implement full fwupdate stack

Application/Tasks/CMakeLists.txt

@@ -9,10 +9,12 @@ target_sources(${PROJECT_NAME}
     ${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.c
     ${CMAKE_CURRENT_LIST_DIR}/CanDataTask.c
     ${CMAKE_CURRENT_LIST_DIR}/FirmwareHandler.c
+    ${CMAKE_CURRENT_LIST_DIR}/FirmwareUpdate.c
     INTERFACE
     ${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.h
     ${CMAKE_CURRENT_LIST_DIR}/CanDataTask.h
-    
+    ${CMAKE_CURRENT_LIST_DIR}/FirmwareUpdate.h
+
     )
 
 target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})

Application/Tasks/FirmwareHandler.c

@@ -6,6 +6,7 @@
 #include <pb_encode.h>
 #include "UsbDataHandler.h"
 #include "crc.h"
+#include "FirmwareUpdate.h"
 
 // static memory only for decoding messages
 static FirmwareStart msg_FirmwareStart;
@@ -123,14 +124,10 @@ void DataClbk_FirmwareDone(void *msg, uint32_t length) {
   fresult_open = 0xFF;
   FileOpen=false;
 
+  FirmwareUpdateArgs args;
+  args.device = msg_FirmwareDone.device_id;
+  memcpy(args.name, msg_FirmwareStart.name, sizeof(args.name));
 
-  // Spawn Task to Send this File over CAN
-  // this task should
-  // 1. send can message to send device with matching device id into bootloader mode
-  //  - open the fw file on the SD card.
-  // 2. wait for the device to get ready.
-  //  - send data 4x data
-  //  - wait for ack
-  // 3 onec we are at the EOF
-  //  - send done 
+  FirmwareUpdateTask_start(args);
+  
 }

Application/Tasks/FirmwareUpdate.c

@@ -0,0 +1,169 @@
+#include "CanDataHandler.h"
+#include "cmsis_os2.h"
+#include "FreeRTOS.h"
+#include "CLSAddress.h"
+#include "fatfs.h"
+#include "FirmwareUpdate.h"
+
+// Memory for the task
+StaticTask_t CLS_FW_Task_cb;
+uint32_t CLS_FW_Task_stk[512];
+// Attributes for the task
+osThreadId_t CLS_FW_Task_id;
+const osThreadAttr_t CLS_FW_Task_attr = {
+  .name = "CLS_FW_Task",
+  .attr_bits = 0U,
+  .cb_mem = &CLS_FW_Task_cb,
+  .cb_size = sizeof(CLS_FW_Task_cb),
+  .stack_mem = CLS_FW_Task_stk,
+  .stack_size = sizeof(CLS_FW_Task_stk),
+  .priority = osPriorityNormal,
+  .reserved = 0U
+};
+
+osMutexId_t CLS_FW_Task_FileLock = NULL;
+static FirmwareUpdateArgs configuration = {0};
+static FIL fw_file;
+static FwFrame frame = {0};
+
+
+
+// wait_for_start_callback to get notified when the slave is ready
+void wait_for_start_callback(uint16_t canid, uint8_t * data, uint8_t size) {
+    osThreadFlagsSet(CLS_FW_Task_id,  TASK_FLAG_WAIT);
+}
+
+void wait_for_start() {
+
+    // setup wait_for_start_callback to get notified when the slave is ready
+    uint16_t ready_canid = GENERATE_CLS_ADDRESS(CLS_CODE_FIMWARE, configuration.device, CLS_CH_FW_MISO);
+    // wait_for_start_callback // MessageCode::Firmware(FirmwareChannel::SlaveOutMasterIn);
+    CanData_regEventMsg(ready_canid, wait_for_start_callback);
+
+    // setup the command to send the slave into booloader mode
+    uint16_t target_canid = GENERATE_CLS_ADDRESS(CLS_CODE_FIMWARE, configuration.device, CLS_CH_FW_BOOTCALL);
+    uint8_t bootloader_call[8] = {0xab, 0xab, 0xab, 0xab, 0xab, 0xab, 0xab, 0xab};
+
+
+    // wait for the slave to be ready to update:
+    uint32_t counter = 0;
+    do {
+        // send bootloader command
+        CLS_BSP_TxHeaderType header = CREATE_BSP_CAN_HEADER(target_canid,CLS_BSP_DLC_BYTES_8);
+        CLS_BSP_CAN_AddMessageToSend(&header,bootloader_call); 
+        counter++;
+
+        // after some time abort if we dont get a connection
+        if(counter > BOOTLOADER_CALL_MAX_TRIES) {
+            // TODO: Logging
+            CanData_removeEvent(ready_canid);
+            f_close(&fw_file);
+            osThreadExit();
+        }
+
+    // wait for the slave
+    } while(osThreadFlagsWait(TASK_FLAG_WAIT,osFlagsWaitAny,BOOTLOADER_CALL_RETRY_TIME) == (uint32_t)osErrorTimeout);
+    
+    //remove the wait_for_start_callback again
+    CanData_removeEvent(ready_canid);
+
+    // reset the fw_file
+    f_lseek(&fw_file,0);
+    frame.counter = 0;
+}
+
+
+
+void running_callback_error(uint16_t canid, uint8_t * data, uint8_t size) {
+    osMutexAcquire(CLS_FW_Task_FileLock, osWaitForever);
+    f_lseek(&fw_file,0);
+    frame.counter = 0;
+    osMutexRelease(CLS_FW_Task_FileLock);
+    osThreadFlagsSet(CLS_FW_Task_id,  TASK_FLAG_RUNNING);
+}
+
+void running_callback_ack(uint16_t canid, uint8_t * data, uint8_t size) { 
+    osThreadFlagsSet(CLS_FW_Task_id,  TASK_FLAG_RUNNING);
+}
+
+
+void running() {
+    uint16_t error_canid = GENERATE_CLS_ADDRESS(CLS_CODE_FIMWARE, configuration.device, CLS_CH_FW_MISO);
+    uint16_t ack_canid = GENERATE_CLS_ADDRESS(CLS_CODE_FIMWARE, configuration.device, CLS_CH_FW_SLAVE_FEEDBACK);
+    uint16_t target_canid = GENERATE_CLS_ADDRESS(CLS_CODE_FIMWARE, configuration.device, CLS_CH_FW_MOSI);
+    CLS_BSP_TxHeaderType header = CREATE_BSP_CAN_HEADER(target_canid,CLS_BSP_DLC_BYTES_8);
+
+    CanData_regEventMsg(error_canid,running_callback_error);
+    CanData_regEventMsg(ack_canid, running_callback_ack);
+
+    unsigned int read_bytes = 0;
+
+    while (true)
+    {
+        
+        // read fw file and and send data
+        osMutexAcquire(CLS_FW_Task_FileLock, osWaitForever);
+        f_read(&fw_file, &frame.data, sizeof(frame.data), &read_bytes);
+        CLS_BSP_CAN_AddMessageToSend(&header, (uint8_t*)&frame);
+        frame.counter++;
+        osMutexRelease(CLS_FW_Task_FileLock);
+
+        // transport window response
+        if(frame.counter % UPDATE_ACK_WINDOW == 0) {
+            osThreadFlagsWait(TASK_FLAG_RUNNING, osFlagsWaitAny, osWaitForever);
+        }
+
+        // end of file
+        if(read_bytes != sizeof(frame.data)) { 
+            break;
+        }
+
+    }
+
+
+    uint64_t done = UPDATE_DONE_MSG;
+    CLS_BSP_CAN_AddMessageToSend(&header,(uint8_t*)&done); 
+
+    CanData_removeEvent(error_canid);
+    CanData_removeEvent(ack_canid);
+}
+
+
+
+
+void CLSFirmwareUpdateTask_func(void *argument);
+
+void FirmwareUpdateTask_start(FirmwareUpdateArgs args) {
+  // Task functionality here
+    if(CLS_FW_Task_FileLock == NULL) {
+        CLS_FW_Task_FileLock = osMutexNew(NULL);
+    }
+
+    if(CLS_FW_Task_FileLock == NULL) { 
+        // error cant create mutex
+        return;
+    }
+
+  // check CLS_FW_Task_id is null or stopped
+  // only one Task can runn at once
+   if(CLS_FW_Task_id == NULL || osThreadGetState(CLS_FW_Task_id) == osThreadTerminated) {
+    configuration = args;
+    CLS_FW_Task_id = osThreadNew(CLSFirmwareUpdateTask_func, NULL, &CLS_FW_Task_attr);
+   }
+}
+
+
+void CLSFirmwareUpdateTask_func(void *argument) {
+    char * filename = configuration.name;
+    if( f_open(&fw_file, filename, FA_READ) != FR_OK) {
+        // TODO: Logging
+        osThreadExit();
+    }
+    
+    wait_for_start();
+
+    running();
+
+    f_close(&fw_file);
+    osThreadExit();
+}

Application/Tasks/FirmwareUpdate.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include "stdint.h"
+
+#define BOOTLOADER_CALL_RETRY_TIME 1000
+#define BOOTLOADER_CALL_MAX_TRIES 10
+
+#define TASK_FLAG_WAIT 1
+#define TASK_FLAG_RUNNING 2
+
+#define UPDATE_ACK_WINDOW 4
+#define UPDATE_DONE_MSG 0xFFFFD04EFFFFD04E
+
+
+typedef struct {
+    char name[32];
+    uint8_t device;
+} FirmwareUpdateArgs;
+
+
+typedef struct {
+    uint32_t counter;
+    uint8_t data[4];
+} FwFrame;
+
+
+void FirmwareUpdateTask_start(FirmwareUpdateArgs args);