├── .gitignore ├── .gitmodules ├── .travis.yml ├── .vscode ├── .cortex-debug.peripherals.state.json ├── .cortex-debug.registers.state.json ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── LICENSE ├── Makefile ├── README.txt ├── can-updater.py ├── firmware_loader.cbp ├── include └── hwinit.h ├── src ├── hwinit.cpp └── stm32_canloader.cpp ├── stm32_canloader.ld └── uart-updater.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.o 2 | obj 3 | linker.map 4 | *.hex 5 | *.bin 6 | stm32_canloader 7 | .vscode 8 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "libopencm3"] 2 | path = libopencm3 3 | url = https://github.com/jsphuebner/libopencm3 4 | 5 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: cpp 2 | install: make get-deps 3 | 4 | script: 5 | - make 6 | - cd bootupdater && make 7 | 8 | addons: 9 | apt: 10 | sources: 11 | - sourceline: 'ppa:team-gcc-arm-embedded/ppa' 12 | packages: 13 | - gcc-arm-embedded 14 | 15 | -------------------------------------------------------------------------------- /.vscode/.cortex-debug.peripherals.state.json: -------------------------------------------------------------------------------- 1 | [{"node":"SPI2","expanded":false,"format":0,"pinned":true},{"node":"CAN1.CAN_TSR","expanded":true,"format":0},{"node":"DMA1.ISR","expanded":true,"format":0},{"node":"DMA1.CNDTR4","expanded":true,"format":0},{"node":"RCC.CR","expanded":true,"format":0},{"node":"RCC.CFGR","expanded":true,"format":0},{"node":"SPI1.CR1","expanded":true,"format":0}] -------------------------------------------------------------------------------- /.vscode/.cortex-debug.registers.state.json: -------------------------------------------------------------------------------- 1 | [] -------------------------------------------------------------------------------- /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "name": "Linux", //no big deal but shouldn't this reflect project name? Like "STM32-VCU" 5 | "includePath": [ 6 | "${workspaceFolder}/include", 7 | "${workspaceFolder}/libopeninv/include", 8 | "${workspaceFolder}/libopencm3/include" 9 | ], 10 | "defines": [ 11 | "STM32F1" 12 | ], 13 | "compilerPath": "${env:ARMGCC_DIR}/arm-none-eabi-gcc.exe", //"/usr/lib64/ccache/arm-none-eabi-gcc" use env variable to specify compiler path, hopefully this will work on Linux as well 14 | "cStandard": "c11", 15 | "intelliSenseMode": "gcc-arm", //"linux-gcc-arm" is not acceptable value on Windows, hopefully this will work on Linux as well 16 | "cppStandard": "c++17", 17 | "configurationProvider": "ms-vscode.cmake-tools" 18 | } 19 | ], 20 | "version": 4 21 | } -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- 1 | { 2 | // Use IntelliSense to learn about possible attributes. 3 | // Hover to view descriptions of existing attributes. 4 | // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 5 | "version": "0.2.0", 6 | "configurations": [ 7 | { 8 | "name": "Cortex Debug", 9 | "cwd": "${workspaceRoot}", 10 | "executable": "./stm32_canloader", 11 | "request": "launch", 12 | "type": "cortex-debug", 13 | "servertype": "openocd", 14 | "preLaunchTask": "make_clean", 15 | "device": "STM32F107xC", 16 | "configFiles": [ 17 | "interface/stlink.cfg", 18 | "target/stm32f1x.cfg" 19 | ], 20 | "svdFile": "./STM32F107.svd" 21 | 22 | } 23 | ] 24 | } -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.associations": { 3 | "array": "cpp", 4 | "string": "cpp", 5 | "string_view": "cpp", 6 | "ranges": "cpp", 7 | "utils.h": "c", 8 | "digio.h": "c", 9 | "digio_prj.h": "c", 10 | "hwdefs.h": "c", 11 | "flash.h": "c", 12 | "common.h": "c", 13 | "stdio.h": "c", 14 | "command.h": "c", 15 | "config.h": "c", 16 | "can_interface.h": "c", 17 | "timeout.h": "c", 18 | "string.h": "c", 19 | "stm32_can.h": "c", 20 | "flash_writer.h": "c", 21 | "my_string.h": "c", 22 | "stm32_loader.h": "c", 23 | "stm32_canloader.h": "c", 24 | "params.h": "c", 25 | "param_prj.h": "c", 26 | "desig.h": "c", 27 | "stm32scheduler.h": "c", 28 | "param_save.h": "c", 29 | "hwinit.h": "c", 30 | "crc.h": "c", 31 | "memorymap.h": "c" 32 | }, 33 | "C_Cpp.errorSquiggles": "Enabled" 34 | } -------------------------------------------------------------------------------- /.vscode/tasks.json: -------------------------------------------------------------------------------- 1 | { 2 | // See https://go.microsoft.com/fwlink/?LinkId=733558 3 | // for the documentation about the tasks.json format 4 | "version": "2.0.0", 5 | "tasks": [ 6 | { 7 | "label": "make", 8 | "type": "shell", 9 | "command": "make", 10 | "problemMatcher": [], 11 | "group": { 12 | "kind": "build", 13 | "isDefault": true 14 | } 15 | }, 16 | { 17 | "label": "make_clean", 18 | "type": "shell", 19 | "command": "make clean ; make", 20 | }, 21 | ] 22 | } -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | ## 2 | ## This file is part of the libopenstm32 project. 3 | ## 4 | ## Copyright (C) 2009 Uwe Hermann 5 | ## 6 | ## This program is free software: you can redistribute it and/or modify 7 | ## it under the terms of the GNU General Public License as published by 8 | ## the Free Software Foundation, either version 3 of the License, or 9 | ## (at your option) any later version. 10 | ## 11 | ## This program is distributed in the hope that it will be useful, 12 | ## but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | ## GNU General Public License for more details. 15 | ## 16 | ## You should have received a copy of the GNU General Public License 17 | ## along with this program. If not, see . 18 | ## 19 | BINARY = stm32_canloader 20 | OUT_DIR = obj 21 | PREFIX ?= arm-none-eabi 22 | #PREFIX ?= arm-elf 23 | SIZE = $(PREFIX)-size 24 | CC = $(PREFIX)-gcc 25 | CPP = $(PREFIX)-g++ 26 | LD = $(PREFIX)-gcc 27 | OBJCOPY = $(PREFIX)-objcopy 28 | OBJDUMP = $(PREFIX)-objdump 29 | MKDIR_P = mkdir -p 30 | TERMINAL_DEBUG ?= 0 31 | CFLAGS = -Os -Wall -Wextra -Ilibopeninv/include -Iinclude/ -Ilibopencm3/include \ 32 | -fno-common -fno-builtin -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \ 33 | -mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections -g 34 | CPPFLAGS = -Os -Wall -Wextra -Ilibopeninv/include -Iinclude/ -Ilibopencm3/include \ 35 | -fno-common -std=c++11 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \ 36 | -ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb -g 37 | LDSCRIPT = $(BINARY).ld 38 | LDFLAGS = -Llibopencm3/lib -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections,-Map,linker.map 39 | OBJSL = $(BINARY).o hwinit.o 40 | OBJS = $(patsubst %.o,$(OUT_DIR)/%.o, $(OBJSL)) 41 | vpath %.c src/ libopeninv/src/ 42 | vpath %.cpp src/ libopeninv/src/ 43 | 44 | OPENOCD_BASE = /usr 45 | OPENOCD = $(OPENOCD_BASE)/bin/openocd 46 | OPENOCD_SCRIPTS = $(OPENOCD_BASE)/share/openocd/scripts 47 | OPENOCD_FLASHER = $(OPENOCD_SCRIPTS)/interface/parport.cfg 48 | OPENOCD_BOARD = $(OPENOCD_SCRIPTS)/board/olimex_stm32_h103.cfg 49 | 50 | # Be silent per default, but 'make V=1' will show all compiler calls. 51 | ifneq ($(V),1) 52 | Q := @ 53 | NULL := 2>/dev/null 54 | endif 55 | 56 | all: directories images 57 | Debug:images 58 | Release: images 59 | cleanDebug:clean 60 | images: get-deps $(BINARY) 61 | @printf " OBJCOPY $(BINARY).bin\n" 62 | $(Q)$(OBJCOPY) -Obinary $(BINARY) $(BINARY).bin 63 | @printf " OBJCOPY $(BINARY).hex\n" 64 | $(Q)$(OBJCOPY) -Oihex $(BINARY) $(BINARY).hex 65 | $(Q)$(SIZE) $(BINARY) 66 | 67 | directories: ${OUT_DIR} 68 | 69 | ${OUT_DIR}: 70 | $(Q)${MKDIR_P} ${OUT_DIR} 71 | 72 | $(BINARY): $(OBJS) $(LDSCRIPT) 73 | @printf " LD $(subst $(shell pwd)/,,$(@))\n" 74 | $(Q)$(LD) $(LDFLAGS) -o $(BINARY) $(OBJS) -lopencm3_stm32f1 75 | 76 | $(OUT_DIR)/%.o: %.c Makefile 77 | @printf " CC $(subst $(shell pwd)/,,$(@))\n" 78 | $(Q)$(CC) $(CFLAGS) -o $@ -c $< 79 | 80 | $(OUT_DIR)/%.o: %.cpp Makefile 81 | @printf " CPP $(subst $(shell pwd)/,,$(@))\n" 82 | $(Q)$(CPP) $(CPPFLAGS) -o $@ -c $< 83 | 84 | clean: 85 | @printf " CLEAN ${OUT_DIR}\n" 86 | $(Q)rm -rf ${OUT_DIR} 87 | @printf " CLEAN $(BINARY)\n" 88 | $(Q)rm -f $(BINARY) 89 | @printf " CLEAN $(BINARY).bin\n" 90 | $(Q)rm -f $(BINARY).bin 91 | @printf " CLEAN $(BINARY).hex\n" 92 | $(Q)rm -f $(BINARY).hex 93 | @printf " CLEAN $(BINARY).srec\n" 94 | $(Q)rm -f $(BINARY).srec 95 | @printf " CLEAN $(BINARY).list\n" 96 | $(Q)rm -f $(BINARY).list 97 | 98 | flash: images 99 | @printf " FLASH $(BINARY).bin\n" 100 | @# IMPORTANT: Don't use "resume", only "reset" will work correctly! 101 | $(Q)$(OPENOCD) -s $(OPENOCD_SCRIPTS) \ 102 | -f $(OPENOCD_FLASHER) \ 103 | -f $(OPENOCD_BOARD) \ 104 | -c "init" -c "reset halt" \ 105 | -c "flash write_image erase $(BINARY).hex" \ 106 | -c "reset" \ 107 | -c "shutdown" $(NULL) 108 | 109 | .PHONY: directories get-deps images clean 110 | 111 | get-deps: 112 | ifneq ($(shell test -s libopencm3/lib/libopencm3_stm32f1.a && echo -n yes),yes) 113 | @printf " GIT SUBMODULE\n" 114 | $(Q)git submodule update --init 115 | @printf " MAKE libopencm3\n" 116 | $(Q)${MAKE} -C libopencm3 TARGETS=stm32/f1 117 | endif 118 | 119 | Test: 120 | cd test && $(MAKE) 121 | cleanTest: 122 | cd test && $(MAKE) clean 123 | -------------------------------------------------------------------------------- /README.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------- 2 | -- STM32 Bootloader by CANBus 3 | -- 4 | -- Johannes Hübner 5 | -- EV_BUILDER transformed to CAN BOOTLOADER; 6 | -------------------------------------------- 7 | 8 | 9 | This boot loader does not interact with the built-in STM32 boot loader. It 10 | uses an interface of your choice, in this version its CANBUS CAN1 and 11 | USART3. 12 | The interface flexibility and the independence from the BOOT pins are the 13 | main reasons for implementing this boot loader. 14 | 15 | New update protocol 16 | - 500KBaud Canbus on CAN1 17 | 18 | 19 | 1 Send '2' indicating version 2 bootloader, wait about 500ms for magic byte 0xAA* 20 | 2 If no reply start firmware 21 | 3 Send an 'S' indicating that it is awaiting an update size in pages 22 | 4 If no reply within about 500ms go to step 7 23 | 4.1 otherwise send a 'P' indicating that it is awaiting the actual page 24 | first 8 bytes, this goes on (bit banging) until complete page is received. 25 | 4.2 When page not received within about 1s, print 'T' and keep waiting 26 | 5 When page received send a 'C' indicating that it is awaiting the pages 27 | checksum 28 | 6 When checksum is correct and more pages need to be received, go to 29 | step 4.1 30 | 6.1 if all pages have been received go to step 5 31 | 6.2 When checksum isn't correct print an 'E' then go to step 4.1 32 | 7 When done print a 'D' and start main firmware 33 | 34 | * When updating via CAN you may specify the 3rd word (DESIG_UNIQUE_ID2) 35 | in bytes 4-7 in order to only have the matching node enter update mode 36 | 37 | Notes: 38 | - By checksum I mean the one calculated by the STMs integrated CRC32 unit. 39 | - The actual firmware has a reset command the cycle through the bootloader 40 | - The main firmware must be linked to start at address 0x08001000 41 | - The bootloader starts at address 0x08000000 and can be 4k in size 42 | (right now its 3.9k) 43 | 44 | -------------------------------------------- 45 | -- STM32 CAN Bootloader Updater 46 | -- 47 | -- EV_BUILDER OPENINVERTER.ORG 48 | -------------------------------------------- 49 | 50 | For both interfaces a python script is included. uart-update.py updates via 51 | serial port, can-update.py updates via CAN (SocketCAN in linux) 52 | 53 | python3 can-updater.py -d can2 -f stm32_sine.bin -i 87215032 54 | The -i argument is optional and specifies the processor id to be updated 55 | python3 uart-updater.py -d /dev/ttyUSB0 -f stm32_sine.bin 56 | 57 | updates via UART 58 | 59 | -------------------------------------------- 60 | -- Compiling 61 | -------------------------------------------- 62 | You will need the arm-none-eabi toolchain: https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads 63 | The only external depedency is libopencm3 which I forked. You can download and build this dependency by typing 64 | 65 | make get-deps 66 | 67 | Now you can compile stm32-canloader 68 | 69 | make 70 | 71 | And upload it to your board using a JTAG/SWD adapter. 72 | 73 | -------------------------------------------------------------------------------- /can-updater.py: -------------------------------------------------------------------------------- 1 | import can 2 | from optparse import OptionParser 3 | from time import sleep 4 | 5 | def waitForChar(bus, c): 6 | recv_char = 0 7 | while recv_char not in c: 8 | message = bus.recv(0) 9 | if message and message.arbitration_id == 0x7de: 10 | recv_char = message.data[0] 11 | return chr(recv_char) 12 | 13 | def waitForId(bus, idBytes): 14 | while True: 15 | message = bus.recv() 16 | if message and message.dlc == 8 and message.arbitration_id == 0x7de and message.data[0] == 0x33: 17 | if not idBytes: 18 | return list(message.data[4:8]) 19 | if list(message.data[4:8]) == idBytes: 20 | return list(message.data[4:8]) 21 | 22 | def calcStmCrc(data, idx, len): 23 | cnt = 0 24 | crc = 0xffffffff 25 | 26 | while cnt < len: 27 | word = data[idx] | (data[idx+1] << 8) | (data[idx+2] << 16) | (data[idx+3] << 24) 28 | cnt = cnt + 4 29 | idx = idx + 4 30 | 31 | crc = crc ^ word 32 | 33 | for i in range(0, 32): 34 | if crc & 0x80000000: 35 | # Polynomial used in STM32 36 | crc = ((crc << 1) ^ 0x04C11DB7) & 0xffffffff 37 | else: 38 | crc = (crc << 1) & 0xffffffff 39 | return crc 40 | 41 | PAGE_SIZE_BYTES = 1024 42 | 43 | 44 | parser = OptionParser() 45 | parser.add_option("-f", "--file", dest="filename", 46 | help="update file") 47 | parser.add_option("-d", "--device", dest="device", 48 | help="serial interface") 49 | parser.add_option("-i", "--id", dest="id", 50 | help="flash only if id=x, x is the 3rd word of processor UID in hex") 51 | parser.add_option("-n", "--nodeid", dest="nodeid", default=1, 52 | help="CANopen node id to send reset command to") 53 | 54 | (options, args) = parser.parse_args() 55 | 56 | if not options.filename: # if filename is not given 57 | parser.error('Filename not given') 58 | exit() 59 | if not options.device: # if device is not given 60 | parser.error('Device not given') 61 | exit() 62 | 63 | bus=can.interface.Bus(bustype='socketcan', channel=options.device, bitrate=500000) 64 | 65 | updateFile = open(options.filename, "rb") 66 | data = bytearray(updateFile.read()) 67 | updateFile.close() 68 | 69 | numBytes = len(data) 70 | numPages = (numBytes + PAGE_SIZE_BYTES - 1) // PAGE_SIZE_BYTES 71 | 72 | while (len(data) % PAGE_SIZE_BYTES) > 0: 73 | data.append(0) 74 | 75 | print("File length is %d bytes/%d pages" % (numBytes, numPages)) 76 | print("Resetting device...") 77 | 78 | #This sends an SDO request to index 0x5002, subindex 2 which triggers a reset 79 | msg = can.Message(arbitration_id=0x600 + int(options.nodeid), is_extended_id=False, data = [ 0x23, 0x02, 0x50, 0x02, 0, 0, 0, 0 ]) 80 | bus.send(msg) 81 | 82 | if options.id: 83 | id = int(options.id, 16) 84 | bytes = [id & 0xFF, (id >> 8) & 0xff, (id >> 16) & 0xff, (id >> 24) & 0xff] 85 | waitForId(bus, bytes) 86 | print("id specified, sending magic and id") 87 | msg = can.Message(arbitration_id=0x7DD, is_extended_id=False, data = bytes) 88 | else: 89 | id = waitForId(bus, False) 90 | print("No id specified, reflecting id", id) 91 | msg = can.Message(arbitration_id=0x7DD, is_extended_id=False, data=id) 92 | bus.send(msg) 93 | 94 | waitForChar(bus, b'S') 95 | 96 | print("Sending number of pages...") 97 | 98 | msg = can.Message(arbitration_id=0x7DD, is_extended_id=False, data=[numPages]) 99 | bus.send(msg) 100 | 101 | waitForChar(bus, b'P') 102 | 103 | done = False 104 | page = 0 105 | idx = 0 106 | crc = calcStmCrc(data, idx, PAGE_SIZE_BYTES) 107 | 108 | print("Sending page 0...", end=' ') 109 | 110 | while not done: 111 | msg = can.Message(arbitration_id=0x7DD, is_extended_id=False, data=data[idx:idx+8]) 112 | bus.send(msg) 113 | idx = idx + 8 114 | 115 | c = waitForChar(bus, b'CDEPT') 116 | 117 | if 'C' == c: 118 | msg = can.Message(arbitration_id=0x7DD, is_extended_id=False, data=[crc & 0xFF, (crc >> 8) & 0xFF, (crc >> 16) & 0xFF, (crc >> 24) & 0xFF]) 119 | bus.send(msg) 120 | c = waitForChar(bus, b'PED') 121 | if 'D' == c: 122 | print("CRC correct!") 123 | print("Update done!") 124 | done = True 125 | elif 'E' == c: 126 | print("CRC error!") 127 | idx = page * PAGE_SIZE_BYTES 128 | print("Sending page %d..." % (page), end=' ') 129 | elif 'P' == c: 130 | print("CRC correct!") 131 | page = page + 1 132 | idx = page * PAGE_SIZE_BYTES 133 | crc = calcStmCrc(data, idx, PAGE_SIZE_BYTES) 134 | print("Sending page %d..." % (page), end=' ') 135 | 136 | -------------------------------------------------------------------------------- /firmware_loader.cbp: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 47 | 48 | -------------------------------------------------------------------------------- /include/hwinit.h: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the CANBootloader project. 3 | * 4 | * Copyright (C) 2022 WDR Automatisering https://wdrautomatisering.nl/ 5 | * Copyright (C) 2023 Johannes Huebner https://openinverter.org 6 | * 7 | * This program is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * This program is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with this program. If not, see . 19 | */ 20 | #ifndef HWINIT_H_INCLUDED 21 | #define HWINIT_H_INCLUDED 22 | 23 | 24 | #ifdef __cplusplus 25 | extern "C" 26 | { 27 | #endif 28 | 29 | #define PINDEF_BLKNUM 3 //3rd to last flash page 30 | #define PINDEF_BLKSIZE 1024 31 | #define NUM_PIN_COMMANDS 10 32 | #define PIN_IN 0 33 | #define PIN_OUT 1 34 | 35 | struct pindef 36 | { 37 | uint32_t port; 38 | uint16_t pin; 39 | uint8_t inout; 40 | uint8_t level; 41 | }; 42 | 43 | struct pincommands 44 | { 45 | struct pindef pindef[NUM_PIN_COMMANDS]; 46 | uint32_t crc; 47 | }; 48 | 49 | #define PINDEF_NUMWORDS (sizeof(struct pindef) * NUM_PIN_COMMANDS / 4) 50 | 51 | void clock_setup(); 52 | void clock_teardown(); 53 | void can_setup(int masterCANID); 54 | void can_teardown(); 55 | void usart_setup(); 56 | void usart_teardown(); 57 | void initialize_pins(); 58 | 59 | #ifdef __cplusplus 60 | } 61 | #endif 62 | 63 | #endif // HWINIT_H_INCLUDED 64 | -------------------------------------------------------------------------------- /src/hwinit.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the CANBootloader project. 3 | * 4 | * Copyright (C) 2022 WDR Automatisering https://wdrautomatisering.nl/ 5 | * Copyright (C) 2023 Johannes Huebner https://openinverter.org 6 | * 7 | * This program is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * This program is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with this program. If not, see . 19 | */ 20 | 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include "hwinit.h" 30 | 31 | //#define CAN1_REMAP 32 | 33 | /** 34 | * Start clocks of all needed peripherals 35 | */ 36 | void clock_setup() 37 | { 38 | rcc_set_pll_multiplication_factor(RCC_CFGR_PLLMUL_PLL_CLK_MUL6); 39 | rcc_set_pll_source(RCC_CFGR_PLLSRC_HSI_CLK_DIV2); 40 | rcc_osc_on(RCC_PLL); 41 | rcc_wait_for_osc_ready(RCC_PLL); 42 | rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_PLLCLK); 43 | rcc_osc_on(RCC_LSI); 44 | 45 | rcc_apb1_frequency = 24000000; 46 | rcc_apb2_frequency = 24000000; 47 | 48 | rcc_periph_clock_enable(RCC_GPIOA); 49 | rcc_periph_clock_enable(RCC_GPIOB); 50 | rcc_periph_clock_enable(RCC_GPIOC); 51 | rcc_periph_clock_enable(RCC_CRC); 52 | rcc_periph_clock_enable(RCC_CAN1); 53 | rcc_periph_clock_enable(RCC_USART3); 54 | rcc_periph_clock_enable(RCC_AFIO); 55 | 56 | rcc_wait_for_osc_ready(RCC_LSI); 57 | iwdg_set_period_ms(2000); 58 | iwdg_start(); 59 | } 60 | 61 | void clock_teardown() 62 | { 63 | rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_HSICLK); 64 | rcc_osc_off(RCC_PLL); 65 | } 66 | 67 | void can_setup(int masterId) 68 | { 69 | #ifdef CAN1_REMAP 70 | gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON, AFIO_MAPR_CAN1_REMAP_PORTB); 71 | gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX); 72 | gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX); 73 | // Configure CAN pin: TX 74 | gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX); 75 | #else 76 | gpio_set_mode(GPIO_BANK_CAN1_RX, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_RX); 77 | gpio_set(GPIO_BANK_CAN1_RX, GPIO_CAN1_RX); 78 | // Configure CAN pin: TX 79 | gpio_set_mode(GPIO_BANK_CAN1_TX, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_TX); 80 | #endif // CAN1_REMAP 81 | 82 | // CAN cell init. 83 | // Setting the bitrate to 500KBit. APB1 = 24MHz, 84 | // prescaler = 6 -> 4MHz time quanta frequency. 85 | // 1tq sync + 6tq bit segment1 (TS1) + 1tq bit segment2 (TS2) = 86 | // 8time quanto per bit period, therefor 4MHz/16 = 500kHz 87 | // 88 | can_init(CAN1, 89 | false, // TTCM: Time triggered comm mode? 90 | true, // ABOM: Automatic bus-off management? 91 | false, // AWUM: Automatic wakeup mode? 92 | false, // NART: No automatic retransmission? 93 | false, // RFLM: Receive FIFO locked mode? 94 | false, // TXFP: Transmit FIFO priority? 95 | CAN_BTR_SJW_1TQ, 96 | CAN_BTR_TS1_6TQ, 97 | CAN_BTR_TS2_1TQ, 98 | 6, // BRP: Baud rate prescaler 99 | false, 100 | false); 101 | 102 | //register master ID 103 | can_filter_id_list_16bit_init(0, masterId << 5, 0, 0, 0, 0, true); 104 | nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ); 105 | can_enable_irq(CAN1, CAN_IER_FMPIE0); 106 | } 107 | 108 | void can_teardown() 109 | { 110 | can_reset(CAN1); 111 | nvic_disable_irq(NVIC_USB_LP_CAN_RX0_IRQ); 112 | } 113 | 114 | void usart_setup() 115 | { 116 | gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, 117 | GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART3_TX); 118 | 119 | /* Setup UART parameters. */ 120 | usart_set_baudrate(USART3, 115200); 121 | usart_set_databits(USART3, 8); 122 | usart_set_mode(USART3, USART_MODE_TX_RX); 123 | usart_enable_rx_interrupt(USART3); 124 | 125 | /* Finally enable the USART. */ 126 | usart_enable(USART3); 127 | nvic_enable_irq(NVIC_USART3_IRQ); 128 | } 129 | 130 | void usart_teardown() 131 | { 132 | nvic_disable_irq(NVIC_USART3_IRQ); 133 | rcc_periph_reset_pulse(RST_USART3); 134 | } 135 | 136 | //Left over for future usage in an inverter style device.. 137 | // Todo: read an application configuration based on fingerprint? 138 | // 139 | void initialize_pins() 140 | { 141 | uint32_t flashSize = desig_get_flash_size(); 142 | uint32_t pindefAddr = FLASH_BASE + flashSize * 1024 - PINDEF_BLKNUM * PINDEF_BLKSIZE; 143 | const struct pincommands* pincommands = (struct pincommands*)pindefAddr; 144 | 145 | uint32_t crc = crc_calculate_block(((uint32_t*)pincommands), PINDEF_NUMWORDS); 146 | 147 | gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON, 0); 148 | 149 | if (crc == pincommands->crc) 150 | { 151 | for (int idx = 0; idx < NUM_PIN_COMMANDS && pincommands->pindef[idx].port > 0; idx++) 152 | { 153 | uint8_t cnf = pincommands->pindef[idx].inout ? GPIO_CNF_OUTPUT_PUSHPULL : GPIO_CNF_INPUT_PULL_UPDOWN; 154 | uint8_t mode = pincommands->pindef[idx].inout ? GPIO_MODE_OUTPUT_50_MHZ : GPIO_MODE_INPUT; 155 | gpio_set_mode(pincommands->pindef[idx].port, mode, cnf, pincommands->pindef[idx].pin); 156 | 157 | if (pincommands->pindef[idx].level) 158 | { 159 | gpio_set(pincommands->pindef[idx].port, pincommands->pindef[idx].pin); 160 | } 161 | else 162 | { 163 | gpio_clear(pincommands->pindef[idx].port, pincommands->pindef[idx].pin); 164 | } 165 | } 166 | } 167 | } 168 | -------------------------------------------------------------------------------- /src/stm32_canloader.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the CANBootloader project. 3 | * 4 | * Copyright (C) 2022 WDR Automatisering https://wdrautomatisering.nl/ 5 | * Copyright (C) 2023 Johannes Huebner https://openinverter.org 6 | * 7 | * This program is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * This program is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with this program. If not, see . 19 | */ 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include 30 | #include 31 | #include 32 | #include 33 | #include "hwinit.h" 34 | 35 | #define FLASH_START 0x08000000 36 | #define SMALLEST_PAGE_WORDS 256 37 | #define PROGRAM_WORDS 256 38 | #define APP_FLASH_START 0x08001000 39 | #define BOOTLOADER_MAGIC 0xAA 40 | #define DELAY_100 (1 << 17) 41 | #define NODECANID 0x7DE 42 | #define MASTERCANID 0x7DD 43 | 44 | enum states 45 | { 46 | MAGIC, PAGECOUNT, PAGE, CRC, PROGRAM, DONE 47 | }; 48 | 49 | static volatile states state = MAGIC; 50 | static uint32_t page_buffer[PROGRAM_WORDS]; 51 | static bool usartUpdate = false; 52 | 53 | //Check 1k of flash whether it contains only 0xFF = erased 54 | static bool check_erased(uint32_t* baseAddress) 55 | { 56 | uint32_t check = 0xFFFFFFFF; 57 | 58 | for (int i = 0; i < SMALLEST_PAGE_WORDS; i++, baseAddress++) 59 | check &= *baseAddress; 60 | 61 | return check == 0xFFFFFFFF; 62 | } 63 | 64 | //If the device has 2k pages we must only call flash_erase_page() 65 | //on every other call of write_flash(). 66 | //Therefor we check if the the flash region we attempt to write 67 | //is already erased (in case of 2k pages) or not (1k pages) 68 | static void write_flash(uint32_t addr, uint32_t *pageBuffer) 69 | { 70 | if (!check_erased((uint32_t*)addr)) 71 | flash_erase_page(addr); 72 | 73 | for (uint32_t idx = 0; idx < PROGRAM_WORDS; idx++) 74 | { 75 | flash_program_word(addr + idx * 4, pageBuffer[idx]); 76 | } 77 | } 78 | 79 | static void send_byte(uint8_t b) 80 | { 81 | can_transmit(CAN1, NODECANID, false, false, 1, &b); 82 | if (usartUpdate) usart_send_blocking(USART3, b); 83 | } 84 | 85 | static void send_can_hello() 86 | { 87 | uint32_t data[] = { '3' | ('1' << 8), DESIG_UNIQUE_ID2 }; 88 | can_transmit(CAN1, NODECANID, false, false, 8, (uint8_t*)data); 89 | } 90 | 91 | static bool can_recv(uint8_t* data, uint8_t& len) 92 | { 93 | uint32_t id; 94 | bool ext, rtr; 95 | uint8_t fmi; 96 | 97 | return can_receive(CAN1, 0, true, &id, &ext, &rtr, &fmi, &len, data, 0) > 0; 98 | } 99 | 100 | static void wait() 101 | { 102 | for (volatile uint32_t i = DELAY_100; i > 0; i--); 103 | } 104 | 105 | 106 | extern "C" int main(void) 107 | { 108 | uint32_t addr = APP_FLASH_START; 109 | 110 | clock_setup(); 111 | initialize_pins(); 112 | can_setup(MASTERCANID); 113 | usart_setup(); 114 | 115 | send_can_hello(); 116 | usart_send(USART3, '2'); //advertise version 2 as the protocol is unchanged 117 | 118 | wait(); 119 | 120 | if (state == PAGECOUNT || state == PAGE || state == PROGRAM) 121 | { 122 | flash_unlock(); 123 | 124 | while (state != DONE) 125 | { 126 | if (state == PROGRAM) 127 | { 128 | write_flash(addr, page_buffer); 129 | addr += sizeof(page_buffer); 130 | state = PAGE; 131 | send_byte('P'); 132 | } 133 | iwdg_reset(); 134 | } 135 | 136 | //Program the final page 137 | write_flash(addr, page_buffer); 138 | flash_lock(); 139 | } 140 | 141 | //We are done lets tell the world this!! 142 | if (state == DONE) 143 | send_byte('D'); 144 | 145 | wait(); 146 | 147 | can_teardown(); 148 | usart_teardown(); 149 | clock_teardown(); 150 | 151 | void (*app_main)(void) = (void (*)(void)) *(volatile uint32_t*)(APP_FLASH_START + 4); 152 | SCB_VTOR = APP_FLASH_START; 153 | app_main(); 154 | 155 | return 0; 156 | } 157 | 158 | static void handle_data(uint8_t* data, uint8_t) 159 | { 160 | uint32_t* words = (uint32_t*)data; 161 | static uint8_t numPages = 0; 162 | static uint32_t currentWord = 0; 163 | static uint32_t crc; 164 | 165 | switch (state) 166 | { 167 | case MAGIC: 168 | if ((usartUpdate && data[0] == BOOTLOADER_MAGIC) || words[0] == DESIG_UNIQUE_ID2) 169 | { 170 | send_byte('S'); 171 | state = PAGECOUNT; 172 | } 173 | break; 174 | case PAGECOUNT: 175 | numPages = data[0]; 176 | state = PAGE; 177 | currentWord = 0; 178 | send_byte('P'); 179 | crc_reset(); 180 | break; 181 | case PAGE: 182 | page_buffer[currentWord++] = words[0]; 183 | page_buffer[currentWord++] = words[1]; 184 | crc_calculate(words[0]); 185 | crc = crc_calculate(words[1]); 186 | 187 | if (currentWord == PROGRAM_WORDS) 188 | { 189 | state = CRC; 190 | send_byte('C'); 191 | } 192 | else if (!usartUpdate) 193 | { 194 | send_byte('P'); 195 | } 196 | break; 197 | case CRC: 198 | currentWord = 0; 199 | crc_reset(); 200 | if (words[0] == crc) 201 | { 202 | numPages--; 203 | if (numPages == 0) 204 | { 205 | state = DONE; 206 | } 207 | else 208 | { 209 | state = PROGRAM; 210 | } 211 | } 212 | else 213 | { 214 | send_byte('E'); 215 | state = PAGE; 216 | } 217 | break; 218 | case PROGRAM: 219 | //Flash programming done in main() 220 | break; 221 | case DONE: 222 | //Nothing to do! 223 | break; 224 | } 225 | 226 | } 227 | 228 | /* Interrupt service routines */ 229 | extern "C" void usb_lp_can_rx0_isr() 230 | { 231 | uint8_t canData[8], len; 232 | 233 | can_recv(canData, len); 234 | handle_data(canData, len); 235 | } 236 | 237 | extern "C" void usart3_isr() 238 | { 239 | static uint8_t buffer[8], currentByte = 0; 240 | 241 | uint8_t data = usart_recv(USART3); 242 | 243 | usartUpdate = true; 244 | 245 | switch (state) 246 | { 247 | case MAGIC: 248 | case PAGECOUNT: 249 | handle_data(&data, 1); 250 | break; 251 | case PAGE: 252 | buffer[currentByte++] = data; 253 | if (currentByte == 8) 254 | { 255 | currentByte = 0; 256 | handle_data(buffer, 8); 257 | } 258 | break; 259 | case CRC: 260 | buffer[currentByte++] = data; 261 | if (currentByte == 4) 262 | { 263 | currentByte = 0; 264 | handle_data(buffer, 4); 265 | } 266 | break; 267 | default: 268 | //Should never get here 269 | break; 270 | } 271 | } 272 | -------------------------------------------------------------------------------- /stm32_canloader.ld: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the libopenstm32 project. 3 | * 4 | * Copyright (C) 2009 Uwe Hermann 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | 20 | /* Linker script for Olimex STM32-H103 (STM32F103RBT6, 128K flash, 20K RAM). */ 21 | 22 | /* Define memory regions. */ 23 | MEMORY 24 | { 25 | rom (rx) : ORIGIN = 0x08000000, LENGTH = 8K 26 | ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K 27 | } 28 | 29 | 30 | /* Include the common ld script from libopenstm32. */ 31 | INCLUDE cortex-m-generic.ld 32 | 33 | -------------------------------------------------------------------------------- /uart-updater.py: -------------------------------------------------------------------------------- 1 | import serial 2 | from optparse import OptionParser 3 | from time import sleep 4 | 5 | 6 | def waitForChar(ser, c): 7 | recv_char = ser.read() 8 | while recv_char not in c: 9 | recv_char = ser.read() 10 | return recv_char 11 | 12 | 13 | def calcStmCrc(data, idx, len): 14 | cnt = 0 15 | crc = 0xffffffff 16 | 17 | while cnt < len: 18 | word = data[idx] | (data[idx+1] << 8) | (data[idx+2] 19 | << 16) | (data[idx+3] << 24) 20 | cnt = cnt + 4 21 | idx = idx + 4 22 | 23 | crc = crc ^ word 24 | 25 | for i in range(0, 32): 26 | if crc & 0x80000000: 27 | # Polynomial used in STM32 28 | crc = ((crc << 1) ^ 0x04C11DB7) & 0xffffffff 29 | else: 30 | crc = (crc << 1) & 0xffffffff 31 | return crc 32 | 33 | 34 | PAGE_SIZE_BYTES = 1024 35 | 36 | 37 | parser = OptionParser() 38 | parser.add_option("-f", "--file", dest="filename", 39 | help="update file") 40 | parser.add_option("-d", "--device", dest="device", 41 | help="serial interface") 42 | 43 | (options, args) = parser.parse_args() 44 | 45 | if not options.filename: # if filename is not given 46 | parser.error('Filename not given') 47 | exit() 48 | if not options.device: # if device is not given 49 | parser.error('Device not given') 50 | exit() 51 | ser = serial.Serial(options.device, 115200, timeout=2, stopbits=2) 52 | 53 | updateFile = open(options.filename, "rb") 54 | data = bytearray(updateFile.read()) 55 | updateFile.close() 56 | 57 | numBytes = len(data) 58 | numPages = (numBytes + PAGE_SIZE_BYTES - 1) // PAGE_SIZE_BYTES 59 | 60 | while (len(data) % PAGE_SIZE_BYTES) > 0: 61 | data.append(0) 62 | 63 | print("File length is %d bytes/%d pages" % (numBytes, numPages)) 64 | print("Resetting device...") 65 | 66 | ser.write(b'reset\r') 67 | version = waitForChar(ser, b'S2') 68 | 69 | if version == b'2': 70 | print("Version 2 bootloader, sending magic") 71 | ser.write(b'\xAA') 72 | waitForChar(ser, b'S') 73 | 74 | print("Sending number of pages...") 75 | 76 | ser.write([numPages]) 77 | 78 | waitForChar(ser, b'P') 79 | 80 | done = False 81 | page = 0 82 | idx = 0 83 | 84 | while not done: 85 | crc = calcStmCrc(data, idx, PAGE_SIZE_BYTES) 86 | c = 0 87 | 88 | while c != b'P' and not done: 89 | print("Sending page %d..." % (page), end=' ') 90 | idx = page * PAGE_SIZE_BYTES 91 | cnt = 0 92 | 93 | while cnt < PAGE_SIZE_BYTES: 94 | ser.write([data[idx]]) 95 | idx = idx + 1 96 | cnt = cnt + 1 97 | 98 | c = ser.read() 99 | 100 | if b'C' == c: 101 | ser.write([crc & 0xFF]) 102 | ser.write([(crc >> 8) & 0xFF]) 103 | ser.write([(crc >> 16) & 0xFF]) 104 | ser.write([(crc >> 24) & 0xFF]) 105 | 106 | c = ser.read() 107 | 108 | if b'D' == c: 109 | print("CRC correct!") 110 | print("Update done!") 111 | done = True 112 | elif b'E' == c: 113 | print("CRC error!") 114 | waitForChar(ser, b'T') 115 | elif b'P' == c: 116 | print("CRC correct!") 117 | page = page + 1 118 | elif b'T' == c: 119 | print("Sync Error!") 120 | else: 121 | print(c) 122 | --------------------------------------------------------------------------------