supports software reboot selection

mdrv_bl/stm32g431cbux_flash.ld

@@ -61,7 +61,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 32K
+RAM (xrw)      : ORIGIN = 0x20000004, LENGTH = 32K - 4
 FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 24K /* 128k */
 }
 

mdrv_bl/usr/app_main.c

@@ -12,6 +12,7 @@
 extern SPI_HandleTypeDef hspi2;
 extern UART_HandleTypeDef huart3;
 
+uint32_t *bl_args = (uint32_t *)BL_ARGS;
 gpio_t led_g = { .group = LED_G_GPIO_Port, .num = LED_G_Pin };
 uart_t debug_uart = { .huart = &huart3 };
 
@@ -34,12 +35,13 @@ static void device_init(void)
     cdn_init_ns(&dft_ns, &packet_free_head, &frame_free_head);
 
     for (i = 0; i < FRAME_MAX; i++)
-        list_put(&frame_free_head, &frame_alloc[i].node);
+        cd_list_put(&frame_free_head, &frame_alloc[i]);
     for (i = 0; i < PACKET_MAX; i++)
-        list_put(&packet_free_head, &packet_alloc[i].node);
+        cdn_list_put(&packet_free_head, &packet_alloc[i]);
 
     cdctl_cfg_t cfg = csa.bus_cfg;
-    cfg.baud_l = cfg.baud_h = 115200;
+    if (!csa.keep_in_bl)
+        cfg.baud_l = cfg.baud_h = 115200;
     cdctl_dev_init(&r_dev, &frame_free_head, &cfg, &r_spi, NULL);
 
     // 16MHz / (2 + 2) * (73 + 2) / 2^1 = 150MHz
@@ -92,22 +94,22 @@ void app_main(void)
     bool dbg_en_bk = csa.dbg_en;
     csa.dbg_en = false; // silence
     debug_init(&dft_ns, &csa.dbg_dst, &csa.dbg_en);
+    csa.keep_in_bl = *bl_args == 0xcdcd0001;
     device_init();
     common_service_init();
-    printf("conf: %s\n", csa.conf_from ? "flash" : "dft");
+    printf("conf: %s, args: %08lx\n", csa.conf_from ? "flash" : "dft", *bl_args);
     gpio_set_val(&led_g, 1);
 
     uint32_t t_last = get_systick();
-    uint32_t boot_time = get_systick();
-    bool update_baud = false;
+    bool update_baud = csa.keep_in_bl;
 
     while (true) {
         if (get_systick() - t_last > (update_baud ? 100000 : 200000) / SYSTICK_US_DIV) {
             t_last = get_systick();
             gpio_set_val(&led_g, !gpio_get_val(&led_g));
         }
 
-        if (!csa.keep_in_bl && !update_baud && get_systick() - boot_time > 1000000 / SYSTICK_US_DIV) {
+        if (!csa.keep_in_bl && !update_baud && get_systick() > 1000000 / SYSTICK_US_DIV) {
             update_baud = true;
             if (csa.bus_cfg.baud_l != 115200 || csa.bus_cfg.baud_h != 115200) {
                 cdctl_set_baud_rate(&r_dev, csa.bus_cfg.baud_l, csa.bus_cfg.baud_h);
@@ -118,7 +120,7 @@ void app_main(void)
             csa.dbg_en = dbg_en_bk;
         }
 
-        if (!csa.keep_in_bl && get_systick() - boot_time > 2000000 / SYSTICK_US_DIV)
+        if (!csa.keep_in_bl && get_systick() > 2000000 / SYSTICK_US_DIV)
             jump_to_app();
 
         cdctl_routine(&r_dev);

mdrv_bl/usr/app_main.h

@@ -21,6 +21,7 @@
 #define P_3F(x) (int)(x), abs(((x)-(int)(x))*1000) // "%d.%.3d"
 
 
+#define BL_ARGS             0x20000000 // first word
 #define APP_CONF_ADDR       0x0801f800 // page 63, the last page
 #define APP_CONF_VER        0x0100
 
@@ -38,7 +39,7 @@ typedef struct {
     uint16_t        magic_code; // 0xcdcd
     uint16_t        conf_ver;
     uint8_t         conf_from;  // 0: default, 1: load from flash
-    bool            do_reboot;
+    uint8_t         do_reboot;
     bool            keep_in_bl;
     bool            save_conf;
 
@@ -70,5 +71,6 @@ void common_service_routine(void);
 extern gpio_t led_r;
 extern gpio_t led_g;
 extern cdn_ns_t dft_ns;
+extern uint32_t *bl_args;
 
 #endif

mdrv_bl/usr/common_services.c

@@ -191,8 +191,10 @@ void common_service_routine(void)
         csa.save_conf = false;
         save_conf();
     }
-    if (csa.do_reboot)
+    if (csa.do_reboot) {
+        *bl_args = 0xcdcd0000 | csa.do_reboot;
         NVIC_SystemReset();
+    }
 
     p1_service_routine();
     p5_service_routine();

mdrv_fw/stm32g431cbux_flash.ld

@@ -61,7 +61,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 32K
+RAM (xrw)      : ORIGIN = 0x20000004, LENGTH = 32K - 4
 FLASH (rx)      : ORIGIN = 0x8006000, LENGTH = 86K /* 128 -24 (bl) -2 (config) -8 (encoder cali) -8 (anticogging cali) = 86 */
 }
 

mdrv_fw/usr/app_main.c

@@ -56,9 +56,9 @@ static void device_init(void)
     cdn_init_ns(&dft_ns, &packet_free_head, &frame_free_head);
 
     for (i = 0; i < FRAME_MAX; i++)
-        list_put(&frame_free_head, &frame_alloc[i].node);
+        cd_list_put(&frame_free_head, &frame_alloc[i]);
     for (i = 0; i < PACKET_MAX; i++)
-        list_put(&packet_free_head, &packet_alloc[i].node);
+        cdn_list_put(&packet_free_head, &packet_alloc[i]);
 
     spi_wr_init(&r_spi);
     cdctl_dev_init(&r_dev, &frame_free_head, &csa.bus_cfg, &r_spi, NULL, &r_int, EXTI9_5_IRQn);

mdrv_fw/usr/app_main.h

@@ -23,6 +23,7 @@
 #define P_3F(x) (int)(x), abs(((x)-(int)(x))*1000) // "%d.%.3d"
 
 
+#define BL_ARGS             0x20000000 // first word
 #define CALI_ENCODER_TBL    0x0801b800 // 8k, 2bytes x 4096
 #define ANTICOGGING_TBL     0x0801d800 // 8k, 2bytes x 4096
 #define APP_CONF_ADDR       0x0801f800 // page 63, the last page
@@ -59,7 +60,7 @@ typedef struct {
     uint16_t        magic_code;     // 0xcdcd
     uint16_t        conf_ver;
     uint8_t         conf_from;      // 0: default, 1: all from flash, 2: partly from flash
-    bool            do_reboot;
+    uint8_t         do_reboot;
     bool            _reserved_bl;   // keep_in_bl for bl
     bool            save_conf;
 

mdrv_fw/usr/app_motor.c

@@ -174,7 +174,7 @@ static void raw_dbg(int idx)
     }
 
     if (pkt_raw[idx]->len >= csa.dbg_raw_th) {
-        list_put(&raw_pend, &pkt_raw[idx]->node);
+        cdn_list_put(&raw_pend, pkt_raw[idx]);
         pkt_raw[idx] = NULL;
     }
 }

mdrv_fw/usr/common_services.c

@@ -365,6 +365,7 @@ void common_service_routine(void)
         save_conf();
     }
     if (csa.do_reboot) {
+        *(uint32_t *)BL_ARGS = 0xcdcd0000 | csa.do_reboot;
         gpio_set_val(&drv_en, 0);
         NVIC_SystemReset();
     }

mdrv_fw/usr/config.c

@@ -245,7 +245,7 @@ void csa_list_show(void)
     CSA_SHOW(1, magic_code, "Magic code: 0xcdcd");
     CSA_SHOW(1, conf_ver, "Config version");
     CSA_SHOW(1, conf_from, "0: default config, 1: all from flash, 2: partly from flash");
-    CSA_SHOW(0, do_reboot, "Write 1 to reboot");
+    CSA_SHOW(0, do_reboot, "1: reboot to bl, 2: reboot to app");
     CSA_SHOW(0, save_conf, "Write 1 to save current config to flash");
     d_info("\n"); debug_flush(true);