Add bootloader to CI

9 files changed, 40 insertions, 73 deletions

diff --git a/embassy-boot/boot/Cargo.toml b/embassy-boot/boot/Cargo.toml
index 04deab30b..0a3006ffc 100644
--- a/embassy-boot/boot/Cargo.toml
+++ b/embassy-boot/boot/Cargo.toml
@@ -21,8 +21,3 @@ log = "0.4"
 env_logger = "0.9"
 rand = "0.8"
 futures = { version = "0.3", features = ["executor"] }
-
-[features]
-write-4 = []
-write-8 = []
-invert-erase = []
diff --git a/embassy-boot/boot/src/lib.rs b/embassy-boot/boot/src/lib.rs
index 080ea2426..554709250 100644
--- a/embassy-boot/boot/src/lib.rs
+++ b/embassy-boot/boot/src/lib.rs
@@ -1,5 +1,7 @@
 #![feature(type_alias_impl_trait)]
 #![feature(generic_associated_types)]
+#![feature(generic_const_exprs)]
+#![allow(incomplete_features)]
 #![no_std]
 ///! embassy-boot is a bootloader and firmware updater for embedded devices with flash
 ///! storage implemented using embedded-storage
@@ -17,24 +19,9 @@ mod fmt;
 use embedded_storage::nor_flash::{NorFlash, NorFlashError, NorFlashErrorKind, ReadNorFlash};
 use embedded_storage_async::nor_flash::AsyncNorFlash;
 
-#[cfg(not(any(feature = "write-4", feature = "write-8",)))]
-compile_error!("No write size/alignment specified. Must specify exactly one of the following features: write-4, write-8");
-
 const BOOT_MAGIC: u8 = 0xD0;
 const SWAP_MAGIC: u8 = 0xF0;
 
-#[cfg(feature = "write-4")]
-const WRITE_SIZE: usize = 4;
-
-#[cfg(feature = "write-8")]
-const WRITE_SIZE: usize = 8;
-
-#[cfg(feature = "invert-erase")]
-const ERASE_VALUE: u8 = 0x00;
-
-#[cfg(not(feature = "invert-erase"))]
-const ERASE_VALUE: u8 = 0xFF;
-
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Partition {
@@ -96,7 +83,7 @@ pub trait FlashProvider {
 
 /// BootLoader works with any flash implementing embedded_storage and can also work with
 /// different page sizes and flash write sizes.
-pub struct BootLoader<const PAGE_SIZE: usize> {
+pub struct BootLoader<const PAGE_SIZE: usize, const WRITE_SIZE: usize, const ERASE_VALUE: u8> {
     // Page with current state of bootloader. The state partition has the following format:
     // | Range          | Description                                                                      |
     // | 0 - WRITE_SIZE | Magic indicating bootloader state. BOOT_MAGIC means boot, SWAP_MAGIC means swap. |
@@ -108,7 +95,9 @@ pub struct BootLoader<const PAGE_SIZE: usize> {
     dfu: Partition,
 }
 
-impl<const PAGE_SIZE: usize> BootLoader<PAGE_SIZE> {
+impl<const PAGE_SIZE: usize, const WRITE_SIZE: usize, const ERASE_VALUE: u8>
+    BootLoader<PAGE_SIZE, WRITE_SIZE, ERASE_VALUE>
+{
     pub fn new(active: Partition, dfu: Partition, state: Partition) -> Self {
         assert_eq!(active.len() % PAGE_SIZE, 0);
         assert_eq!(dfu.len() % PAGE_SIZE, 0);
@@ -352,8 +341,6 @@ impl<const PAGE_SIZE: usize> BootLoader<PAGE_SIZE> {
             self.copy_page_once_to_active(page * 2 + 1, dfu_page, active_page, p)?;
         }
 
-        info!("DONE COPYING");
-
         Ok(())
     }
 
@@ -379,7 +366,6 @@ impl<const PAGE_SIZE: usize> BootLoader<PAGE_SIZE> {
         let flash = p.flash();
         flash.read(self.state.from as u32, &mut magic)?;
 
-        info!("Read magic: {:x}", magic);
         if magic == [SWAP_MAGIC; WRITE_SIZE] {
             Ok(State::Swap)
         } else {
@@ -451,13 +437,9 @@ pub struct FirmwareUpdater {
     dfu: Partition,
 }
 
-#[cfg(feature = "write-4")]
-#[repr(align(4))]
-pub struct Aligned([u8; 4]);
-
-#[cfg(feature = "write-8")]
-#[repr(align(8))]
-pub struct Aligned([u8; 8]);
+// NOTE: Aligned to the largest write size supported by flash
+#[repr(align(32))]
+pub struct Aligned<const N: usize>([u8; N]);
 
 impl Default for FirmwareUpdater {
     fn default() -> Self {
@@ -480,6 +462,9 @@ impl Default for FirmwareUpdater {
                 &__bootloader_state_end as *const u32 as usize,
             )
         };
+
+        trace!("DFU: 0x{:x} - 0x{:x}", dfu.from, dfu.to);
+        trace!("STATE: 0x{:x} - 0x{:x}", state.from, state.to);
         FirmwareUpdater::new(dfu, state)
     }
 }
@@ -496,14 +481,20 @@ impl FirmwareUpdater {
 
     /// Instruct bootloader that DFU should commence at next boot.
     /// Must be provided with an aligned buffer to use for reading and writing magic;
-    pub async fn mark_update<F: AsyncNorFlash>(&mut self, flash: &mut F) -> Result<(), F::Error> {
-        let mut aligned = Aligned([0; WRITE_SIZE]);
+    pub async fn mark_update<F: AsyncNorFlash>(&mut self, flash: &mut F) -> Result<(), F::Error>
+    where
+        [(); F::WRITE_SIZE]:,
+    {
+        let mut aligned = Aligned([0; { F::WRITE_SIZE }]);
         self.set_magic(&mut aligned.0, SWAP_MAGIC, flash).await
     }
 
     /// Mark firmware boot successfully
-    pub async fn mark_booted<F: AsyncNorFlash>(&mut self, flash: &mut F) -> Result<(), F::Error> {
-        let mut aligned = Aligned([0; WRITE_SIZE]);
+    pub async fn mark_booted<F: AsyncNorFlash>(&mut self, flash: &mut F) -> Result<(), F::Error>
+    where
+        [(); F::WRITE_SIZE]:,
+    {
+        let mut aligned = Aligned([0; { F::WRITE_SIZE }]);
         self.set_magic(&mut aligned.0, BOOT_MAGIC, flash).await
     }
 
@@ -626,7 +617,7 @@ mod tests {
         flash.0[0..4].copy_from_slice(&[BOOT_MAGIC; 4]);
         let mut flash = SingleFlashProvider::new(&mut flash);
 
-        let mut bootloader = BootLoader::<4096>::new(ACTIVE, DFU, STATE);
+        let mut bootloader = BootLoader::<4096, 4, 0xFF>::new(ACTIVE, DFU, STATE);
 
         assert_eq!(State::Boot, bootloader.prepare_boot(&mut flash).unwrap());
     }
@@ -643,7 +634,7 @@ mod tests {
             flash.0[i] = original[i - ACTIVE.from];
         }
 
-        let mut bootloader = BootLoader::<4096>::new(ACTIVE, DFU, STATE);
+        let mut bootloader = BootLoader::<4096, 4, 0xFF>::new(ACTIVE, DFU, STATE);
         let mut updater = FirmwareUpdater::new(DFU, STATE);
         let mut offset = 0;
         for chunk in update.chunks(4096) {
diff --git a/embassy-boot/nrf/Cargo.toml b/embassy-boot/nrf/Cargo.toml
index 78157d246..97207ac29 100644
--- a/embassy-boot/nrf/Cargo.toml
+++ b/embassy-boot/nrf/Cargo.toml
@@ -13,7 +13,7 @@ defmt-rtt = { version = "0.3", optional = true }
 
 embassy = { path = "../../embassy", default-features = false }
 embassy-nrf = { path = "../../embassy-nrf", default-features = false, features = ["nightly"] }
-embassy-boot = { path = "../boot", default-features = false, features = ["write-4"] }
+embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7" }
 cortex-m-rt = { version = "0.7" }
 embedded-storage = "0.3.0"
diff --git a/embassy-boot/nrf/src/lib.rs b/embassy-boot/nrf/src/lib.rs
index 500cae500..c12899d77 100644
--- a/embassy-boot/nrf/src/lib.rs
+++ b/embassy-boot/nrf/src/lib.rs
@@ -13,7 +13,7 @@ use embassy_nrf::{
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
 
 pub struct BootLoader {
-    boot: embassy_boot::BootLoader<PAGE_SIZE>,
+    boot: embassy_boot::BootLoader<PAGE_SIZE, 4, 0xFF>,
 }
 
 impl BootLoader {
diff --git a/embassy-boot/nrf/src/main.rs b/embassy-boot/nrf/src/main.rs
index 63de7c869..0ccd3774d 100644
--- a/embassy-boot/nrf/src/main.rs
+++ b/embassy-boot/nrf/src/main.rs
@@ -46,8 +46,5 @@ unsafe fn DefaultHandler(_: i16) -> ! {
 
 #[panic_handler]
 fn panic(_info: &core::panic::PanicInfo) -> ! {
-    unsafe {
-        cortex_m::asm::udf();
-        core::hint::unreachable_unchecked();
-    }
+    cortex_m::asm::udf();
 }
diff --git a/embassy-boot/stm32/Cargo.toml b/embassy-boot/stm32/Cargo.toml
index 76bc480bf..a706e4c06 100644
--- a/embassy-boot/stm32/Cargo.toml
+++ b/embassy-boot/stm32/Cargo.toml
@@ -27,10 +27,6 @@ defmt = [
     "embassy-stm32/defmt",
 ]
 debug = ["defmt-rtt"]
-flash-2k = ["embassy-boot/write-8"]
-flash-128 = ["embassy-boot/write-4"]
-flash-256 = ["embassy-boot/write-4"]
-invert-erase = ["embassy-boot/invert-erase"]
 thumbv6 = []
 
 [profile.dev]
diff --git a/embassy-boot/stm32/memory.x b/embassy-boot/stm32/memory.x
index c5356ed37..110c23259 100644
--- a/embassy-boot/stm32/memory.x
+++ b/embassy-boot/stm32/memory.x
@@ -8,11 +8,11 @@ MEMORY
   RAM                         (rwx) : ORIGIN = 0x20000008, LENGTH = 16K
 }
 
-__bootloader_state_start = ORIGIN(BOOTLOADER_STATE);
-__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE);
+__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(FLASH);
+__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(FLASH);
 
-__bootloader_active_start = ORIGIN(ACTIVE);
-__bootloader_active_end = ORIGIN(ACTIVE) + LENGTH(ACTIVE);
+__bootloader_active_start = ORIGIN(ACTIVE) - ORIGIN(FLASH);
+__bootloader_active_end = ORIGIN(ACTIVE) + LENGTH(ACTIVE) - ORIGIN(FLASH);
 
-__bootloader_dfu_start = ORIGIN(DFU);
-__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU);
+__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(FLASH);
+__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(FLASH);
diff --git a/embassy-boot/stm32/src/lib.rs b/embassy-boot/stm32/src/lib.rs
index d1754a310..68220780c 100644
--- a/embassy-boot/stm32/src/lib.rs
+++ b/embassy-boot/stm32/src/lib.rs
@@ -5,12 +5,13 @@
 mod fmt;
 
 pub use embassy_boot::{FirmwareUpdater, FlashProvider, Partition, SingleFlashProvider, State};
+use embassy_stm32::flash::{ERASE_SIZE, ERASE_VALUE, WRITE_SIZE};
 
-pub struct BootLoader<const PAGE_SIZE: usize> {
-    boot: embassy_boot::BootLoader<PAGE_SIZE>,
+pub struct BootLoader {
+    boot: embassy_boot::BootLoader<ERASE_SIZE, WRITE_SIZE, ERASE_VALUE>,
 }
 
-impl<const PAGE_SIZE: usize> BootLoader<PAGE_SIZE> {
+impl BootLoader {
     /// Create a new bootloader instance using parameters from linker script
     pub fn default() -> Self {
         extern "C" {
@@ -65,6 +66,7 @@ impl<const PAGE_SIZE: usize> BootLoader<PAGE_SIZE> {
 
     pub unsafe fn load(&mut self, start: usize) -> ! {
         trace!("Loading app at 0x{:x}", start);
+        #[allow(unused_mut)]
         let mut p = cortex_m::Peripherals::steal();
         #[cfg(not(feature = "thumbv6"))]
         p.SCB.invalidate_icache();
diff --git a/embassy-boot/stm32/src/main.rs b/embassy-boot/stm32/src/main.rs
index 6fe0fb66d..563bc55d3 100644
--- a/embassy-boot/stm32/src/main.rs
+++ b/embassy-boot/stm32/src/main.rs
@@ -9,9 +9,6 @@ use defmt_rtt as _;
 use embassy_boot_stm32::*;
 use embassy_stm32::flash::Flash;
 
-#[cfg(not(any(feature = "flash-2k", feature = "flash-256", feature = "flash-128")))]
-compile_error!("No flash size specified. Must specify exactly one of the following features: flash-2k, flash-256, flash-128");
-
 #[entry]
 fn main() -> ! {
     let p = embassy_stm32::init(Default::default());
@@ -24,15 +21,7 @@ fn main() -> ! {
         }
     */
 
-    #[cfg(feature = "flash-2k")]
-    let mut bl: BootLoader<2048> = BootLoader::default();
-
-    #[cfg(feature = "flash-256")]
-    let mut bl: BootLoader<256> = BootLoader::default();
-
-    #[cfg(feature = "flash-128")]
-    let mut bl: BootLoader<128> = BootLoader::default();
-
+    let mut bl = BootLoader::default();
     let mut flash = Flash::unlock(p.FLASH);
     let start = bl.prepare(&mut SingleFlashProvider::new(&mut flash));
     core::mem::drop(flash);
@@ -55,8 +44,5 @@ unsafe fn DefaultHandler(_: i16) -> ! {
 
 #[panic_handler]
 fn panic(_info: &core::panic::PanicInfo) -> ! {
-    unsafe {
-        cortex_m::asm::udf();
-        core::hint::unreachable_unchecked();
-    }
+    cortex_m::asm::udf();
 }