Broken

latest/Firmware/Inc/FreeRTOSConfig.h

@@ -70,7 +70,7 @@
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  1
-#define configCHECK_FOR_STACK_OVERFLOW           1
+#define configCHECK_FOR_STACK_OVERFLOW           0
 
 #define configUSE_TIMERS                         1
 #define configTIMER_TASK_PRIORITY                ( 2 )

latest/Firmware/Inc/ObjectPool.hpp

@@ -23,8 +23,7 @@
 
 using namespace std;
 
-#include <cstdlib>
+
-#include <cassert>
 #include "printf_serial.h"
 #include "_assert.h"
 #include "CircularQueue.hpp"
@@ -85,6 +84,4 @@ private:
   CircularQueue<T*> mQueue;
 };
 
-
-
 #endif /* OBJECTPOOL_HPP_ */

latest/Firmware/Inc/TXPacket.hpp

@@ -20,9 +20,6 @@
 #ifndef TXPACKET_HPP_
 #define TXPACKET_HPP_
 
-#include <inttypes.h>
-#include <time.h>
-
 #include "ObjectPool.hpp"
 #include "AISChannels.h"
 #include "config.h"
@@ -32,15 +29,15 @@ class TXPacket
 {
 public:
   TXPacket ();
-  virtual ~TXPacket();
+  ~TXPacket();
 
   void addBit(uint8_t bit);
   void pad();
-  virtual uint16_t size();
+  uint16_t size();
 
   // Iterator pattern for transmitting bit-by-bit
-  virtual bool eof();
+  bool eof();
-  virtual uint8_t nextBit();
+  uint8_t nextBit();
   VHFChannel channel();
 
   void setTimestamp(time_t t);
@@ -65,13 +62,6 @@ private:
   bool mTestPacket = false;
 };
 
-class TXTestPacket : public TXPacket
-{
-public:
-  TXTestPacket();
-  ~TXTestPacket();
-
-};
 
 class TXPacketPool
 {

latest/Firmware/Inc/bsp/bsp.hpp

@@ -26,7 +26,7 @@
 // Either modify this header or define a different symbol in the preprocessor to build for a different board
 
 #ifndef BOARD_REV
-#define BOARD_REV 52
+#define BOARD_REV 61
 #endif
 
 /**
@@ -85,8 +85,8 @@ bool bsp_read_station_data(StationData &data);
 #include "bsp_5_2.hpp"
 #elif BOARD_REV == 53
 #include "bsp_5_3.hpp"
-#elif BOARD_REV == 60
+#elif BOARD_REV == 61
-#include "bsp_6_0.hpp"
+#include <bsp_6_1.hpp>
 #endif
 
 

latest/Firmware/Inc/config.h

@@ -93,6 +93,13 @@
 // Extra debugging using halting assertions
 //#define DEV_MODE                       1
 
+#define DFU_FLAG_ADDRESS              0x20009C00
+#define DFU_FLAG_MAGIC                0xa191feed
+
+#ifdef STM32L432xx
+#define BOOTLOADER_STACK_ADDRESS      0x202C0020
+#endif
+
 
 
 #endif /* CONFIG_H_ */

latest/Firmware/Python/bootloader.py

@@ -14,7 +14,7 @@ GET  = 0x00
 PAGE_SIZE       = 2048
 FLASH_BASE      = 0x08000000
 BAUD_RATE       = 115200
-MAX_IMAGE_SIZE  = 128*1024
+MAX_IMAGE_SIZE  = 64*1024
 
 # These defaults will be overwritten with results of GET command
 GET_VER_CMD             = 0x01
@@ -71,12 +71,19 @@ def packet_checksum(p):
     return x
     
 def read_byte():
-    r = port.read()
+    r = port.read(1)
     if len(r) > 0:
         return (True, ord(r[0]))
     else:
         return (False, 0)
 
+def drain():
+    keepreading = True
+    while True:
+        (r, keepreading) = read_byte()
+        if r == False:
+            break
+    
 def do_handshake():
     port.write([0x7f])
     (success, b) = read_byte()
@@ -93,8 +100,10 @@ def complement(cmd):
 
 def send_command(cmd):
     packet = [cmd, complement(cmd)]
+    #print packet
     port.write(packet)
     (success, r) = read_byte()
+    #print r
     if not success:
         print "Failed to send command 0x{0:2x}".format(cmd)
         return False
@@ -103,6 +112,7 @@ def send_command(cmd):
         print "Got NACK for command 0x{0:2x}".format(cmd)
         return False
 
+    #print "Got ACK"
     return True
     
 
@@ -255,6 +265,8 @@ if __name__ == '__main__':
     if not bl_present:
         sys.exit(1)
 
+    drain()
+        
     (success, data) = send_get()
     if success:
         configure_commands(data[2:])

latest/Firmware/STM32L412KBUx_FLASH.ld

@@ -55,13 +55,13 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = 0x2000A000;    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0x200;      /* required amount of heap  */
+_Min_Heap_Size = 0x400;      /* required amount of heap  */
 _Min_Stack_Size = 0x400; /* required amount of stack */
 
 /* Specify the memory areas */
 MEMORY
 {
-RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 40K
+RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 39K
 FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 64K
 }
 

latest/Firmware/STM32L432KBUx_FLASH.ld

@@ -60,7 +60,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 40K
+RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 39K
 RAM2 (xrw)      : ORIGIN = 0x10000000, LENGTH = 16K
 FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 100K
 }

latest/Firmware/Src/bsp/bsp_6_1.cpp

@@ -25,7 +25,7 @@
 #include <string.h>
 
 
-#if BOARD_REV==60
+#if BOARD_REV==61
 
 I2C_HandleTypeDef hi2c1;
 SPI_HandleTypeDef hspi1;
@@ -79,11 +79,13 @@ static const GPIO __gpios[] = {
 
 extern "C"
 {
-  void Error_Handler(void)
+  void Error_Handler(uint8_t i)
   {
-    printf_serial_now("[ERROR]\r\n");
+
-    printf_serial_now("[ERROR] ***** System error handler resetting *****\r\n");
+    asm("BKPT 0");
-    NVIC_SystemReset();
+    printf_serial_now("[ERROR %d]\r\n", i);
+    //printf_serial_now("[ERROR] ***** System error handler resetting *****\r\n");
+    //NVIC_SystemReset();
   }
 }
 
@@ -158,7 +160,7 @@ void bsp_hw_init()
 
   if (HAL_SPI_Init(&hspi1) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   __HAL_SPI_ENABLE(&hspi1);
@@ -209,20 +211,33 @@ void bsp_hw_init()
   hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
   if (HAL_I2C_Init(&hi2c1) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
   /** Configure Analogue filter
    */
   if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
   /** Configure Digital filter
    */
   if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
+
+  // 1PPS signal
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+
+
+  // RF IC clock interrupts
+  HAL_NVIC_SetPriority(EXTI1_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI1_IRQn);
+
+
+  HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
 }
 
 
@@ -252,7 +267,7 @@ void SystemClock_Config()
   RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   /**Initializes the CPU, AHB and APB bus clocks
@@ -266,21 +281,21 @@ void SystemClock_Config()
 
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
   PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_HSI;
   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   /**Configure the main internal regulator output voltage
    */
   if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   /**Configure the Systick interrupt time

latest/Firmware/Src/main.cpp

@@ -31,22 +31,24 @@
 #include "task.h"
 #include "timers.h"
 
-
+void jump_to_bootloader()
-#if 0
-void determineCauseOfReset()
 {
-  std::string cause;
+  typedef void (*pFunction)(void);
-  if ( __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) )
+  pFunction systemBootloader;
-    cause += "Watchdog, ";
-  if ( __HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) )
-    cause += "Software, ";
-  if ( __HAL_RCC_GET_FLAG(RCC_FLAG_BORRST) )
-    cause += "Brownout";
 
-  //DBG("Cause of reset: %s\r\n", cause.c_str());
+  /**
-  __HAL_RCC_CLEAR_RESET_FLAGS();
+   * System bootloader for L412 and L432 series resides at 0x1fff0000,
+   * so the first 4 bytes contain the stack pointer and the next 4 contain the
+   * program counter
+   */
+  systemBootloader = (pFunction) (*((uint32_t *)(0x1fff0004)));
+  uint32_t *pp = (uint32_t*)0x1fff0000;
+  uint32_t msp = *pp;
+  __set_MSP(msp);
+
+  // That's it, jump!
+  systemBootloader();
 }
-#endif
 
 TimerHandle_t timerHandle1, timerHandle2;
 StaticTimer_t timer1, timer2;
@@ -85,8 +87,10 @@ void mainTask(void *params)
   TXScheduler::instance().init();
 #endif
 
+#if 0
   RadioManager::instance().init();
   RadioManager::instance().start();
+#endif
 
   timerHandle1 = xTimerCreateStatic("1sec", 1000, pdTRUE, NULL, on1sec, &timer1);
   xTimerStart(timerHandle1, 10);
@@ -103,17 +107,18 @@ void mainTask(void *params)
     }
 }
 
-extern "C" {
-__attribute__((used)) void vApplicationStackOverflowHook( TaskHandle_t xTask, signed char *pcTaskName )
-{
-  //printf_serial_now("WHOOPS!\r\n");
-  asm("BKPT 0");
-}
-
-}
 
 int main(void)
 {
+#if 0
+  //if ( *(uint32_t*)DFU_FLAG_ADDRESS == DFU_FLAG_MAGIC )
+  if ( true )
+    {
+      *(uint32_t*)DFU_FLAG_ADDRESS = 0;
+      jump_to_bootloader();
+    }
+#endif
+
   //*(uint8_t *)0xe000ed08 |= 2;
   bsp_hw_init();