bl.c

/****************************************************************************
 *
 *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file bl.c
 *
 * Common bootloader logic.
 *
 * Aside from the header includes below, this file should have no board-specific logic.
 */
#include "hw_config.h"

#include <inttypes.h>
#include <stdlib.h>

# include <libopencm3/stm32/rcc.h>
# include <libopencm3/stm32/gpio.h>
# include <libopencm3/stm32/flash.h>

#include <libopencm3/cm3/scb.h>
#include <libopencm3/cm3/systick.h>

#include "bl.h"
#include "cdcacm.h"
#include "uart.h"

// bootloader flash update protocol.
//
// Command format:
//
//      <opcode>[<command_data>]<EOC>
//
// Reply format:
//
//      [<reply_data>]<INSYNC><status>
//
// The <opcode> and <status> values come from the PROTO_ defines below,
// the <*_data> fields is described only for opcodes that transfer data;
// in all other cases the field is omitted.
//
// Expected workflow (protocol 3) is:
//
// GET_SYNC		verify that the board is present
// GET_DEVICE		determine which board (select firmware to upload)
// CHIP_ERASE		erase the program area and reset address counter
// loop:
//      PROG_MULTI      program bytes
// GET_CRC		verify CRC of entire flashable area
// RESET		finalise flash programming, reset chip and starts application
//

#define BL_PROTOCOL_VERSION 		5		// The revision of the bootloader protocol
//* Next revision needs to update

// protocol bytes
#define PROTO_INSYNC				0x12    // 'in sync' byte sent before status
#define PROTO_EOC					0x20    // end of command

// Reply bytes
#define PROTO_OK					0x10    // INSYNC/OK      - 'ok' response
#define PROTO_FAILED				0x11    // INSYNC/FAILED  - 'fail' response
#define PROTO_INVALID				0x13	// INSYNC/INVALID - 'invalid' response for bad commands
#define PROTO_BAD_SILICON_REV 		0x14 	// On the F4 series there is an issue with < Rev 3 silicon
#define PROTO_RESERVED_0X15     0x15  // Reserved

// see https://pixhawk.org/help/errata
// Command bytes
#define PROTO_GET_SYNC				0x21    // NOP for re-establishing sync
#define PROTO_GET_DEVICE			0x22    // get device ID bytes
#define PROTO_CHIP_ERASE			0x23    // erase program area and reset program address
#define PROTO_PROG_MULTI			0x27    // write bytes at program address and increment
#define PROTO_GET_CRC				0x29	// compute & return a CRC
#define PROTO_GET_OTP				0x2a	// read a byte from OTP at the given address
#define PROTO_GET_SN				0x2b    // read a word from UDID area ( Serial)  at the given address
#define PROTO_GET_CHIP				0x2c    // read chip version (MCU IDCODE)
#define PROTO_SET_DELAY				0x2d    // set minimum boot delay
#define PROTO_GET_CHIP_DES			0x2e    // read chip version In ASCII
#define PROTO_BOOT					0x30    // boot the application
#define PROTO_DEBUG					0x31    // emit debug information - format not defined
#define PROTO_SET_BAUD				0x33    // set baud rate on uart

#define PROTO_RESERVED_0X36     0x36  // Reserved
#define PROTO_RESERVED_0X37     0x37  // Reserved
#define PROTO_RESERVED_0X38     0x38  // Reserved
#define PROTO_RESERVED_0X39     0x39  // Reserved

#define PROTO_PROG_MULTI_MAX    64	// maximum PROG_MULTI size
#define PROTO_READ_MULTI_MAX    255	// size of the size field

/* argument values for PROTO_GET_DEVICE */
#define PROTO_DEVICE_BL_REV	1	// bootloader revision
#define PROTO_DEVICE_BOARD_ID	2	// board ID
#define PROTO_DEVICE_BOARD_REV	3	// board revision
#define PROTO_DEVICE_FW_SIZE	4	// size of flashable area
#define PROTO_DEVICE_VEC_AREA	5	// contents of reserved vectors 7-10

#define STATE_PROTO_OK          0x10    // INSYNC/OK      - 'ok' response
#define STATE_PROTO_FAILED        0x11    // INSYNC/FAILED  - 'fail' response
#define STATE_PROTO_INVALID       0x13  // INSYNC/INVALID - 'invalid' response for bad commands
#define STATE_PROTO_BAD_SILICON_REV     0x14  // On the F4 series there is an issue with < Rev 3 silicon
#define STATE_PROTO_RESERVED_0X15     0x15  // Reserved


// State
#define STATE_PROTO_GET_SYNC      0x1     // Have Seen NOP for re-establishing sync
#define STATE_PROTO_GET_DEVICE    0x2     // Have Seen get device ID bytes
#define STATE_PROTO_CHIP_ERASE    0x4     // Have Seen erase program area and reset program address
#define STATE_PROTO_PROG_MULTI    0x8     // Have Seen write bytes at program address and increment
#define STATE_PROTO_GET_CRC       0x10    // Have Seen compute & return a CRC
#define STATE_PROTO_GET_OTP       0x20    // Have Seen read a byte from OTP at the given address
#define STATE_PROTO_GET_SN        0x40    // Have Seen read a word from UDID area ( Serial)  at the given address
#define STATE_PROTO_GET_CHIP      0x80    // Have Seen read chip version (MCU IDCODE)
#define STATE_PROTO_GET_CHIP_DES  0x100   // Have Seen read chip version In ASCII
#define STATE_PROTO_BOOT          0x200   // Have Seen boot the application

#if defined(TARGET_HW_PX4_PIO_V1)
#define STATE_ALLOWS_ERASE        (STATE_PROTO_GET_SYNC)
#define STATE_ALLOWS_REBOOT       (STATE_PROTO_GET_SYNC)
#  define SET_BL_STATE(s)
#else
#define STATE_ALLOWS_ERASE        (STATE_PROTO_GET_SYNC|STATE_PROTO_GET_DEVICE|STATE_PROTO_GET_CHIP)
#define STATE_ALLOWS_REBOOT       (STATE_ALLOWS_ERASE|STATE_PROTO_PROG_MULTI|STATE_PROTO_GET_CRC)
#  define SET_BL_STATE(s) bl_state |= (s)
#endif

static uint8_t bl_type;
static uint8_t last_input;

inline void cinit(void *config, uint8_t interface)
{
#if INTERFACE_USB

	if (interface == USB) {
		return usb_cinit();
	}

#endif
#if INTERFACE_USART

	if (interface == USART) {
		return uart_cinit(config);
	}

#endif
}
inline void cfini(void)
{
#if INTERFACE_USB
	usb_cfini();
#endif
#if INTERFACE_USART
	uart_cfini();
#endif
}
inline int cin(uint32_t devices)
{
#if INTERFACE_USB

	if ((bl_type == NONE || bl_type == USB) && (devices & USB0_DEV) != 0) {
		int usb_in = usb_cin();

		if (usb_in >= 0) {
			last_input = USB;
			return usb_in;
		}
	}

#endif

#if INTERFACE_USART

	if ((bl_type == NONE || bl_type == USART) && (devices & SERIAL0_DEV) != 0) {
		int	uart_in = uart_cin();

		if (uart_in >= 0) {
			last_input = USART;
			return uart_in;
		}
	}

#endif

	return -1;
}

inline void cout(uint8_t *buf, unsigned len)
{
#if INTERFACE_USB

	if (bl_type == USB) {
		usb_cout(buf, len);
	}

#endif
#if INTERFACE_USART

	if (bl_type == USART) {
		uart_cout(buf, len);
	}

#endif
}



static const uint32_t	bl_proto_rev = BL_PROTOCOL_VERSION;	// value returned by PROTO_DEVICE_BL_REV

static unsigned head, tail;
static uint8_t rx_buf[256] USB_DATA_ALIGN;

static enum led_state {LED_BLINK, LED_ON, LED_OFF} _led_state;

void sys_tick_handler(void);

void
buf_put(uint8_t b)
{
	unsigned next = (head + 1) % sizeof(rx_buf);

	if (next != tail) {
		rx_buf[head] = b;
		head = next;
	}
}

int
buf_get(void)
{
	int	ret = -1;

	if (tail != head) {
		ret = rx_buf[tail];
		tail = (tail + 1) % sizeof(rx_buf);
	}

	return ret;
}

static void
do_jump(uint32_t stacktop, uint32_t entrypoint)
{
	asm volatile(
		"msr msp, %0	\n"
		"bx	%1	\n"
		: : "r"(stacktop), "r"(entrypoint) :);

	// just to keep noreturn happy
	for (;;) ;
}

void
jump_to_app()
{
	const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS;

	/*
	 * We refuse to program the first word of the app until the upload is marked
	 * complete by the host.  So if it's not 0xffffffff, we should try booting it.
	 */
	if (app_base[0] == 0xffffffff) {
		return;
	}

	/*
	 * The second word of the app is the entrypoint; it must point within the
	 * flash area (or we have a bad flash).
	 */
	if (app_base[1] < APP_LOAD_ADDRESS) {
		return;
	}

	if (app_base[1] >= (APP_LOAD_ADDRESS + board_info.fw_size)) {
		return;
	}

	/* just for paranoia's sake */
	flash_lock();

	/* kill the systick interrupt */
	systick_interrupt_disable();
	systick_counter_disable();

	/* deinitialise the interface */
	cfini();

	/* reset the clock */
	clock_deinit();

	/* deinitialise the board */
	board_deinit();

	/* switch exception handlers to the application */
	SCB_VTOR = APP_LOAD_ADDRESS;

	/* extract the stack and entrypoint from the app vector table and go */
	do_jump(app_base[0], app_base[1]);
}

volatile unsigned timer[NTIMERS];

void
sys_tick_handler(void)
{
	unsigned i;

	for (i = 0; i < NTIMERS; i++)
		if (timer[i] > 0) {
			timer[i]--;
		}

	if ((_led_state == LED_BLINK) && (timer[TIMER_LED] == 0)) {
		led_toggle(LED_BOOTLOADER);
		timer[TIMER_LED] = 50;
	}
}

void
delay(unsigned msec)
{
	timer[TIMER_DELAY] = msec;

	while (timer[TIMER_DELAY] > 0)
		;
}

static void
led_set(enum led_state state)
{
	_led_state = state;

	switch (state) {
	case LED_OFF:
		led_off(LED_BOOTLOADER);
		break;

	case LED_ON:
		led_on(LED_BOOTLOADER);
		break;

	case LED_BLINK:
		/* restart the blink state machine ASAP */
		timer[TIMER_LED] = 0;
		break;
	}
}

static void
sync_response(void)
{
	uint8_t data[] = {
		PROTO_INSYNC,	// "in sync"
		PROTO_OK	// "OK"
	};

	cout(data, sizeof(data));
}

#if defined(TARGET_HW_PX4_FMU_V4)
static void
bad_silicon_response(void)
{
	uint8_t data[] = {
		PROTO_INSYNC,			// "in sync"
		PROTO_BAD_SILICON_REV	// "issue with < Rev 3 silicon"
	};

	cout(data, sizeof(data));
}
#endif

static void
invalid_response(void)
{
	uint8_t data[] = {
		PROTO_INSYNC,	// "in sync"
		PROTO_INVALID	// "invalid command"
	};

	cout(data, sizeof(data));
}

static void
failure_response(void)
{
	uint8_t data[] = {
		PROTO_INSYNC,	// "in sync"
		PROTO_FAILED	// "command failed"
	};

	cout(data, sizeof(data));
}

static volatile unsigned cin_count;

static int
cin_wait(unsigned timeout)
{
	int c = -1;

	/* start the timeout */
	timer[TIMER_CIN] = timeout;

	do {
		c = cin(board_get_devices());

		if (c >= 0) {
			cin_count++;
			break;
		}

	} while (timer[TIMER_CIN] > 0);

	return c;
}

/**
 * Function to wait for EOC
 *
 * @param timeout length of time in ms to wait for the EOC to be received
 * @return true if the EOC is returned within the timeout perio, else false
 */
inline static bool
wait_for_eoc(unsigned timeout)
{
	return cin_wait(timeout) == PROTO_EOC;
}

static void
cout_word(uint32_t val)
{
	cout((uint8_t *)&val, 4);
}

static int
cin_word(uint32_t *wp, unsigned timeout)
{
	union {
		uint32_t w;
		uint8_t b[4];
	} u;

	for (unsigned i = 0; i < 4; i++) {
		int c = cin_wait(timeout);

		if (c < 0) {
			return c;
		}

		u.b[i] = c & 0xff;
	}

	*wp = u.w;
	return 0;
}

static uint32_t
crc32(const uint8_t *src, unsigned len, unsigned state)
{
	static uint32_t crctab[256];

	/* check whether we have generated the CRC table yet */
	/* this is much smaller than a static table */
	if (crctab[1] == 0) {
		for (unsigned i = 0; i < 256; i++) {
			uint32_t c = i;

			for (unsigned j = 0; j < 8; j++) {
				if (c & 1) {
					c = 0xedb88320U ^ (c >> 1);

				} else {
					c = c >> 1;
				}
			}

			crctab[i] = c;
		}
	}

	for (unsigned i = 0; i < len; i++) {
		state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
	}

	return state;
}

void
bootloader(unsigned timeout)
{
	bl_type = NONE; // The type of the bootloader, whether loading from USB or USART, will be determined by on what port the bootloader recevies its first valid command.
	volatile uint32_t  bl_state = 0; // Must see correct command sequence to erase and reboot (commit first word)
	uint32_t	address = board_info.fw_size;	/* force erase before upload will work */
	uint32_t	first_word = 0xffffffff;

	/* (re)start the timer system */
	systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
	systick_set_reload(board_info.systick_mhz * 1000);	/* 1ms tick, magic number */
	systick_interrupt_enable();
	systick_counter_enable();

	/* if we are working with a timeout, start it running */
	if (timeout) {
		timer[TIMER_BL_WAIT] = timeout;
	}

	/* make the LED blink while we are idle */
	led_set(LED_BLINK);

	while (true) {
		volatile int c;
		int arg;
		static union {
			uint8_t		c[256];
			uint32_t	w[64];
		} flash_buffer;

		// Wait for a command byte
		led_off(LED_ACTIVITY);

		do {
			/* if we have a timeout and the timer has expired, return now */
			if (timeout && !timer[TIMER_BL_WAIT]) {
				return;
			}

			/* try to get a byte from the host */
			c = cin_wait(0);

		} while (c < 0);

		led_on(LED_ACTIVITY);

		// handle the command byte
		switch (c) {

		// sync
		//
		// command:		GET_SYNC/EOC
		// reply:		INSYNC/OK
		//
		case PROTO_GET_SYNC:

			/* expect EOC */
			if (!wait_for_eoc(2)) {
				goto cmd_bad;
			}

			bl_state = STATE_PROTO_GET_SYNC;
			break;

		// get device info
		//
		// command:		GET_DEVICE/<arg:1>/EOC
		// BL_REV reply:	<revision:4>/INSYNC/EOC
		// BOARD_ID reply:	<board type:4>/INSYNC/EOC
		// BOARD_REV reply:	<board rev:4>/INSYNC/EOC
		// FW_SIZE reply:	<firmware size:4>/INSYNC/EOC
		// VEC_AREA reply	<vectors 7-10:16>/INSYNC/EOC
		// bad arg reply:	INSYNC/INVALID
		//
		case PROTO_GET_DEVICE:
			/* expect arg then EOC */
			arg = cin_wait(1000);

			if (arg < 0) {
				goto cmd_bad;
			}

			if (!wait_for_eoc(2)) {
				goto cmd_bad;
			}

			switch (arg) {
			case PROTO_DEVICE_BL_REV:
				cout((uint8_t *)&bl_proto_rev, sizeof(bl_proto_rev));
				break;

			case PROTO_DEVICE_BOARD_ID:
				cout((uint8_t *)&board_info.board_type, sizeof(board_info.board_type));
				break;

			case PROTO_DEVICE_BOARD_REV:
				cout((uint8_t *)&board_info.board_rev, sizeof(board_info.board_rev));
				break;

			case PROTO_DEVICE_FW_SIZE:
				cout((uint8_t *)&board_info.fw_size, sizeof(board_info.fw_size));
				break;

			case PROTO_DEVICE_VEC_AREA:
				for (unsigned p = 7; p <= 10; p++) {
					uint32_t bytes = flash_func_read_word(p * 4);

					cout((uint8_t *)&bytes, sizeof(bytes));
				}

				break;

			default:
				goto cmd_bad;
			}

			SET_BL_STATE(STATE_PROTO_GET_DEVICE);
			break;

		// erase and prepare for programming
		//
		// command:		ERASE/EOC
		// success reply:	INSYNC/OK
		// erase failure:	INSYNC/FAILURE
		//
		case PROTO_CHIP_ERASE:

			/* expect EOC */
			if (!wait_for_eoc(2)) {
				goto cmd_bad;
			}

#if defined(TARGET_HW_PX4_FMU_V4)

			if (check_silicon()) {
				goto bad_silicon;
			}

#endif

			if ((bl_state & STATE_ALLOWS_ERASE) != STATE_ALLOWS_ERASE) {
				goto cmd_bad;
			}

			// clear the bootloader LED while erasing - it stops blinking at random
			// and that's confusing
			led_set(LED_ON);

			// erase all sectors
			flash_unlock();

			for (int i = 0; flash_func_sector_size(i) != 0; i++) {
				flash_func_erase_sector(i);
			}

			// disable the LED while verifying the erase
			led_set(LED_OFF);

			// verify the erase
			for (address = 0; address < board_info.fw_size; address += 4)
				if (flash_func_read_word(address) != 0xffffffff) {
					goto cmd_fail;
				}

			address = 0;
			SET_BL_STATE(STATE_PROTO_CHIP_ERASE);

			// resume blinking
			led_set(LED_BLINK);
			break;

		// program bytes at current address
		//
		// command:		PROG_MULTI/<len:1>/<data:len>/EOC
		// success reply:	INSYNC/OK
		// invalid reply:	INSYNC/INVALID
		// readback failure:	INSYNC/FAILURE
		//
		case PROTO_PROG_MULTI:		// program bytes
			// expect count
			arg = cin_wait(50);

			if (arg < 0) {
				goto cmd_bad;
			}

			// sanity-check arguments
			if (arg % 4) {
				goto cmd_bad;
			}

			if ((address + arg) > board_info.fw_size) {
				goto cmd_bad;
			}

			if (arg > sizeof(flash_buffer.c)) {
				goto cmd_bad;
			}

			for (int i = 0; i < arg; i++) {
				c = cin_wait(1000);

				if (c < 0) {
					goto cmd_bad;
				}

				flash_buffer.c[i] = c;
			}

			if (!wait_for_eoc(200)) {
				goto cmd_bad;
			}

			if (address == 0) {

#if defined(TARGET_HW_PX4_FMU_V4)

				if (check_silicon()) {
					goto bad_silicon;
				}

#endif

				// save the first word and don't program it until everything else is done
				first_word = flash_buffer.w[0];
				// replace first word with bits we can overwrite later
				flash_buffer.w[0] = 0xffffffff;
			}

			arg /= 4;

			for (int i = 0; i < arg; i++) {

				// program the word
				flash_func_write_word(address, flash_buffer.w[i]);

				// do immediate read-back verify
				if (flash_func_read_word(address) != flash_buffer.w[i]) {
					goto cmd_fail;
				}

				address += 4;
			}

			SET_BL_STATE(STATE_PROTO_PROG_MULTI);

			break;

		// fetch CRC of the entire flash area
		//
		// command:			GET_CRC/EOC
		// reply:			<crc:4>/INSYNC/OK
		//
		case PROTO_GET_CRC:

			// expect EOC
			if (!wait_for_eoc(2)) {
				goto cmd_bad;
			}

			// compute CRC of the programmed area
			uint32_t sum = 0;

			for (unsigned p = 0; p < board_info.fw_size; p += 4) {
				uint32_t bytes;

				if ((p == 0) && (first_word != 0xffffffff)) {
					bytes = first_word;

				} else {
					bytes = flash_func_read_word(p);
				}

				sum = crc32((uint8_t *)&bytes, sizeof(bytes), sum);
			}

			cout_word(sum);
			SET_BL_STATE(STATE_PROTO_GET_CRC);
			break;

		// read a word from the OTP
		//
		// command:			GET_OTP/<addr:4>/EOC
		// reply:			<value:4>/INSYNC/OK
		case PROTO_GET_OTP:
			// expect argument
			{
				uint32_t index = 0;

				if (cin_word(&index, 100)) {
					goto cmd_bad;
				}

				// expect EOC
				if (!wait_for_eoc(2)) {
					goto cmd_bad;
				}

				cout_word(flash_func_read_otp(index));
			}
			break;

		// read the SN from the UDID
		//
		// command:			GET_SN/<addr:4>/EOC
		// reply:			<value:4>/INSYNC/OK
		case PROTO_GET_SN:
			// expect argument
			{
				uint32_t index = 0;

				if (cin_word(&index, 100)) {
					goto cmd_bad;
				}

				// expect EOC
				if (!wait_for_eoc(2)) {
					goto cmd_bad;
				}

				// expect valid indices 0, 4 ...ARCH_SN_MAX_LENGTH-4

				if (index % sizeof(uint32_t) != 0 || index > ARCH_SN_MAX_LENGTH - sizeof(uint32_t)) {
					goto cmd_bad;
				}

				cout_word(flash_func_read_sn(index));
			}

			SET_BL_STATE(STATE_PROTO_GET_SN);
			break;

		// read the chip ID code
		//
		// command:			GET_CHIP/EOC
		// reply:			<value:4>/INSYNC/OK
		case PROTO_GET_CHIP: {
				// expect EOC
				if (!wait_for_eoc(2)) {
					goto cmd_bad;
				}

				cout_word(get_mcu_id());
				SET_BL_STATE(STATE_PROTO_GET_CHIP);
			}
			break;

		// read the chip  description
		//
		// command:			GET_CHIP_DES/EOC
		// reply:			<value:4>/INSYNC/OK
		case PROTO_GET_CHIP_DES: {
				uint8_t buffer[MAX_DES_LENGTH];
				unsigned len = MAX_DES_LENGTH;

				// expect EOC
				if (!wait_for_eoc(2)) {
					goto cmd_bad;
				}

				len = get_mcu_desc(len, buffer);
				cout_word(len);
				cout(buffer, len);
				SET_BL_STATE(STATE_PROTO_GET_CHIP_DES);
			}
			break;

#ifdef BOOT_DELAY_ADDRESS

		case PROTO_SET_DELAY: {
				/*
				  Allow for the bootloader to setup a
				  boot delay signature which tells the
				  board to delay for at least a
				  specified number of seconds on boot.
				 */
				int v = cin_wait(100);

				if (v < 0) {
					goto cmd_bad;
				}

				uint8_t boot_delay = v & 0xFF;

				if (boot_delay > BOOT_DELAY_MAX) {
					goto cmd_bad;
				}

				// expect EOC
				if (!wait_for_eoc(2)) {
					goto cmd_bad;
				}

				uint32_t sig1 = flash_func_read_word(BOOT_DELAY_ADDRESS);
				uint32_t sig2 = flash_func_read_word(BOOT_DELAY_ADDRESS + 4);

				if (sig1 != BOOT_DELAY_SIGNATURE1 ||
				    sig2 != BOOT_DELAY_SIGNATURE2) {
					goto cmd_bad;
				}

				uint32_t value = (BOOT_DELAY_SIGNATURE1 & 0xFFFFFF00) | boot_delay;
				flash_func_write_word(BOOT_DELAY_ADDRESS, value);

				if (flash_func_read_word(BOOT_DELAY_ADDRESS) != value) {
					goto cmd_fail;
				}
			}
			break;
#endif

		// finalise programming and boot the system
		//
		// command:			BOOT/EOC
		// reply:			INSYNC/OK
		//
		case PROTO_BOOT:

			// expect EOC
			if (!wait_for_eoc(1000)) {
				goto cmd_bad;
			}

			if (first_word != 0xffffffff && (bl_state & STATE_ALLOWS_REBOOT) != STATE_ALLOWS_REBOOT) {
				goto cmd_bad;
			}

			// program the deferred first word
			if (first_word != 0xffffffff) {
				flash_func_write_word(0, first_word);

				if (flash_func_read_word(0) != first_word) {
					goto cmd_fail;
				}

				// revert in case the flash was bad...
				first_word = 0xffffffff;
			}

			// send a sync and wait for it to be collected
			sync_response();
			delay(100);

			// quiesce and jump to the app
			return;

		case PROTO_DEBUG:
			// XXX reserved for ad-hoc debugging as required
			break;

		default:
			continue;
		}

		// we got a command worth syncing, so kill the timeout because
		// we are probably talking to the uploader
		timeout = 0;

		// Set the bootloader port based on the port from which we received the first valid command
		if (bl_type == NONE) {
			bl_type = last_input;
		}

		// send the sync response for this command
		sync_response();
		continue;
cmd_bad:
		// send an 'invalid' response but don't kill the timeout - could be garbage
		invalid_response();
		bl_state = 0;
		continue;

cmd_fail:
		// send a 'command failed' response but don't kill the timeout - could be garbage
		failure_response();
		continue;

#if defined(TARGET_HW_PX4_FMU_V4)
bad_silicon:
		// send the bad silicon response but don't kill the timeout - could be garbage
		bad_silicon_response();
		continue;
#endif
	}
}