Sync betaflight to Gitea

2026-08-03 16:37:10 +08:00
commit ad3163cf91
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+/*
+ * OBL DFU loop entry points called from main.c's boot decision.
+ *
+ * Both run the same OBL middleware loop (OpenBootloader_Init +
+ * OpenBootloader_ProtocolDetection in a busy loop). They differ in how
+ * the DFU memory map is configured before the loop starts:
+ *   - normal mode protects the OBL slot (advertise @External_Flash from
+ *     nor0 0x100000 onwards — BF slot only);
+ *   - recovery mode exposes nor0 from offset 0 so the host can rewrite
+ *     OBL itself.
+ *
+ * The mode is communicated to USB_DFU_If_* in usbd_dfu_if.c via the
+ * obl_recovery_mode flag below — checked when DFU initialises its memory
+ * descriptor string.
+ *
+ * Once a host completes a DFU download, our patched usbd_dfu.c sets
+ * dfu_leave_pending; the loop below detaches USB and triggers a system
+ * reset so the freshly-flashed BF runs without manual NRST.
+ */
+
+#include "main.h"
+#include "app_openbootloader.h"
+#include "usbd_core.h"
+
+#include "flash_iface.h"
+
+bool obl_recovery_mode;
+
+extern void obl_dfu_apply_mode(bool recovery);
+extern volatile bool dfu_leave_pending;
+extern volatile uint32_t dfu_last_write_tick;
+extern USBD_HandleTypeDef hUsbDeviceFS;
+
+/* Time for the host's final GET_STATUS to return dfuMANIFEST-WAIT-RESET
+ * before the device disappears off the bus. dfu-util prints a clean
+ * "File downloaded successfully" once the manifest poll loop completes
+ * within ~250 ms; 400 ms is generous. */
+#define DFU_LEAVE_DRAIN_MS  400U
+
+/* Auto-reboot after this many ms of write inactivity once at least one
+ * data block has landed. dfu-util without --reset finishes the download
+ * and exits without triggering manifest, so we infer "host is done" from
+ * a stretch of silence. 1500 ms is comfortably above the gap between
+ * dfu-util's per-block transfers (~ms) and below any reasonable interactive
+ * wait. */
+#define DFU_IDLE_REBOOT_MS  1500U
+
+static __attribute__((noreturn)) void run_obl_loop(bool recovery)
+{
+    obl_recovery_mode = recovery;
+    /* Patch the DFU descriptor string before USB enumeration starts so
+     * the host sees the right memory geometry on first GET_DESCRIPTOR. */
+    obl_dfu_apply_mode(recovery);
+
+    OpenBootloader_Init();
+
+    /* IWDG is NOT started in DFU mode — host upload can take tens of
+     * seconds and the BF watchdog window (~30 s) is too tight for that.
+     * The watchdog is armed only when handing off to BF (iwdg_start in
+     * main.c). */
+    while (1) {
+        OpenBootloader_ProtocolDetection();
+
+        const bool leave_request = dfu_leave_pending;
+        const uint32_t last_tick = dfu_last_write_tick;
+        const bool idle_complete = (last_tick != 0U)
+            && ((HAL_GetTick() - last_tick) >= DFU_IDLE_REBOOT_MS);
+
+        if (leave_request || idle_complete) {
+            HAL_Delay(DFU_LEAVE_DRAIN_MS);
+            (void)USBD_Stop(&hUsbDeviceFS);
+            (void)USBD_DeInit(&hUsbDeviceFS);
+            HAL_Delay(50U);
+            NVIC_SystemReset();
+        }
+    }
+}
+
+__attribute__((noreturn)) void OBL_run_dfu_normal(void)
+{
+    run_obl_loop(false);
+}
+
+__attribute__((noreturn)) void OBL_run_dfu_recovery(void)
+{
+    run_obl_loop(true);
+}