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#![no_std]
#![feature(generic_associated_types)]
#![feature(type_alias_impl_trait)]
#![warn(missing_docs)]
#![doc = include_str!("../../README.md")]
mod fmt;
pub use embassy_boot::{AlignedBuffer, BootFlash, FirmwareUpdater, FlashConfig, Partition, SingleFlashConfig};
use embassy_nrf::nvmc::{Nvmc, PAGE_SIZE};
use embassy_nrf::peripherals::WDT;
use embassy_nrf::wdt;
use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
/// A bootloader for nRF devices.
pub struct BootLoader {
boot: embassy_boot::BootLoader,
magic: AlignedBuffer<4>,
page: AlignedBuffer<PAGE_SIZE>,
}
impl BootLoader {
/// Create a new bootloader instance using parameters from linker script
pub fn default() -> Self {
extern "C" {
static __bootloader_state_start: u32;
static __bootloader_state_end: u32;
static __bootloader_active_start: u32;
static __bootloader_active_end: u32;
static __bootloader_dfu_start: u32;
static __bootloader_dfu_end: u32;
}
let active = unsafe {
Partition::new(
&__bootloader_active_start as *const u32 as usize,
&__bootloader_active_end as *const u32 as usize,
)
};
let dfu = unsafe {
Partition::new(
&__bootloader_dfu_start as *const u32 as usize,
&__bootloader_dfu_end as *const u32 as usize,
)
};
let state = unsafe {
Partition::new(
&__bootloader_state_start as *const u32 as usize,
&__bootloader_state_end as *const u32 as usize,
)
};
trace!("ACTIVE: 0x{:x} - 0x{:x}", active.from, active.to);
trace!("DFU: 0x{:x} - 0x{:x}", dfu.from, dfu.to);
trace!("STATE: 0x{:x} - 0x{:x}", state.from, state.to);
Self::new(active, dfu, state)
}
/// Create a new bootloader instance using the supplied partitions for active, dfu and state.
pub fn new(active: Partition, dfu: Partition, state: Partition) -> Self {
Self {
boot: embassy_boot::BootLoader::new(active, dfu, state),
magic: AlignedBuffer([0; 4]),
page: AlignedBuffer([0; PAGE_SIZE]),
}
}
/// Inspect the bootloader state and perform actions required before booting, such as swapping
/// firmware.
pub fn prepare<F: FlashConfig>(&mut self, flash: &mut F) -> usize {
match self.boot.prepare_boot(flash, &mut self.magic.0, &mut self.page.0) {
Ok(_) => self.boot.boot_address(),
Err(_) => panic!("boot prepare error!"),
}
}
/// Boots the application without softdevice mechanisms.
///
/// # Safety
///
/// This modifies the stack pointer and reset vector and will run code placed in the active partition.
#[cfg(not(feature = "softdevice"))]
pub unsafe fn load(&mut self, start: usize) -> ! {
let mut p = cortex_m::Peripherals::steal();
p.SCB.invalidate_icache();
p.SCB.vtor.write(start as u32);
cortex_m::asm::bootload(start as *const u32)
}
/// Boots the application assuming softdevice is present.
///
/// # Safety
///
/// This modifies the stack pointer and reset vector and will run code placed in the active partition.
#[cfg(feature = "softdevice")]
pub unsafe fn load(&mut self, _app: usize) -> ! {
use nrf_softdevice_mbr as mbr;
const NRF_SUCCESS: u32 = 0;
// Address of softdevice which we'll forward interrupts to
let addr = 0x1000;
let mut cmd = mbr::sd_mbr_command_t {
command: mbr::NRF_MBR_COMMANDS_SD_MBR_COMMAND_IRQ_FORWARD_ADDRESS_SET,
params: mbr::sd_mbr_command_t__bindgen_ty_1 {
irq_forward_address_set: mbr::sd_mbr_command_irq_forward_address_set_t { address: addr },
},
};
let ret = mbr::sd_mbr_command(&mut cmd);
assert_eq!(ret, NRF_SUCCESS);
let msp = *(addr as *const u32);
let rv = *((addr + 4) as *const u32);
trace!("msp = {=u32:x}, rv = {=u32:x}", msp, rv);
// These instructions perform the following operations:
//
// * Modify control register to use MSP as stack pointer (clear spsel bit)
// * Synchronize instruction barrier
// * Initialize stack pointer (0x1000)
// * Set link register to not return (0xFF)
// * Jump to softdevice reset vector
core::arch::asm!(
"mrs {tmp}, CONTROL",
"bics {tmp}, {spsel}",
"msr CONTROL, {tmp}",
"isb",
"msr MSP, {msp}",
"mov lr, {new_lr}",
"bx {rv}",
// `out(reg) _` is not permitted in a `noreturn` asm! call,
// so instead use `in(reg) 0` and don't restore it afterwards.
tmp = in(reg) 0,
spsel = in(reg) 2,
new_lr = in(reg) 0xFFFFFFFFu32,
msp = in(reg) msp,
rv = in(reg) rv,
options(noreturn),
);
}
}
/// A flash implementation that wraps NVMC and will pet a watchdog when touching flash.
pub struct WatchdogFlash<'d> {
flash: Nvmc<'d>,
wdt: wdt::WatchdogHandle,
}
impl<'d> WatchdogFlash<'d> {
/// Start a new watchdog with a given flash and WDT peripheral and a timeout
pub fn start(flash: Nvmc<'d>, wdt: WDT, timeout: u32) -> Self {
let mut config = wdt::Config::default();
config.timeout_ticks = 32768 * timeout; // timeout seconds
config.run_during_sleep = true;
config.run_during_debug_halt = false;
let (_wdt, [wdt]) = match wdt::Watchdog::try_new(wdt, config) {
Ok(x) => x,
Err(_) => {
// In case the watchdog is already running, just spin and let it expire, since
// we can't configure it anyway. This usually happens when we first program
// the device and the watchdog was previously active
info!("Watchdog already active with wrong config, waiting for it to timeout...");
loop {}
}
};
Self { flash, wdt }
}
}
impl<'d> ErrorType for WatchdogFlash<'d> {
type Error = <Nvmc<'d> as ErrorType>::Error;
}
impl<'d> NorFlash for WatchdogFlash<'d> {
const WRITE_SIZE: usize = <Nvmc<'d> as NorFlash>::WRITE_SIZE;
const ERASE_SIZE: usize = <Nvmc<'d> as NorFlash>::ERASE_SIZE;
fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
self.wdt.pet();
self.flash.erase(from, to)
}
fn write(&mut self, offset: u32, data: &[u8]) -> Result<(), Self::Error> {
self.wdt.pet();
self.flash.write(offset, data)
}
}
impl<'d> ReadNorFlash for WatchdogFlash<'d> {
const READ_SIZE: usize = <Nvmc<'d> as ReadNorFlash>::READ_SIZE;
fn read(&mut self, offset: u32, data: &mut [u8]) -> Result<(), Self::Error> {
self.wdt.pet();
self.flash.read(offset, data)
}
fn capacity(&self) -> usize {
self.flash.capacity()
}
}
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