memoryOffset = pMailbox->argument.inputRead.memoryOffset;
bufferAddr = pMailbox->argument.inputRead.bufferAddr;
bufferSize = pMailbox->argument.inputRead.bufferSize;
TRACE_INFO("READ at offset: 0x%x buffer at : 0x%x of: 0x%x Bytes (flash base addr : 0x%x)\n\r",
(unsigned int)memoryOffset, (unsigned int)bufferAddr,
(unsigned int)bufferSize,
(unsigned int)flashBaseAddr);
/* read data */
memcpy((void *)bufferAddr, (void *)(flashBaseAddr + memoryOffset), bufferSize);
/* workaound for sam4s-xpld */
memcpy((void *)bufferAddr, (void *)(flashBaseAddr + memoryOffset), bufferSize);
TRACE_INFO("Read achieved\n\r");
pMailbox->argument.outputRead.bytesRead = bufferSize;
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* FULL ERASE:
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_FULL_ERASE) {
TRACE_INFO("FULL ERASE command \n\r");
/* Check if at least one page has been locked */
if (FLASHD_IsLocked(flashBaseAddr, flashBaseAddr + flashSize) != 0) {
TRACE_INFO("Error page locked \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
/* Implement the erase all command */
/* Erase the flash */
if (FLASHD_Erase(flashBaseAddr) != 0) {
TRACE_INFO("Flash erase failed! \n\r");
pMailbox->status = APPLET_ERASE_FAIL;
goto exit;
}
#if defined (EFC1)
/* Erase the flash1 */
if (FLASHD_Erase(flashBaseAddr + flashSize / 2) != 0) {
TRACE_INFO("Full erase failed! \n\r");
pMailbox->status = APPLET_ERASE_FAIL;
goto exit;
}
#endif
lastWrittenAddr = 0;
TRACE_INFO("Full erase achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* LOCK SECTOR:
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_LOCK) {
TRACE_INFO("LOCK command \n\r");
l_start = (pMailbox->argument.inputLock.sector * flashLockRegionSize) + flashBaseAddr;
l_end = l_start + flashLockRegionSize;
if( FLASHD_Lock(l_start, l_end, pActualStart, pActualEnd) != 0) {
TRACE_INFO("Lock failed! \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
TRACE_INFO("Lock sector achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* UNLOCK SECTOR:
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_UNLOCK) {
TRACE_INFO("UNLOCK command \n\r");
l_start = (pMailbox->argument.inputLock.sector * flashLockRegionSize) + flashBaseAddr;
l_end = l_start + flashLockRegionSize;
if( FLASHD_Unlock(l_start, l_end, pActualStart, pActualEnd) != 0) {
TRACE_INFO("Unlock failed! \n\r");
pMailbox->status = APPLET_UNPROTECT_FAIL;
goto exit;
}
TRACE_INFO("Unlock sector achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* GPNVM :
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_GPNVM) {
if( pMailbox->argument.inputGPNVM.action == 0) {
TRACE_INFO("DEACTIVATES GPNVM command \n\r");
error = FLASHD_ClearGPNVM(pMailbox->argument.inputGPNVM.bitsOfNVM);
}
else {
TRACE_INFO("ACTIVATES GPNVM command \n\r");
error = FLASHD_SetGPNVM(pMailbox->argument.inputGPNVM.bitsOfNVM);
}
if(error != 0) {
TRACE_INFO("GPNVM failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("GPNVM achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
/*----------------------------------------------------------
* READ UNIQUE ID :
*----------------------------------------------------------*/
else if (pMailbox->command == APPLET_CMD_READ_UNIQUE_ID) {
TRACE_INFO("READ UNIQUE ID command \n\r");
if (FLASHD_ReadUniqueID ((uint32_t *)(pMailbox->argument.inputReadUniqueID.bufferAddr)) != 0) {
TRACE_INFO("Read Unique ID failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("Read Unique ID achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
exit:
/* Acknowledge the end of command */
TRACE_INFO("\tEnd of Applet %x %x.\n\r",
(unsigned int)pMailbox->command,
(unsigned int)pMailbox->status);
/* Notify the host application of the end of the command processing */
pMailbox->command = ~(pMailbox->command);
if (comType == DBGU_COM_TYPE) {
UART_PutChar(0x6);
}
return 0;
}
/**
* \brief Applet main entry. This function decodes received command and executes it.
*
* \param argc always 1
* \param argv Address of the argument area..
*/
int main(int argc, char **argv)
{
struct _Mailbox *pMailbox = (struct _Mailbox *) argv;
uint32_t bytesToWrite, bufferAddr, memoryOffset;
uint32_t l_start, l_end;
uint32_t *pActualStart = NULL;
uint32_t *pActualEnd = NULL;
uint8_t error;
/* Disable watchdog */
WDT_Disable( WDT ) ;
//TRACE_CONFIGURE_ISP(DBGU_STANDARD, 115200, BOARD_MCK);
// ----------------------------------------------------------
// INIT:
// ----------------------------------------------------------
if (pMailbox->command == APPLET_CMD_INIT) {
// Save communication link type
comType = pMailbox->argument.inputInit.comType;
if (comType == DBGU_COM_TYPE){
USART_Configure(UART0, UART_MR_PAR_NONE, 115200, BOARD_MCK);
USART_SetTransmitterEnabled(UART0, 1);
USART_SetReceiverEnabled(UART0, 1);
}
flashBaseAddr = AT91C_IFLASH;
flashBaseAddrInit = AT91C_IFLASH;
flashSize = AT91C_IFLASH_SIZE;
flashPageSize = AT91C_IFLASH_PAGE_SIZE;
flashNbLockBits = AT91C_IFLASH_NB_OF_LOCK_BITS;
flashLockRegionSize = AT91C_IFLASH_LOCK_REGION_SIZE;
TRACE_INFO("-- Internal Flash Applet %s --\n\r", SAM_BA_APPLETS_VERSION);
TRACE_INFO("-- %s\n\r", BOARD_NAME);
TRACE_INFO("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
// Initialize flash driver
//FLASHD_Initialize(BOARD_MCK);
// flash accesses must be 4 bytes aligned
pMailbox->argument.outputInit.bufferAddress = ((uint32_t) &end);
bufferSize = AT91C_ISRAM_SIZE // sram size
- ( ((uint32_t) &end) - AT91C_ISRAM ) // program size (romcode, code+data)
- STACK_SIZE; // stack size at the end
// integer number of pages can be contained in each buffer
// operation is : buffersize -= bufferSize % flashPageSize
// modulo can be done with a mask since flashpagesize is a power of two integer
bufferSize -= (bufferSize & (flashPageSize - 1));
pMailbox->argument.outputInit.bufferSize = bufferSize;
pMailbox->argument.outputInit.memorySize = flashSize;
pMailbox->argument.outputInit.memoryInfo.lockRegionSize = flashLockRegionSize;
pMailbox->argument.outputInit.memoryInfo.numbersLockBits = flashNbLockBits;
TRACE_INFO("bufferSize : %d bufferAddr: 0x%x \n\r",
pMailbox->argument.outputInit.bufferSize,
(uint32_t) &end );
TRACE_INFO("memorySize : %d lockRegionSize : 0x%x numbersLockBits : 0x%x \n\r",
pMailbox->argument.outputInit.memorySize,
pMailbox->argument.outputInit.memoryInfo.lockRegionSize,
pMailbox->argument.outputInit.memoryInfo.numbersLockBits);
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// WRITE:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_WRITE) {
memoryOffset = pMailbox->argument.inputWrite.memoryOffset;
bufferAddr = pMailbox->argument.inputWrite.bufferAddr;
bytesToWrite = pMailbox->argument.inputWrite.bufferSize;
TRACE_INFO("WRITE at offset: 0x%x buffer at : 0x%x of: 0x%x Bytes (flash base addr : 0x%x)\n\r",
memoryOffset, bufferAddr, bytesToWrite, flashBaseAddr);
// Check the giving sector have been locked before.
if (FLASHD_IsLocked(flashBaseAddr + memoryOffset, flashBaseAddr + memoryOffset + bytesToWrite) != 0) {
TRACE_INFO("Error page locked\n\r");
pMailbox->argument.outputWrite.bytesWritten = 0;
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
// Write data
if (FLASHD_Write(flashBaseAddr + memoryOffset, (const void *)bufferAddr, bytesToWrite) != 0) {
TRACE_INFO("Error write operation\n\r");
pMailbox->argument.outputWrite.bytesWritten = 0;
pMailbox->status = APPLET_WRITE_FAIL;
goto exit;
}
TRACE_INFO("Write achieved\n\r");
pMailbox->argument.outputWrite.bytesWritten = bytesToWrite;
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// READ:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_READ) {
memoryOffset = pMailbox->argument.inputRead.memoryOffset;
bufferAddr = pMailbox->argument.inputRead.bufferAddr;
bufferSize = pMailbox->argument.inputRead.bufferSize;
TRACE_INFO("READ at offset: 0x%x buffer at : 0x%x of: 0x%x Bytes (flash base addr : 0x%x)\n\r",
memoryOffset, bufferAddr, bufferSize, flashBaseAddr);
// read data
memcpy((void *)bufferAddr, (void *)(flashBaseAddr + memoryOffset), bufferSize);
TRACE_INFO("Read achieved\n\r");
pMailbox->argument.outputRead.bytesRead = bufferSize;
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// FULL ERASE:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_FULL_ERASE) {
TRACE_INFO("FULL ERASE command \n\r");
// Check if at least one page has been locked
if (FLASHD_IsLocked(flashBaseAddr, flashBaseAddr + flashSize) != 0) {
TRACE_INFO("Error page locked \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
// Implement the erase all command
if (FLASHD_Erase(flashBaseAddr) != 0) {
TRACE_INFO("Full erase failed! \n\r");
pMailbox->status = APPLET_ERASE_FAIL;
goto exit;
}
TRACE_INFO("Full erase achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// LOCK SECTOR:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_LOCK) {
TRACE_INFO("LOCK command \n\r");
l_start = (pMailbox->argument.inputLock.sector * flashLockRegionSize) + flashBaseAddr;
l_end = l_start + flashLockRegionSize;
if( FLASHD_Lock(l_start, l_end, pActualStart, pActualEnd) != 0) {
TRACE_INFO("Lock failed! \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
TRACE_INFO("Lock sector achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// UNLOCK SECTOR:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_UNLOCK) {
TRACE_INFO("UNLOCK command \n\r");
l_start = (pMailbox->argument.inputLock.sector * flashLockRegionSize) + flashBaseAddr;
l_end = l_start + flashLockRegionSize;
if( FLASHD_Unlock(l_start, l_end, pActualStart, pActualEnd) != 0) {
TRACE_INFO("Unlock failed! \n\r");
pMailbox->status = APPLET_UNPROTECT_FAIL;
goto exit;
}
TRACE_INFO("Unlock sector achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// GPNVM :
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_GPNVM) {
if( pMailbox->argument.inputGPNVM.action == 0) {
TRACE_INFO("DEACTIVATES GPNVM command \n\r");
error = FLASHD_ClearGPNVM(pMailbox->argument.inputGPNVM.bitsOfNVM);
}
else {
TRACE_INFO("ACTIVATES GPNVM command \n\r");
error = FLASHD_SetGPNVM(pMailbox->argument.inputGPNVM.bitsOfNVM);
}
if(error != 0) {
TRACE_INFO("GPNVM failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("GPNVM achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// READ UNIQUE ID :
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_READ_UNIQUE_ID) {
TRACE_INFO("READ UNIQUE ID command \n\r");
if (FLASHD_ReadUniqueID ((pMailbox->argument.inputReadUniqueID.bufferAddr)) != 0) {
TRACE_INFO("Read Unique ID failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("Read Unique ID achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
exit:
// Acknowledge the end of command
TRACE_INFO("\tEnd of Applet %x %x.\n\r", pMailbox->command, pMailbox->status);
// Notify the host application of the end of the command processing
pMailbox->command = ~(pMailbox->command);
if (comType == DBGU_COM_TYPE) {
UART_PutChar(0x6);
}
return 0;
}
//------------------------------------------------------------------------------
/// Applet main entry. This function decodes received command and executes it.
/// \param argc always 1
/// \param argv Address of the argument area.
//------------------------------------------------------------------------------
int main(int argc, char **argv)
{
struct _Mailbox *pMailbox = (struct _Mailbox *) argv;
unsigned int bytesToWrite, bufferAddr, memoryOffset;
unsigned int l_start;
unsigned int l_end;
unsigned int *pActualStart = NULL;
unsigned int *pActualEnd = NULL;
unsigned char error;
TRACE_CONFIGURE_ISP(DBGU_STANDARD, 115200, BOARD_MCK);
// ----------------------------------------------------------
// INIT:
// ----------------------------------------------------------
if (pMailbox->command == APPLET_CMD_INIT) {
// Save info of communication link
comType = pMailbox->argument.inputInit.comType;
#if (DYN_TRACES == 1)
traceLevel = pMailbox->argument.inputInit.traceLevel;
#endif
switch (pMailbox->argument.inputInit.bank) {
default:
case 0:
flashBaseAddr = AT91C_IFLASH;
flashBaseAddrInit = AT91C_IFLASH;
#if defined (at91sam3u4)
flashSize = AT91C_IFLASH_SIZE + AT91C_IFLASH1_SIZE;
#else
flashSize = AT91C_IFLASH_SIZE;
#endif
flashPageSize = AT91C_IFLASH_PAGE_SIZE;
pMailbox->argument.outputInit.memoryInfo.numbersLockBits = AT91C_IFLASH_NB_OF_LOCK_BITS;
flashLockRegionSize = AT91C_IFLASH_LOCK_REGION_SIZE;
break;
#if defined (at91sam3u4)
case 1:
flashBaseAddr = AT91C_IFLASH1;
flashBaseAddrInit = AT91C_IFLASH1;
flashSize = AT91C_IFLASH1_SIZE;
flashPageSize = AT91C_IFLASH1_PAGE_SIZE;
pMailbox->argument.outputInit.memoryInfo.numbersLockBits = AT91C_IFLASH1_NB_OF_LOCK_BITS;
flashLockRegionSize = AT91C_IFLASH1_LOCK_REGION_SIZE;
break;
#endif
}
TRACE_INFO("-- Internal Flash Applet %s --\n\r", SAM_BA_APPLETS_VERSION);
TRACE_INFO("-- %s\n\r", BOARD_NAME);
// Initialize flash driver
FLASHD_Initialize(BOARD_MCK);
// flash accesses must be 4 bytes aligned
pMailbox->argument.outputInit.bufferAddress = ((unsigned int) &end);
#if defined (at91sam7s161) || defined (at91sam3u1)
bufferSize = flashPageSize * 2;
#elif defined (at91sam7s32) || defined (at91sam7s321) || defined (at91sam7l)
bufferSize = flashPageSize;
#else
bufferSize = AT91C_ISRAM_SIZE // sram size
- ( ((unsigned int) &end) - AT91C_ISRAM ) // program size (romcode, code+data)
- STACK_SIZE; // stack size at the end
#endif
// integer number of pages can be contained in each buffer
// operation is : buffersize -= bufferSize % flashPageSize
// modulo can be done with a mask since flashpagesize is a power of two integer
bufferSize -= (bufferSize & (flashPageSize - 1));
if (bufferSize > MAX_BUF_SIZE && (comType == DBGU_COM_TYPE)) bufferSize = MAX_BUF_SIZE;
pMailbox->argument.outputInit.bufferSize = bufferSize;
pMailbox->argument.outputInit.memorySize = flashSize;
pMailbox->argument.outputInit.memoryInfo.lockRegionSize = flashLockRegionSize;
TRACE_INFO("bufferSize : %d bufferAddr: 0x%x \n\r",
pMailbox->argument.outputInit.bufferSize,
(unsigned int) &end );
TRACE_INFO("memorySize : %d lockRegionSize : 0x%x numbersLockBits : 0x%x \n\r",
pMailbox->argument.outputInit.memorySize,
pMailbox->argument.outputInit.memoryInfo.lockRegionSize,
pMailbox->argument.outputInit.memoryInfo.numbersLockBits);
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// WRITE:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_WRITE) {
memoryOffset = pMailbox->argument.inputWrite.memoryOffset;
bufferAddr = pMailbox->argument.inputWrite.bufferAddr;
bytesToWrite = pMailbox->argument.inputWrite.bufferSize;
#if defined (at91sam3u4)
if (flashBaseAddrInit == AT91C_IFLASH) {
if ((memoryOffset < AT91C_IFLASH_SIZE) && ((memoryOffset + bytesToWrite) > AT91C_IFLASH_SIZE)) {
flashBaseAddr = AT91C_IFLASH;
bytesToWrite = AT91C_IFLASH_SIZE - memoryOffset;
}
else if (memoryOffset >= AT91C_IFLASH_SIZE) {
flashBaseAddr = AT91C_IFLASH1;
memoryOffset -= AT91C_IFLASH_SIZE;
}
}
#endif
TRACE_INFO("WRITE at offset: 0x%x buffer at : 0x%x of: 0x%x Bytes (flash base addr : 0x%x)\n\r",
memoryOffset, bufferAddr, bytesToWrite, flashBaseAddr);
// Check the giving sector have been locked before.
if (FLASHD_IsLocked(flashBaseAddr + memoryOffset, flashBaseAddr + memoryOffset + bytesToWrite) != 0) {
TRACE_INFO("Error page locked\n\r");
pMailbox->argument.outputWrite.bytesWritten = 0;
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
// Write data
if (FLASHD_Write(flashBaseAddr + memoryOffset, (const void *)bufferAddr, bytesToWrite) != 0) {
TRACE_INFO("Error write operation\n\r");
pMailbox->argument.outputWrite.bytesWritten = 0;
pMailbox->status = APPLET_WRITE_FAIL;
goto exit;
}
TRACE_INFO("Write achieved\n\r");
pMailbox->argument.outputWrite.bytesWritten = bytesToWrite;
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// READ:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_READ) {
memoryOffset = pMailbox->argument.inputRead.memoryOffset;
bufferAddr = pMailbox->argument.inputRead.bufferAddr;
bufferSize = pMailbox->argument.inputRead.bufferSize;
#if defined (at91sam3u4)
if (flashBaseAddrInit == AT91C_IFLASH) {
flashBaseAddr = AT91C_IFLASH;
if ((memoryOffset < AT91C_IFLASH_SIZE) && ((memoryOffset + bufferSize) > AT91C_IFLASH_SIZE)) {
bufferSize = AT91C_IFLASH_SIZE - memoryOffset;
}
else if (memoryOffset >= AT91C_IFLASH_SIZE) {
flashBaseAddr = AT91C_IFLASH1;
memoryOffset -= AT91C_IFLASH_SIZE;
}
}
#endif
TRACE_INFO("READ at offset: 0x%x buffer at : 0x%x of: 0x%x Bytes (flash base addr : 0x%x)\n\r",
memoryOffset, bufferAddr, bufferSize, flashBaseAddr);
// read data
memcpy((void *)bufferAddr, (void *)(flashBaseAddr + memoryOffset), bufferSize);
TRACE_INFO("Read achieved\n\r");
pMailbox->argument.outputRead.bytesRead = bufferSize;
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// FULL ERASE:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_FULL_ERASE) {
TRACE_INFO("FULL ERASE command \n\r");
#if defined (at91sam3u4)
if (flashBaseAddrInit == AT91C_IFLASH) {
flashBaseAddr = AT91C_IFLASH;
// Check if at least one page has been locked
if (FLASHD_IsLocked(flashBaseAddr, flashBaseAddr + AT91C_IFLASH_SIZE - 1) != 0) {
TRACE_INFO("Error page locked \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
}
else {
// Check if at least one page has been locked
if (FLASHD_IsLocked(flashBaseAddr, flashBaseAddr + AT91C_IFLASH1_SIZE - 1) != 0) {
TRACE_INFO("Error page locked \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
}
#else
// Check if at least one page has been locked
if (FLASHD_IsLocked(flashBaseAddr, flashBaseAddr + flashSize) != 0) {
TRACE_INFO("Error page locked \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
#endif
// Implement the erase all command
if (FLASHD_Erase(flashBaseAddr) != 0) {
TRACE_INFO("Full erase failed! \n\r");
pMailbox->status = APPLET_ERASE_FAIL;
goto exit;
}
#if defined (at91sam7xc512) || (at91sam7x512)
if (FLASHD_Erase(flashBaseAddr + FLASH_SECOND_BANK_OFFSET) != 0) {
TRACE_INFO("Full erase failed! \n\r");
pMailbox->status = APPLET_ERASE_FAIL;
goto exit;
}
#endif
TRACE_INFO("Full erase achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// LOCK SECTOR:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_LOCK) {
TRACE_INFO("LOCK command \n\r");
#if defined (at91sam3u4)
if (flashBaseAddrInit == AT91C_IFLASH) {
flashBaseAddr = AT91C_IFLASH;
if (pMailbox->argument.inputLock.sector >= AT91C_IFLASH_NB_OF_LOCK_BITS) {
flashBaseAddr = AT91C_IFLASH1;
pMailbox->argument.inputLock.sector -= AT91C_IFLASH_NB_OF_LOCK_BITS;
}
}
#endif
l_start = (pMailbox->argument.inputLock.sector * flashLockRegionSize) + flashBaseAddr;
l_end = l_start + flashLockRegionSize;
if( FLASHD_Lock(l_start, l_end, pActualStart, pActualEnd) != 0) {
TRACE_INFO("Lock failed! \n\r");
// ASSERT( *pActualStart == l_start, "-F- Lock failed! \n\r");
// ASSERT( *pActualEnd == (l_start + flashLockRegionSize), "-F- Lock failed! \n\r");
pMailbox->status = APPLET_PROTECT_FAIL;
goto exit;
}
TRACE_INFO("Lock sector achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// UNLOCK SECTOR:
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_UNLOCK) {
TRACE_INFO("UNLOCK command \n\r");
#if defined (at91sam3u4)
if (flashBaseAddrInit == AT91C_IFLASH) {
flashBaseAddr = AT91C_IFLASH;
if (pMailbox->argument.inputLock.sector >= AT91C_IFLASH_NB_OF_LOCK_BITS) {
flashBaseAddr = AT91C_IFLASH1;
pMailbox->argument.inputLock.sector -= AT91C_IFLASH_NB_OF_LOCK_BITS;
}
}
#endif
l_start = (pMailbox->argument.inputLock.sector * flashLockRegionSize) + flashBaseAddr;
l_end = l_start + flashLockRegionSize;
if( FLASHD_Unlock(l_start, l_end, pActualStart, pActualEnd) != 0) {
TRACE_INFO("Unlock failed! \n\r");
//ASSERT( *pActualStart == l_start, "-F- Unlock failed! \n\r");
//ASSERT( *pActualEnd == (l_start + flashLockRegionSize), "-F- Unock failed! \n\r");
pMailbox->status = APPLET_UNPROTECT_FAIL;
goto exit;
}
TRACE_INFO("Unlock sector achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
// ----------------------------------------------------------
// GPNVM :
// ----------------------------------------------------------
#if !defined (at91sam7a3)
else if (pMailbox->command == APPLET_CMD_GPNVM) {
if( pMailbox->argument.inputGPNVM.action == 0) {
TRACE_INFO("DEACTIVATES GPNVM command \n\r");
error = FLASHD_ClearGPNVM(pMailbox->argument.inputGPNVM.bitsOfNVM);
}
else {
TRACE_INFO("ACTIVATES GPNVM command \n\r");
error = FLASHD_SetGPNVM(pMailbox->argument.inputGPNVM.bitsOfNVM);
}
if(error != 0) {
TRACE_INFO("GPNVM failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("GPNVM achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
#endif // #if !defined (at91sam7a3)
// ----------------------------------------------------------
// SET SECURITY :
// ----------------------------------------------------------
#if defined(CHIP_FLASH_EFC) && !defined (at91sam7a3)
else if (pMailbox->command == APPLET_CMD_SECURITY) {
TRACE_INFO("SET SECURITY BIT command \n\r");
if (FLASHD_SetSecurityBit() != 0)
{
TRACE_INFO("SET SECURITY BIT failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("SET SECURITY BIT achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
#endif
#if defined(at91sam3u4)
// ----------------------------------------------------------
// READ UNIQUE ID :
// ----------------------------------------------------------
else if (pMailbox->command == APPLET_CMD_READ_UNIQUE_ID) {
TRACE_INFO("READ UNIQUE ID command \n\r");
if (FLASHD_ReadUniqueID (pMailbox->argument.inputReadUniqueID.bufferAddr) != 0) {
TRACE_INFO("Read Unique ID failed! \n\r");
pMailbox->status = APPLET_FAIL;
goto exit;
}
TRACE_INFO("Read Unique ID achieved\n\r");
pMailbox->status = APPLET_SUCCESS;
}
#endif
exit:
// Acknowledge the end of command
TRACE_INFO("\tEnd of Applet %x %x.\n\r", pMailbox->command, pMailbox->status);
// Notify the host application of the end of the command processing
pMailbox->command = ~(pMailbox->command);
// Send ACK character
if (comType == DBGU_COM_TYPE) {
DBGU_PutChar(0x6);
}
return 0;
}