g431: added CANFD driver

Author: tridge

Makefile

@@ -20,7 +20,7 @@ ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 include $(ROOT)/make/tools.mk
 
 # MCU builds, if with _xxK then adds build with given flash size
-MCU_BUILDS := E230 F031 F051 F415 F415_128K F421 G071 G071_64K L431 L431_128K G431 V203 L431_CAN F415_CAN
+MCU_BUILDS := E230 F031 F051 F415 F415_128K F421 G071 G071_64K L431 L431_128K G431 V203 L431_CAN F415_CAN G431_CAN
 
 # we support bootloader comms on a list of possible pins
 BOOTLOADER_PINS = PB4 PA2 PA6 PA15 PA0

Mcu/g431/Inc/blutil.h

@@ -17,7 +17,9 @@
 /*
   we have up to 512k of flash, but only use 64k for now
  */
+#ifndef BOARD_FLASH_SIZE
 #define BOARD_FLASH_SIZE 64
+#endif
 
 #define GPIO_PIN(n) (1U<<(n))
 
@@ -27,6 +29,7 @@
 
 #define GPIO_OUTPUT_PUSH_PULL LL_GPIO_OUTPUT_PUSHPULL
 
+#ifdef PORT_LETTER
 static inline void gpio_mode_set_input(uint32_t pin, uint32_t pull_up_down)
 {
   LL_GPIO_SetPinMode(input_port, pin, LL_GPIO_MODE_INPUT);
@@ -53,6 +56,7 @@ static inline bool gpio_read(uint32_t pin)
 {
   return LL_GPIO_IsInputPinSet(input_port, pin);
 }
+#endif // PORT_LETTER
 
 #define BL_TIMER TIM2
 
@@ -102,28 +106,37 @@ static inline void bl_clock_config(void)
   while (LL_FLASH_GetLatency()!= LL_FLASH_LATENCY_4) ;
   LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
   while (LL_PWR_IsActiveFlag_VOS() != 0) ;
-
   LL_RCC_HSI_Enable();
-
-  /* Wait till HSI is ready */
   while (LL_RCC_HSI_IsReady() != 1) ;
 
+  LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
+  LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);
+  LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_1);
+
   LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSI, LL_RCC_PLLM_DIV_2, 40, LL_RCC_PLLR_DIV_2);
   LL_RCC_PLL_EnableDomain_SYS();
-  LL_RCC_PLL_Enable();
 
-  /* Wait till PLL is ready */
+#if DRONECAN_SUPPORT
+  LL_RCC_SetFDCANClockSource(LL_RCC_FDCAN_CLKSOURCE_PLL);
+  LL_RCC_PLL_EnableDomain_48M();
+  MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLQ, LL_RCC_PLLQ_DIV_4);
+
+  // also enable the backup domain registers in TAMP for communication
+  // between bootloader and main firmware
+  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_PWR);
+  PWR->CR1 |= PWR_CR1_DBP;
+  LL_RCC_SetRTCClockSource(LL_RCC_RTC_CLKSOURCE_NONE);
+  RCC->BDCR |= RCC_BDCR_RTCEN;
+#endif
+
+  LL_RCC_PLL_Enable();
   while (LL_RCC_PLL_IsReady() != 1) ;
-  LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
 
-  /* Wait till System clock is ready */
+  LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
   while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL) ;
-
-  LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
-  LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);
-  LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_1);
 }
 
+#ifdef PORT_LETTER
 static inline void bl_gpio_init(void)
 {
   LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
@@ -180,3 +193,4 @@ static inline void jump_to_application(void)
 void SystemInit()
 {
 }
+#endif // PORT_LETTER

bootloader/DroneCAN/DroneCAN.c

@@ -32,6 +32,10 @@
 #define DRONECAN_DEBUG 0
 #endif
 
+#ifndef DRONECAN_CHECK_SIGNATURE
+#define DRONECAN_CHECK_SIGNATURE 1
+#endif
+
 // assume that main fw starts at 16k
 #define MAIN_FW_START_ADDR 0x08004000
 
@@ -147,6 +151,7 @@ static const uint8_t default_settings[] = {
   0x80, 0x80, 0x80, 0x32, 0x00, 0x32, 0x00, 0x00, 0x0f, 0x0a, 0x0a, 0x8d, 0x66, 0x06, 0x00, 0x00
 };
 
+#if DRONECAN_CHECK_SIGNATURE
 // crc32 implementation, slow method for small flash cost
 static uint32_t crc32(const uint8_t *buf, uint32_t size)
 {
@@ -162,6 +167,7 @@ static uint32_t crc32(const uint8_t *buf, uint32_t size)
   }
   return crc;
 }
+#endif
 
 // print to CAN LogMessage for debugging
 static void can_print(const char *s)
@@ -864,6 +870,8 @@ bool DroneCAN_boot_ok(void)
     set_reason(FAIL_REASON_BAD_BOARD_ID, "bad board type");
     return false;
   }
+
+#if DRONECAN_CHECK_SIGNATURE
   const uint8_t *appsigend = (const uint8_t *)(appsig+1);
   const uint32_t crc1 = crc32(fw_base, (uint32_t)((uint8_t*)appsig - fw_base));
   const uint32_t crc2 = crc32(appsigend, appsig->fwlen - (uint32_t)(appsigend - fw_base));
@@ -872,6 +880,7 @@ bool DroneCAN_boot_ok(void)
     set_reason(FAIL_REASON_BAD_CRC, "bad firmware CRC");
     return false;
   }
+#endif
 
   if (!have_raw_command) {
     set_reason(FAIL_REASON_BAD_CRC, "no signal");