Fixed flash CRC check

Author: vedderb

CHANGELOG

@@ -4,6 +4,7 @@
 * Virtual motor support.
 * Disable chuk cruise control on dropouts.
 * Fix multiple VESCs over CAN duty cycle mode.
+* Added boot and runtime flash memory CRC integrity check.
 
 === FW 3.54 ===
 * Added mcpwm_foc_set_openloop_duty and mcpwm_foc_set_openloop_duty_phase.

Makefile

@@ -276,7 +276,7 @@ ifeq ($(USE_FWLIB),yes)
 endif
 
 build/$(PROJECT).bin: build/$(PROJECT).elf 
-	$(BIN) build/$(PROJECT).elf build/$(PROJECT).bin
+	$(BIN) build/$(PROJECT).elf build/$(PROJECT).bin --gap-fill 0xFF
 
 # Program
 upload: build/$(PROJECT).bin

blackmagic/bm_if.c

@@ -194,7 +194,7 @@ static void terminal_flash_erase(int argc, const char **argv) {
 		sscanf(argv[1], "%x", &addr);
 		sscanf(argv[2], "%d", &len);
 
-		if (addr >= 0 && len >= 0) {
+		if (len >= 0) {
 			if (cur_target) {
 				bm_set_enabled(true);
 				target_print_en = true;

crc.c

@@ -68,12 +68,13 @@ unsigned short crc16(unsigned char *buf, unsigned int len) {
   * @retval 32-bit CRC
   */
 uint32_t crc32(uint32_t *pBuffer, uint32_t BufferLength) {
-  uint32_t index = 0;
+	uint32_t index = 0;
 
-  for(index = 0; index < BufferLength; index++) {
-    CRC->DR = pBuffer[index];
-  }
-  return (CRC->DR);
+	for(index = 0; index < BufferLength; index++) {
+		CRC->DR = pBuffer[index];
+	}
+
+	return (CRC->DR);
 }
 
 /**
@@ -82,6 +83,6 @@ uint32_t crc32(uint32_t *pBuffer, uint32_t BufferLength) {
   * @retval None
   */
 void crc32_reset(void) {
-  /* Reset CRC generator */
-  CRC->CR = CRC_CR_RESET;
+	/* Reset CRC generator */
+	CRC->CR |= CRC_CR_RESET;
 }

flash_helper.c

@@ -31,36 +31,37 @@
 /*
  * Defines
  */
-#define FLASH_SECTORS			12
-#define BOOTLOADER_BASE			11
-#define APP_BASE				0
-#define NEW_APP_BASE			8
-#define NEW_APP_SECTORS			3
-#define APP_MAX_SIZE			(3 * (1 << 17))
-#define EEPROM_EMULATION_SIZE	0x8000
+#define FLASH_SECTORS							12
+#define BOOTLOADER_BASE							11
+#define APP_BASE								0
+#define NEW_APP_BASE							8
+#define NEW_APP_SECTORS							3
+#define APP_MAX_SIZE							(393216 - 8) // Note that the bootloader needs 8 extra bytes
 
 // Base address of the Flash sectors
-#define ADDR_FLASH_SECTOR_0     ((uint32_t)0x08000000) // Base @ of Sector 0, 16 Kbytes
-#define ADDR_FLASH_SECTOR_1     ((uint32_t)0x08004000) // Base @ of Sector 1, 16 Kbytes
-#define ADDR_FLASH_SECTOR_2     ((uint32_t)0x08008000) // Base @ of Sector 2, 16 Kbytes
-#define ADDR_FLASH_SECTOR_3     ((uint32_t)0x0800C000) // Base @ of Sector 3, 16 Kbytes
-#define ADDR_FLASH_SECTOR_4     ((uint32_t)0x08010000) // Base @ of Sector 4, 64 Kbytes
-#define ADDR_FLASH_SECTOR_5     ((uint32_t)0x08020000) // Base @ of Sector 5, 128 Kbytes
-#define ADDR_FLASH_SECTOR_6     ((uint32_t)0x08040000) // Base @ of Sector 6, 128 Kbytes
-#define ADDR_FLASH_SECTOR_7     ((uint32_t)0x08060000) // Base @ of Sector 7, 128 Kbytes
-#define ADDR_FLASH_SECTOR_8     ((uint32_t)0x08080000) // Base @ of Sector 8, 128 Kbytes
-#define ADDR_FLASH_SECTOR_9     ((uint32_t)0x080A0000) // Base @ of Sector 9, 128 Kbytes
-#define ADDR_FLASH_SECTOR_10    ((uint32_t)0x080C0000) // Base @ of Sector 10, 128 Kbytes
-#define ADDR_FLASH_SECTOR_11    ((uint32_t)0x080E0000) // Base @ of Sector 11, 128 Kbytes
-
-#define	APP_CRC_WAS_CALCULATED_FLAG			((uint32_t)0xAAAAAAAA)
-#define	APP_CRC_WAS_CALCULATED_FLAG_ADDRESS	(uint32_t*)(APP_MAX_SIZE - 8)
-
-#define VECTOR_TABLE_ADDRESS	((uint32_t *)ADDR_FLASH_SECTOR_0)
-#define VECTOR_TABLE_SIZE		((uint32_t)(ADDR_FLASH_SECTOR_1 - ADDR_FLASH_SECTOR_0))
-
-#define APP_START_ADDRESS		((uint32_t *)(ADDR_FLASH_SECTOR_1 + EEPROM_EMULATION_SIZE))
-#define APP_SIZE				((uint32_t)(APP_MAX_SIZE - VECTOR_TABLE_SIZE - EEPROM_EMULATION_SIZE))
+#define ADDR_FLASH_SECTOR_0    					((uint32_t)0x08000000) // Base @ of Sector 0, 16 Kbytes
+#define ADDR_FLASH_SECTOR_1    					((uint32_t)0x08004000) // Base @ of Sector 1, 16 Kbytes
+#define ADDR_FLASH_SECTOR_2    					((uint32_t)0x08008000) // Base @ of Sector 2, 16 Kbytes
+#define ADDR_FLASH_SECTOR_3						((uint32_t)0x0800C000) // Base @ of Sector 3, 16 Kbytes
+#define ADDR_FLASH_SECTOR_4    					((uint32_t)0x08010000) // Base @ of Sector 4, 64 Kbytes
+#define ADDR_FLASH_SECTOR_5    					((uint32_t)0x08020000) // Base @ of Sector 5, 128 Kbytes
+#define ADDR_FLASH_SECTOR_6     				((uint32_t)0x08040000) // Base @ of Sector 6, 128 Kbytes
+#define ADDR_FLASH_SECTOR_7     				((uint32_t)0x08060000) // Base @ of Sector 7, 128 Kbytes
+#define ADDR_FLASH_SECTOR_8     				((uint32_t)0x08080000) // Base @ of Sector 8, 128 Kbytes
+#define ADDR_FLASH_SECTOR_9 				    ((uint32_t)0x080A0000) // Base @ of Sector 9, 128 Kbytes
+#define ADDR_FLASH_SECTOR_10				    ((uint32_t)0x080C0000) // Base @ of Sector 10, 128 Kbytes
+#define ADDR_FLASH_SECTOR_11				    ((uint32_t)0x080E0000) // Base @ of Sector 11, 128 Kbytes
+
+#define VECTOR_TABLE_ADDRESS					((uint32_t*)ADDR_FLASH_SECTOR_0)
+#define VECTOR_TABLE_SIZE						((uint32_t)(ADDR_FLASH_SECTOR_1 - ADDR_FLASH_SECTOR_0))
+#define EEPROM_EMULATION_SIZE					((uint32_t)(ADDR_FLASH_SECTOR_4 - ADDR_FLASH_SECTOR_2))
+
+#define APP_START_ADDRESS						((uint32_t*)(ADDR_FLASH_SECTOR_3))
+#define APP_SIZE								((uint32_t)(APP_MAX_SIZE - VECTOR_TABLE_SIZE - EEPROM_EMULATION_SIZE))
+
+#define	APP_CRC_WAS_CALCULATED_FLAG				((uint32_t)0x00000000)
+#define	APP_CRC_WAS_CALCULATED_FLAG_ADDRESS		((uint32_t*)(ADDR_FLASH_SECTOR_0 + APP_MAX_SIZE - 8))
+#define APP_CRC_ADDRESS							((uint32_t*)(ADDR_FLASH_SECTOR_0 + APP_MAX_SIZE - 4))
 
 typedef struct {
 	uint32_t crc_flag;
@@ -225,55 +226,53 @@ uint32_t flash_helper_verify_flash_memory(void) {
 	uint32_t crc;
 	// Look for a flag indicating that the CRC was previously computed.
 	// If it is blank (0xFFFFFFFF), calculate and store the CRC.
-	if( (APP_CRC_WAS_CALCULATED_FLAG_ADDRESS)[0] == APP_CRC_WAS_CALCULATED_FLAG )
-    {
+	if(APP_CRC_WAS_CALCULATED_FLAG_ADDRESS[0] == APP_CRC_WAS_CALCULATED_FLAG) {
 		RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
 		crc32_reset();
 
 		// compute vector table (sector 0)
-		crc32((VECTOR_TABLE_ADDRESS), (VECTOR_TABLE_SIZE)/4);
+		crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);
 
 		// skip emulated EEPROM (sector 1 and 2)
 
 		// compute application code
-		crc = crc32(APP_START_ADDRESS, (APP_SIZE)/4);
+		crc = crc32(APP_START_ADDRESS, (APP_SIZE) / 4);
 
 		RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);
 
 		// A CRC over the full image should return zero.
-		return (crc == 0)? FAULT_CODE_NONE : FAULT_CODE_FLASH_CORRUPTION;
-    }
-	else {
+		return (crc == 0) ? FAULT_CODE_NONE : FAULT_CODE_FLASH_CORRUPTION;
+	} else {
 		FLASH_Unlock();
 		FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
-        				FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+				FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
 
-       	//Write the flag to indicate CRC has been computed.
-   		uint16_t res = FLASH_ProgramWord((uint32_t)APP_CRC_WAS_CALCULATED_FLAG_ADDRESS, APP_CRC_WAS_CALCULATED_FLAG);
-   		if (res != FLASH_COMPLETE) {
-   			FLASH_Lock();
-   			return FAULT_CODE_FLASH_CORRUPTION;
-   		}
+		// Write the flag to indicate CRC has been computed.
+		uint16_t res = FLASH_ProgramWord((uint32_t)APP_CRC_WAS_CALCULATED_FLAG_ADDRESS, APP_CRC_WAS_CALCULATED_FLAG);
+		if (res != FLASH_COMPLETE) {
+			FLASH_Lock();
+			return FAULT_CODE_FLASH_CORRUPTION;
+		}
 
-   		// Compute flash crc including the new flag
+		// Compute flash crc including the new flag
 		RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
 		crc32_reset();
 
 		// compute vector table (sector 0)
-		crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE)/4);
+		crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);
 
 		// skip emulated EEPROM (sector 1 and 2)
 
 		// compute application code
-		crc = crc32(APP_START_ADDRESS, (APP_SIZE - 4)/4);
+		crc = crc32(APP_START_ADDRESS, (APP_SIZE - 4) / 4);
 
 		RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);
 
 		//Store CRC
-		res = FLASH_ProgramWord(APP_MAX_SIZE - 4, crc);
+		res = FLASH_ProgramWord((uint32_t)APP_CRC_ADDRESS, crc);
 		if (res != FLASH_COMPLETE) {
 			FLASH_Lock();
-			 return FAULT_CODE_FLASH_CORRUPTION;
+			return FAULT_CODE_FLASH_CORRUPTION;
 		}
 		FLASH_Lock();
 
@@ -285,29 +284,33 @@ uint32_t flash_helper_verify_flash_memory(void) {
 
 uint32_t flash_helper_verify_flash_memory_chunk(void) {
 	static uint32_t index = 0;
-	const uint32_t chunk_size = 8192;
+	uint32_t chunk_size = 1024;
 	uint32_t res = FAULT_CODE_NONE;
 	uint32_t crc = 0;
+	uint32_t tot_bytes = VECTOR_TABLE_SIZE + APP_SIZE;
 
 	// Make sure RCC_AHB1Periph_CRC is enabled
 	if (index == 0) {
 		crc32_reset();
 	}
 
-	if (index < VECTOR_TABLE_SIZE) {
-		crc32((VECTOR_TABLE_ADDRESS + index), chunk_size/4);
+	if ((index + chunk_size) >= tot_bytes) {
+		chunk_size = tot_bytes - index;
 	}
-	else {
-		crc = crc32((uint32_t*)((uint32_t)APP_START_ADDRESS + index - VECTOR_TABLE_SIZE), chunk_size/4);
+
+	if (index < VECTOR_TABLE_SIZE) {
+		crc32(VECTOR_TABLE_ADDRESS + index / 4, chunk_size / 4);
+	} else {
+		crc = crc32(APP_START_ADDRESS + (index - VECTOR_TABLE_SIZE) / 4, chunk_size / 4);
 	}
 
 	index += chunk_size;
-	if (index >= (VECTOR_TABLE_SIZE + APP_SIZE)) {
+	if (index >= tot_bytes) {
 		index = 0;
 		if (crc != 0) {
 			res = FAULT_CODE_FLASH_CORRUPTION;
 		}
 	}
+
 	return res;
 }
-

ld_eeprom_emu.ld

@@ -26,8 +26,8 @@
 MEMORY
 {
     flash : org = 0x08000000, len = 16k
-    flash2 : org = 0x0800C000, len = 393216 - 8	/* NEW_APP_MAX_SIZE - CRC_INFO */
-	crcinfo : org = 0x0805FFF8, len = 8		/* CRC info*/
+    flash2 : org = 0x0800C000, len = 393216 - 16	/* NEW_APP_MAX_SIZE - CRC_INFO */
+	crcinfo : org = 0x0805FFF0, len = 8		/* CRC info */
     ram0  : org = 0x20000000, len = 128k    /* SRAM1 + SRAM2 */
     ram1  : org = 0x20000000, len = 112k    /* SRAM1 */
     ram2  : org = 0x2001C000, len = 16k     /* SRAM2 */
@@ -146,7 +146,7 @@ SECTIONS
     _etext = .;
     _textdata = _etext;
 
-    _crcinfo_start_address = 0x0805FFF8;
+    _crcinfo_start_address = 0x0805FFF0;
 
     .crcinfo _crcinfo_start_address :
 	{

main.c

@@ -75,20 +75,20 @@
 // Private variables
 static THD_WORKING_AREA(periodic_thread_wa, 1024);
 static THD_WORKING_AREA(timer_thread_wa, 128);
-static THD_WORKING_AREA(flash_integrity_check_thread_wa, 1024);
+static THD_WORKING_AREA(flash_integrity_check_thread_wa, 256);
 
 static THD_FUNCTION(flash_integrity_check_thread, arg) {
 	(void)arg;
 
-	chRegSetThreadName("Flash integrity check");
+	chRegSetThreadName("Flash check");
 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
 
 	for(;;) {
 		if (flash_helper_verify_flash_memory_chunk() == FAULT_CODE_FLASH_CORRUPTION) {
 			NVIC_SystemReset();
 		}
 
-		chThdSleepMilliseconds(50);
+		chThdSleepMilliseconds(6);
 	}
 }