From d0fac7975c9570845736c6e0f1ff4c2dfccd063f Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Fri, 14 Feb 2020 20:52:29 -0800
Subject: [PATCH] wip

---
 bootloader/Makefile                           |   9 +-
 .../equipment/gnss/20210.BodyPosition.uavcan  |   1 +
 .../equipment/gnss/20211.MovingBaseFix.uavcan |  10 +
 .../dsdl/com/hex/equipment/gnss/gnss.zip      | Bin 0 -> 474 bytes
 .../dsdl/com/hex/file/242.Modify.uavcan       |  10 +
 .../com/hex/file/243.FileStreamStart.uavcan   |   4 +
 .../com/hex/file/244.StartDownload.uavcan     |   6 +
 .../com/hex/file/42444.FileStreamChunk.uavcan |   3 +
 bootloader/openocd.cfg                        |  10 +-
 bootloader/out.bin                            | Bin 0 -> 43276 bytes
 bootloader/src/bootloader.c                   | 174 ++++++++++++++----
 include/chconf.h                              |   4 +
 mk/build.mk                                   |   2 +-
 modules/can/can.c                             |   6 +-
 modules/can/can_driver.h                      |   2 +-
 modules/can_driver_stm32/can_driver_stm32h7.c |  38 ++--
 modules/platform_stm32h743/module.mk          |   2 +-
 modules/uavcan_allocatee/uavcan_allocatee.c   |   2 +-
 modules/uavcan_broadcast_file_update/write.c  |  79 ++++++++
 platforms/ARMCMx/ld/stm32h743/memory.ld       |   4 +-
 tools/uavcan_upload.py                        |   4 +-
 21 files changed, 299 insertions(+), 71 deletions(-)
 create mode 100644 bootloader/dsdl/com/hex/equipment/gnss/20210.BodyPosition.uavcan
 create mode 100644 bootloader/dsdl/com/hex/equipment/gnss/20211.MovingBaseFix.uavcan
 create mode 100644 bootloader/dsdl/com/hex/equipment/gnss/gnss.zip
 create mode 100644 bootloader/dsdl/com/hex/file/242.Modify.uavcan
 create mode 100644 bootloader/dsdl/com/hex/file/243.FileStreamStart.uavcan
 create mode 100644 bootloader/dsdl/com/hex/file/244.StartDownload.uavcan
 create mode 100644 bootloader/dsdl/com/hex/file/42444.FileStreamChunk.uavcan
 create mode 100644 bootloader/out.bin
 create mode 100644 modules/uavcan_broadcast_file_update/write.c

diff --git a/bootloader/Makefile b/bootloader/Makefile
index 0d27d07..b29c757 100644
--- a/bootloader/Makefile
+++ b/bootloader/Makefile
@@ -24,14 +24,19 @@ uavcan_nodestatus_publisher \
 uavcan_allocatee \
 spi_device \
 driver_profiLED \
-uavcan_timesync
+uavcan_timesync \
+uavcan_debug
 
 MESSAGES_ENABLED = \
 uavcan.protocol.GetNodeInfo \
 uavcan.protocol.file.BeginFirmwareUpdate \
 uavcan.protocol.file.Read \
 uavcan.protocol.RestartNode \
-uavcan.equipment.indication.LightsCommand
+uavcan.equipment.indication.LightsCommand \
+com.hex.file.FileStreamStart \
+com.hex.file.FileStreamChunk
+
+DSDL_NAMESPACE_DIRS += dsdl/com
 
 LOAD_REGION = bl
 
diff --git a/bootloader/dsdl/com/hex/equipment/gnss/20210.BodyPosition.uavcan b/bootloader/dsdl/com/hex/equipment/gnss/20210.BodyPosition.uavcan
new file mode 100644
index 0000000..cd16d40
--- /dev/null
+++ b/bootloader/dsdl/com/hex/equipment/gnss/20210.BodyPosition.uavcan
@@ -0,0 +1 @@
+int18[3] body_pos_mm
diff --git a/bootloader/dsdl/com/hex/equipment/gnss/20211.MovingBaseFix.uavcan b/bootloader/dsdl/com/hex/equipment/gnss/20211.MovingBaseFix.uavcan
new file mode 100644
index 0000000..cfdfcfe
--- /dev/null
+++ b/bootloader/dsdl/com/hex/equipment/gnss/20211.MovingBaseFix.uavcan
@@ -0,0 +1,10 @@
+uavcan.Timestamp timestamp
+uint8[16] base_in_use_hwid
+void6
+uint2 CARRIER_SOLUTION_TYPE_NONE = 0
+uint2 CARRIER_SOLUTION_TYPE_FLOAT = 1
+uint2 CARRIER_SOLUTION_TYPE_FIXED = 2
+uint2 carrier_solution_type
+float32[<=3] pos_rel_body
+float32[3] pos_rel_ecef
+float16[<=6] pos_rel_ecef_covariance
diff --git a/bootloader/dsdl/com/hex/equipment/gnss/gnss.zip b/bootloader/dsdl/com/hex/equipment/gnss/gnss.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b2ace1a501179de0ddc222a6342b792c0deb5c6a
GIT binary patch
literal 474
zcmWIWW@h1HW&ncr3`2j*O=rVJfou?#1Y#otBSQl{r~H)4fc)ajlFa-(z0$<8<ixzp
zyb?o;XyaIgB%oY;L4I+3ZZ1~<&@2(4SsV<VC6@jVR<6CZ5om@yBLjmJ)GR|i-~6)7
zymY6;;#9ZH3aDYVr+vAa4Fp&p>|K6>(<^j>-Ycgl?xu{5Vo@$_67EtLT#~j_{BHZV
zKIZI)d*9ux47I{6-xpli^1Ab1&9xJ)_e8dZPwL|1h&hmP?(Mnk>`8mR%{!pDTjBH~
zgXUnV`JXj>752+Hdt6dcv5VAS<UEIMXW+L@U3w4iX*^#m5!$u5$#L7_XF(0~s<+Gv
z3wmpH^jf+1rPGWe+X7Bj{WGh#G|GwF`F3XO_iUDH2cEcyE^k`+l_9{Jk;$GJcd!9{
v3j_)cTN*($&On41gFD1Pnjyyc0BMjh*uyWto0Scuk_ia=fwU<w#2FX>L9d=$

literal 0
HcmV?d00001

diff --git a/bootloader/dsdl/com/hex/file/242.Modify.uavcan b/bootloader/dsdl/com/hex/file/242.Modify.uavcan
new file mode 100644
index 0000000..e29b046
--- /dev/null
+++ b/bootloader/dsdl/com/hex/file/242.Modify.uavcan
@@ -0,0 +1,10 @@
+bool preserve_source
+bool overwrite_destination
+void6
+
+uavcan.protocol.file.Path source
+uavcan.protocol.file.Path destination
+
+---
+
+uavcan.protocol.file.Error error
diff --git a/bootloader/dsdl/com/hex/file/243.FileStreamStart.uavcan b/bootloader/dsdl/com/hex/file/243.FileStreamStart.uavcan
new file mode 100644
index 0000000..4b50ca3
--- /dev/null
+++ b/bootloader/dsdl/com/hex/file/243.FileStreamStart.uavcan
@@ -0,0 +1,4 @@
+uavcan.protocol.file.Path path
+uint40 offset
+---
+uavcan.protocol.file.Error error
diff --git a/bootloader/dsdl/com/hex/file/244.StartDownload.uavcan b/bootloader/dsdl/com/hex/file/244.StartDownload.uavcan
new file mode 100644
index 0000000..b717210
--- /dev/null
+++ b/bootloader/dsdl/com/hex/file/244.StartDownload.uavcan
@@ -0,0 +1,6 @@
+uint8 source_node_id
+uavcan.protocol.file.Path source_path
+uavcan.protocol.file.Path dest_path
+---
+void7
+bool ack
diff --git a/bootloader/dsdl/com/hex/file/42444.FileStreamChunk.uavcan b/bootloader/dsdl/com/hex/file/42444.FileStreamChunk.uavcan
new file mode 100644
index 0000000..ab0e4e7
--- /dev/null
+++ b/bootloader/dsdl/com/hex/file/42444.FileStreamChunk.uavcan
@@ -0,0 +1,3 @@
+uavcan.protocol.file.Path path
+uint40 offset
+uint8[<=256] data
diff --git a/bootloader/openocd.cfg b/bootloader/openocd.cfg
index d0d6d76..c0d7bf7 100644
--- a/bootloader/openocd.cfg
+++ b/bootloader/openocd.cfg
@@ -1,12 +1,4 @@
 source [find interface/stlink.cfg]
 source [find target/stm32h7x.cfg]
-reset_config srst_only separate connect_assert_srst
-$_TARGETNAME configure -rtos ChibiOS
-$_TARGETNAME configure -event gdb-attach {
-  halt
-}
-$_TARGETNAME configure -event gdb-attach {
-  reset init
-}
+$_CHIPNAME.cpu0 configure -rtos ChibiOS
 init
-reset halt
diff --git a/bootloader/out.bin b/bootloader/out.bin
new file mode 100644
index 0000000000000000000000000000000000000000..964bef0fdd08c364255d2d293c0856f155a82916
GIT binary patch
literal 43276
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HcmV?d00001

diff --git a/bootloader/src/bootloader.c b/bootloader/src/bootloader.c
index 6e602fd..0aa4d9e 100644
--- a/bootloader/src/bootloader.c
+++ b/bootloader/src/bootloader.c
@@ -15,6 +15,18 @@
 #include <uavcan.protocol.RestartNode.h>
 #include <uavcan.protocol.GetNodeInfo.h>
 
+#ifdef MODULE_UAVCAN_DEBUG_ENABLED
+#include <modules/uavcan_debug/uavcan_debug.h>
+#define BL_DEBUG(...) uavcan_send_debug_msg(UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG, "BL", __VA_ARGS__)
+#else
+#define BL_DEBUG(...) {}
+#endif
+
+#ifdef BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+#include <com.hex.file.FileStreamStart.h>
+#include <com.hex.file.FileStreamChunk.h>
+#endif // BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+
 #if __GNUC__ != 6 || __GNUC_MINOR__ != 3 || __GNUC_PATCHLEVEL__ != 1
 #error Please use arm-none-eabi-gcc 6.3.1.
 #endif
@@ -40,6 +52,7 @@ static const struct shared_hw_info_s _hw_info = BOARD_CONFIG_HW_INFO_STRUCTURE;
 static struct {
     bool in_progress;
     uint32_t ofs;
+    uint32_t read_req_ofs;
     uint32_t app_start_ofs;
     uint8_t uavcan_idx;
     uint8_t read_transfer_id;
@@ -47,6 +60,9 @@ static struct {
     uint8_t source_node_id;
     int32_t last_erased_page;
     char path[201];
+#ifdef BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+    bool using_stream_mode;
+#endif // BOOTLOADER_SUPPORT_BROADCAST_UPDATE
 } flash_state;
 
 static struct {
@@ -64,11 +80,18 @@ static struct worker_thread_listener_task_s restart_req_listener_task;
 static struct worker_thread_timer_task_s delayed_restart_task;
 static struct worker_thread_listener_task_s getnodeinfo_req_listener_task;
 
+#ifdef BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+static struct worker_thread_listener_task_s filestreamchunk_listener_task;
+static void filestreamchunk_handler(size_t msg_size, const void* buf, void* ctx);
+
+// static struct worker_thread_listener_task_s filestreamstart_res_listener_task;
+// static void filestreamstart_res_handler(size_t msg_size, const void* buf, void* ctx);
+#endif // BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+
 static void file_beginfirmwareupdate_request_handler(size_t msg_size, const void* buf, void* ctx);
 static void begin_flash_from_path(uint8_t uavcan_idx, uint8_t source_node_id, const char* path);
 static void file_read_response_handler(size_t msg_size, const void* buf, void* ctx);
-static void do_resend_read_request(void);
-static void do_send_read_request(void);
+static void do_send_read_request(bool retry);
 static uint32_t get_app_sec_size(void);
 static void start_boot(struct worker_thread_timer_task_s* task);
 static void update_app_info(void);
@@ -110,6 +133,14 @@ RUN_AFTER(UAVCAN_INIT) {
 
     struct pubsub_topic_s* getnodeinfo_req_topic = uavcan_get_message_topic(0, &uavcan_protocol_GetNodeInfo_req_descriptor);
     worker_thread_add_listener_task(&WT, &getnodeinfo_req_listener_task, getnodeinfo_req_topic, getnodeinfo_req_handler, NULL);
+
+#ifdef BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+    struct pubsub_topic_s* filestreamchunk_topic = uavcan_get_message_topic(0, &com_hex_file_FileStreamChunk_descriptor);
+    worker_thread_add_listener_task(&WT, &filestreamchunk_listener_task, filestreamchunk_topic, filestreamchunk_handler, NULL);
+
+//     struct pubsub_topic_s* filestreamstart_res_topic = uavcan_get_message_topic(0, &com_hex_file_FileStreamStart_res_descriptor);
+//     worker_thread_add_listener_task(&WT, &filestreamstart_res_listener_task, filestreamstart_res_topic, filestreamstart_res_handler, NULL);
+#endif // BOOTLOADER_SUPPORT_BROADCAST_UPDATE
 }
 
 static void getnodeinfo_req_handler(size_t msg_size, const void* buf, void* ctx) {
@@ -168,71 +199,141 @@ static void begin_flash_from_path(uint8_t uavcan_idx, uint8_t source_node_id, co
     cancel_boot_timer();
     memset(&flash_state, 0, sizeof(flash_state));
     flash_state.in_progress = true;
-    flash_state.ofs = 0; 
+    flash_state.ofs = 0;
+    flash_state.read_transfer_id = 255;
     flash_state.source_node_id = source_node_id;
     flash_state.uavcan_idx = uavcan_idx;
     strncpy(flash_state.path, path, 200);
-    worker_thread_add_timer_task(&WT, &read_timeout_task, read_request_response_timeout, NULL, chTimeMS2I(500), false);
-    do_send_read_request();
+    worker_thread_add_timer_task(&WT, &read_timeout_task, read_request_response_timeout, NULL, chTimeMS2I(2000), false);
+    do_send_read_request(false);
 
     corrupt_app();
     flash_state.last_erased_page = -1;
 }
 
-static void file_read_response_handler(size_t msg_size, const void* buf, void* ctx) {
+static void process_chunk(size_t chunk_size, const void* chunk) {
+    if (flash_state.ofs + chunk_size > get_app_sec_size()) {
+        do_fail_update();
+        BL_DEBUG("fail: file too large");
+        return;
+    }
+
+    if (chunk_size == 0) {
+        on_update_complete();
+        return;
+    }
+
+    int32_t curr_page = get_app_page_from_ofs(flash_state.ofs + chunk_size);
+    if (curr_page > flash_state.last_erased_page) {
+        for (int32_t i=flash_state.last_erased_page+1; i<=curr_page; i++) {
+            erase_app_page(i);
+        }
+    }
+
+    if (chunk_size < 256) {
+        struct flash_write_buf_s buf = {((chunk_size/FLASH_WORD_SIZE) + 1) * FLASH_WORD_SIZE, chunk};
+        flash_write((void*)get_app_address_from_ofs(flash_state.ofs), 1, &buf);
+        on_update_complete();
+    } else {
+        struct flash_write_buf_s buf = {chunk_size, chunk};
+        flash_write((void*)get_app_address_from_ofs(flash_state.ofs), 1, &buf);
+        flash_state.ofs += chunk_size;
+        do_send_read_request(false);
+    }
+}
+
+// TODO factor common code out of read_response_handler and filestreamchunk_handler
+#ifdef BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+static void filestreamchunk_handler(size_t msg_size, const void* buf, void* ctx) {
     (void)msg_size;
     (void)ctx;
+
     if (flash_state.in_progress) {
         const struct uavcan_deserialized_message_s* msg_wrapper = buf;
-        const struct uavcan_protocol_file_Read_res_s *res = (const struct uavcan_protocol_file_Read_res_s*)msg_wrapper->msg;
+        const struct com_hex_file_FileStreamChunk_s *msg = (const struct com_hex_file_FileStreamChunk_s*)msg_wrapper->msg;
 
-        if (msg_wrapper->transfer_id != flash_state.read_transfer_id) {
+        if (msg->path.path_len != strnlen(flash_state.path, 200) || memcmp(flash_state.path, msg->path.path, msg->path.path_len) != 0) {
+            // Not our stream
             return;
         }
 
-        if (res->error.value != 0 || flash_state.ofs + res->data_len > get_app_sec_size()) {
-            do_fail_update();
+        flash_state.using_stream_mode = true;
+        worker_thread_timer_task_reschedule(&WT, &read_timeout_task, chTimeMS2I(2000));
+
+        if (msg->offset > flash_state.ofs) {
+            // We need to ask for the stream to go back to our offset
+            struct com_hex_file_FileStreamStart_req_s req;
+            req.path.path_len = strnlen(flash_state.path, 200);
+            req.offset = flash_state.ofs;
+            memcpy(req.path.path, flash_state.path, req.path.path_len);
+            uavcan_request(flash_state.uavcan_idx, &com_hex_file_FileStreamStart_req_descriptor, CANARD_TRANSFER_PRIORITY_MEDIUM+1, flash_state.source_node_id, &req);
             return;
         }
 
-        if (res->data_len == 0) {
-            on_update_complete();
+        if (msg->offset != flash_state.ofs) {
             return;
         }
 
-        int32_t curr_page = get_app_page_from_ofs(flash_state.ofs + res->data_len);
-        if (curr_page > flash_state.last_erased_page) {
-            for (int32_t i=flash_state.last_erased_page+1; i<=curr_page; i++) {
-                erase_app_page(i);
-            }
+        process_chunk(msg->data_len, msg->data);
+    }
+}
+#endif // BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+
+static void file_read_response_handler(size_t msg_size, const void* buf, void* ctx) {
+    (void)msg_size;
+    (void)ctx;
+    if (flash_state.in_progress) {
+        const struct uavcan_deserialized_message_s* msg_wrapper = buf;
+        const struct uavcan_protocol_file_Read_res_s *res = (const struct uavcan_protocol_file_Read_res_s*)msg_wrapper->msg;
+
+        if (msg_wrapper->transfer_id != flash_state.read_transfer_id || flash_state.ofs != flash_state.read_req_ofs) {
+            return;
         }
 
-        if (res->data_len < 256) {
-            struct flash_write_buf_s buf = {((res->data_len/FLASH_WORD_SIZE) + 1) * FLASH_WORD_SIZE, (void*)res->data};
-            flash_write((void*)get_app_address_from_ofs(flash_state.ofs), 1, &buf);
-            on_update_complete();
-        } else {
-            struct flash_write_buf_s buf = {res->data_len, (void*)res->data};
-            flash_write((void*)get_app_address_from_ofs(flash_state.ofs), 1, &buf);
-            flash_state.ofs += res->data_len;
-            do_send_read_request();
+        if (res->error.value != 0) {
+            do_fail_update();
+            BL_DEBUG("fail: file read error");
+            return;
         }
+
+        process_chunk(res->data_len, res->data);
     }
 }
 
-static void do_resend_read_request(void) {
+static void do_send_read_request(bool retry) {
+
+#ifdef BOOTLOADER_SUPPORT_BROADCAST_UPDATE
+    if (!flash_state.using_stream_mode) {
+        struct uavcan_protocol_file_Read_req_s read_req;
+        flash_state.read_req_ofs = read_req.offset = flash_state.ofs;
+        strncpy((char*)read_req.path.path,flash_state.path,sizeof(read_req.path));
+        read_req.path.path_len = strnlen(flash_state.path,sizeof(read_req.path));
+        flash_state.read_transfer_id = uavcan_request(flash_state.uavcan_idx, &uavcan_protocol_file_Read_req_descriptor, CANARD_TRANSFER_PRIORITY_MEDIUM+1, flash_state.source_node_id, &read_req);
+    }
+
+    if ((retry && flash_state.using_stream_mode) || (flash_state.ofs < 2048 && !flash_state.using_stream_mode)) {
+        // attempt to start stream mode with the first few requests
+        struct com_hex_file_FileStreamStart_req_s req;
+        req.offset = flash_state.ofs;
+        req.path.path_len = strnlen(flash_state.path, 200);
+        memcpy(req.path.path, flash_state.path, req.path.path_len);
+        uavcan_request(flash_state.uavcan_idx, &com_hex_file_FileStreamStart_req_descriptor, CANARD_TRANSFER_PRIORITY_MEDIUM+1, flash_state.source_node_id, &req);
+    }
+#else
     struct uavcan_protocol_file_Read_req_s read_req;
     read_req.offset =  flash_state.ofs;
     strncpy((char*)read_req.path.path,flash_state.path,sizeof(read_req.path));
     read_req.path.path_len = strnlen(flash_state.path,sizeof(read_req.path));
-    flash_state.read_transfer_id = uavcan_request(flash_state.uavcan_idx, &uavcan_protocol_file_Read_req_descriptor, CANARD_TRANSFER_PRIORITY_HIGH, flash_state.source_node_id, &read_req);
-    worker_thread_timer_task_reschedule(&WT, &read_timeout_task, chTimeMS2I(500));
-    flash_state.retries++;
-}
+    flash_state.read_transfer_id = uavcan_request(flash_state.uavcan_idx, &uavcan_protocol_file_Read_req_descriptor, CANARD_TRANSFER_PRIORITY_MEDIUM+1, flash_state.source_node_id, &read_req);
+#endif
 
-static void do_send_read_request(void) {
-    do_resend_read_request();
-    flash_state.retries = 0;
+    worker_thread_timer_task_reschedule(&WT, &read_timeout_task, chTimeMS2I(1000));
+
+    if (retry) {
+        flash_state.retries++;
+    } else {
+        flash_state.retries = 0;
+    }
 }
 
 static uint32_t get_app_sec_size(void) {
@@ -414,9 +515,10 @@ static void delayed_restart_func(struct worker_thread_timer_task_s* task) {
 static void read_request_response_timeout(struct worker_thread_timer_task_s* task) {
     (void)task;
     if (flash_state.in_progress) {
-        do_resend_read_request();
-        if (flash_state.retries > 10) { // retry for 5 seconds
+        do_send_read_request(true);
+        if (flash_state.retries > 100) { // retry for 5 seconds
             do_fail_update();
+            BL_DEBUG("fail: out of retries");
         }
     }
 }
diff --git a/include/chconf.h b/include/chconf.h
index 86dff84..0ca0e09 100644
--- a/include/chconf.h
+++ b/include/chconf.h
@@ -672,16 +672,20 @@
 /**
  * @brief   ISR enter hook.
  */
+#ifndef CH_CFG_IRQ_PROLOGUE_HOOK
 #define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
   /* IRQ prologue code here.*/                                              \
 }
+#endif
 
 /**
  * @brief   ISR exit hook.
  */
+#ifndef CH_CFG_IRQ_EPILOGUE_HOOK
 #define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
   /* IRQ epilogue code here.*/                                              \
 }
+#endif
 
 /**
  * @brief   Idle thread enter hook.
diff --git a/mk/build.mk b/mk/build.mk
index c51ef23..eb85adc 100644
--- a/mk/build.mk
+++ b/mk/build.mk
@@ -209,7 +209,7 @@ CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
 CPPWARN = -Wall -Wextra -Wundef
 
 # List all user C define here, like -D_DEBUG=1
-UDEFS += -DGIT_HASH=0x$(shell git rev-parse --short=8 HEAD) $(MODULES_ENABLED_DEFS) -DCORTEX_ENABLE_WFI_IDLE=TRUE
+UDEFS += -DGIT_HASH=0x$(shell git rev-parse --short=8 HEAD) $(MODULES_ENABLED_DEFS) -DCORTEX_ENABLE_WFI_IDLE=FALSE
 
 # Define ASM defines here
 UADEFS =
diff --git a/modules/can/can.c b/modules/can/can.c
index afa98e1..d1b63e8 100644
--- a/modules/can/can.c
+++ b/modules/can/can.c
@@ -567,9 +567,9 @@ static void can_expire_handler(struct worker_thread_timer_task_s* task) {
     for (uint8_t i=0; i < instance->num_tx_mailboxes; i++) {
         chSysLock();
         if (instance->tx_mailbox[i].state == CAN_TX_MAILBOX_PENDING && can_tx_frame_expired_X(instance->tx_mailbox[i].frame)) {
-            if (instance->driver_iface->abort_tx_mailbox_I(instance->driver_ctx, i)) {
-                instance->tx_mailbox[i].state = CAN_TX_MAILBOX_ABORTING;
-            }
+            // NOTE: order matters below - abort_tx_mailbox_I may call functions that read the mailbox state
+            instance->tx_mailbox[i].state = CAN_TX_MAILBOX_ABORTING;
+            instance->driver_iface->abort_tx_mailbox_I(instance->driver_ctx, i);
         }
         chSysUnlock();
     }
diff --git a/modules/can/can_driver.h b/modules/can/can_driver.h
index 5ebbed5..ec82890 100644
--- a/modules/can/can_driver.h
+++ b/modules/can/can_driver.h
@@ -4,7 +4,7 @@
 typedef void (*driver_start_t)(void* ctx, bool silent, bool auto_retransmit, uint32_t baudrate);
 typedef void (*driver_stop_t)(void* ctx);
 
-typedef bool (*driver_mailbox_abort_t)(void* ctx, uint8_t mb_idx);
+typedef void (*driver_mailbox_abort_t)(void* ctx, uint8_t mb_idx);
 typedef bool (*driver_load_tx_mailbox_t)(void* ctx, uint8_t mb_idx, struct can_frame_s* frame);
 typedef bool (*driver_pop_rx_frame_t)(void* ctx, uint8_t mb_idx, struct can_frame_s* frame);
 typedef bool (*driver_rx_frame_available_t)(void* ctx, uint8_t mb_idx);
diff --git a/modules/can_driver_stm32/can_driver_stm32h7.c b/modules/can_driver_stm32/can_driver_stm32h7.c
index f3fd847..b64ca35 100644
--- a/modules/can_driver_stm32/can_driver_stm32h7.c
+++ b/modules/can_driver_stm32/can_driver_stm32h7.c
@@ -25,7 +25,7 @@
 
 static void can_driver_stm32_start(void* ctx, bool silent, bool auto_retransmit, uint32_t baudrate);
 static void can_driver_stm32_stop(void* ctx);
-bool can_driver_stm32_abort_tx_I(void* ctx, uint8_t mb_idx);
+void can_driver_stm32_abort_tx_I(void* ctx, uint8_t mb_idx);
 bool can_driver_stm32_load_tx_I(void* ctx, uint8_t mb_idx, struct can_frame_s* frame);
 
 static const struct can_driver_iface_s can_driver_stm32_iface = {
@@ -56,7 +56,7 @@ struct can_driver_stm32_instance_s {
     struct can_instance_s* frontend;
     struct message_ram_s message_ram;
     uint32_t fdcan_ram_offset; // Offset of next allocatable block in CAN SRAM, in 32-bit words
-    uint32_t tx_bits_processed;
+    uint32_t tx_cb_called_mask;
     FDCAN_GlobalTypeDef* can;
 };
 
@@ -287,7 +287,7 @@ static void can_driver_stm32_start(void* ctx, bool silent, bool auto_retransmit,
     instance->can->TXBTIE = (1 << NUM_TX_MAILBOXES) - 1;
     instance->can->ILE = 0x3; // Enable both interrupt handlers
 
-    instance->tx_bits_processed = 0;
+    instance->tx_cb_called_mask = 0;
 
     //Leave Init
     instance->can->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
@@ -303,17 +303,23 @@ static void can_driver_stm32_stop(void* ctx) {
     RCC->APB1HENR  &= ~RCC_APB1HENR_FDCANEN;
 }
 
-bool can_driver_stm32_abort_tx_I(void* ctx, uint8_t mb_idx) {
+void can_driver_stm32_abort_tx_I(void* ctx, uint8_t mb_idx) {
     struct can_driver_stm32_instance_s* instance = ctx;
 
     chDbgCheckClassI();
+    chDbgCheck(mb_idx < NUM_TX_MAILBOXES);
 
-    if (mb_idx < NUM_TX_MAILBOXES && ((1 << mb_idx) & instance->can->TXBRP)) {
-        instance->can->TXBCR = 1 << mb_idx;
-        return true;
+    stm32_can_tx_handler_I(instance);
+
+    if (((1 << mb_idx) & instance->tx_cb_called_mask)) {
+        // We've already called the completion callback, therefore we fail to abort this mailbox
+        return;
     }
 
-    return false;
+    if ((1 << mb_idx) & instance->can->TXBRP) {
+        // Transmission is pending or in progress, attempt abort
+        instance->can->TXBCR = 1 << mb_idx;
+    }
 }
 
 #define FDCAN_IDE        (0x40000000U) // Identifier Extension
@@ -354,7 +360,7 @@ bool can_driver_stm32_load_tx_I(void* ctx, uint8_t mb_idx, struct can_frame_s* f
 
     //Set Add Request
     instance->can->TXBAR = (1 << mb_idx);
-    instance->tx_bits_processed &= ~(1UL << mb_idx);
+    instance->tx_cb_called_mask &= ~(1UL << mb_idx);
 
     return true;
 }
@@ -425,21 +431,27 @@ static void stm32_can_tx_handler_I(struct can_driver_stm32_instance_s* instance)
     systime_t t_now = chVTGetSystemTimeX();
 
     for (uint8_t i = 0; i < NUM_TX_MAILBOXES; i++) {
-        if (instance->tx_bits_processed & (1UL << i)) {
+        if (instance->tx_cb_called_mask & (1UL << i)) {
+            // Already called callback for this mailbox
+            continue;
+        }
+
+        if (instance->can->TXBRP & (1UL << i)) {
+            // Transmission is still in progress
             continue;
         }
 
         if (instance->can->TXBTO & (1UL << i)) {
             // Transmit successful
-            instance->tx_bits_processed |= (1UL << i);
+            instance->tx_cb_called_mask |= (1UL << i);
             can_driver_tx_request_complete_I(instance->frontend, i, true, t_now);
         } else if ((instance->can->CCCR & FDCAN_CCCR_DAR) && (instance->can->TXBCF & (1UL << i)) && can_driver_get_mailbox_transmit_pending(instance->frontend, i) && ((instance->can->ECR & 0xff) == 0)) {
             // Auto-retransmit disabled and transmit cancellation finished and frontend says transmit still desired and no transmit errors
             // Ideally we would use an error flag pertaining to the current frame, rather than the error counter.
             instance->can->TXBAR |= (1UL << i);
-            instance->tx_bits_processed &= ~(1UL << i);
+            instance->tx_cb_called_mask &= ~(1UL << i);
         } else if (instance->can->TXBCF & (1UL << i)) {
-            instance->tx_bits_processed |= (1UL << i);
+            instance->tx_cb_called_mask |= (1UL << i);
             can_driver_tx_request_complete_I(instance->frontend, i, false, t_now);
         }
     }
diff --git a/modules/platform_stm32h743/module.mk b/modules/platform_stm32h743/module.mk
index cb2441c..9af2de7 100644
--- a/modules/platform_stm32h743/module.mk
+++ b/modules/platform_stm32h743/module.mk
@@ -1,2 +1,2 @@
 TGT_MCU = stm32h743
-APP_OFFSET=0
+APP_OFFSET=131072
diff --git a/modules/uavcan_allocatee/uavcan_allocatee.c b/modules/uavcan_allocatee/uavcan_allocatee.c
index 1646dd7..185fb4b 100644
--- a/modules/uavcan_allocatee/uavcan_allocatee.c
+++ b/modules/uavcan_allocatee/uavcan_allocatee.c
@@ -79,7 +79,7 @@ static void allocation_timer_expired(struct worker_thread_timer_task_s* task) {
     msg.first_part_of_unique_id = (instance->unique_id_offset == 0);
     msg.unique_id_len = MIN(16-instance->unique_id_offset, UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST);
     memcpy(&msg.unique_id, &my_unique_id[instance->unique_id_offset], msg.unique_id_len);
-    uavcan_broadcast(instance->uavcan_idx, &uavcan_protocol_dynamic_node_id_Allocation_descriptor, CANARD_TRANSFER_PRIORITY_LOW, &msg);
+    uavcan_broadcast(instance->uavcan_idx, &uavcan_protocol_dynamic_node_id_Allocation_descriptor, CANARD_TRANSFER_PRIORITY_HIGHEST, &msg);
     instance->unique_id_offset = 0;
 }
 
diff --git a/modules/uavcan_broadcast_file_update/write.c b/modules/uavcan_broadcast_file_update/write.c
new file mode 100644
index 0000000..ce98638
--- /dev/null
+++ b/modules/uavcan_broadcast_file_update/write.c
@@ -0,0 +1,79 @@
+#include <modules/worker_thread/worker_thread.h>
+#include <modules/uSD/uSD.h>
+#include <modules/uavcan_debug/uavcan_debug.h>
+#include <string.h>
+
+#ifndef UAVCAN_FILE_SERVER_WORKER_THREAD
+#error Please define UAVCAN_FILE_SERVER_WORKER_THREAD in framework_conf.h.
+#endif
+
+#define WT UAVCAN_FILE_SERVER_WORKER_THREAD
+WORKER_THREAD_DECLARE_EXTERN(WT)
+
+
+
+static struct worker_thread_listener_task_s filestreamchunk_listener_task;
+static void filestreamchunk_listener_task_func(size_t msg_size, const void* buf, void* ctx);
+
+RUN_AFTER(UAVCAN_INIT) {
+    struct pubsub_topic_s* filestreamchunk_topic = uavcan_get_message_topic(0, &com_hex_file_FileStreamChunk_descriptor);
+    worker_thread_add_listener_task(&WT, &filestreamchunk_listener_task, filestreamchunk_topic, filestreamchunk_listener_task_func, NULL);
+}
+
+static void filestreamchunk_listener_task_func(size_t msg_size, const void* buf, void* ctx) {
+    (void)msg_size;
+    (void)ctx;
+
+    const struct uavcan_deserialized_message_s* msg_wrapper = buf;
+    const struct uavcan_protocol_file_Write_req_s* req = (struct uavcan_protocol_file_Write_req_s*)msg_wrapper->msg;
+
+    struct uavcan_protocol_file_Write_res_s res;
+    memset(&res, 0, sizeof(res));
+
+    FATFS* fs = uSD_get_filesystem();
+
+    if (!fs) {
+        res.error.value = UAVCAN_PROTOCOL_FILE_ERROR_UNKNOWN_ERROR;
+        uavcan_respond(msg_wrapper->uavcan_idx, msg_wrapper, &res);
+        return;
+    }
+
+    FIL f;
+    char path[sizeof(req->path.path)];
+
+    memcpy(path, req->path.path, req->path.path_len);
+
+    path[req->path.path_len] = '\0';
+
+    if (f_open(&f, path, FA_CREATE_ALWAYS | FA_WRITE) != FR_OK) {
+        res.error.value = UAVCAN_PROTOCOL_FILE_ERROR_UNKNOWN_ERROR;
+        uavcan_respond(msg_wrapper->uavcan_idx, msg_wrapper, &res);
+        return;
+    }
+
+    if(f_lseek(&f, req->offset) != FR_OK) {
+        f_close(&f);
+        res.error.value = UAVCAN_PROTOCOL_FILE_ERROR_UNKNOWN_ERROR;
+        uavcan_respond(msg_wrapper->uavcan_idx, msg_wrapper, &res);
+        return;
+    }
+
+    if (req->data_len == 0) {
+        if (f_truncate(&f) != FR_OK) {
+            res.error.value = UAVCAN_PROTOCOL_FILE_ERROR_UNKNOWN_ERROR;
+        }
+    } else {
+        UINT bw;
+        if (f_write(&f, req->data, req->data_len, &bw) != FR_OK) {
+            res.error.value = UAVCAN_PROTOCOL_FILE_ERROR_UNKNOWN_ERROR;
+        }
+
+        if (bw != req->data_len) { // this means the volume is full
+            res.error.value = UAVCAN_PROTOCOL_FILE_ERROR_UNKNOWN_ERROR;
+        }
+    }
+
+    f_close(&f);
+
+    uavcan_respond(msg_wrapper->uavcan_idx, msg_wrapper, &res);
+}
diff --git a/platforms/ARMCMx/ld/stm32h743/memory.ld b/platforms/ARMCMx/ld/stm32h743/memory.ld
index eb3d4c8..c95b54f 100644
--- a/platforms/ARMCMx/ld/stm32h743/memory.ld
+++ b/platforms/ARMCMx/ld/stm32h743/memory.ld
@@ -6,7 +6,7 @@ MEMORY
 
     app (rx) :            ORIGIN = 0x08000000+384K,        LENGTH = 2M-384K
 
-    ram0    : org = 0x24000000, len = 512k              /* AXI SRAM */
+    ram0    : org = 0x24000000, len = 512k-256              /* AXI SRAM */
     ram1    : org = 0x30000000, len = 256k              /* AHB SRAM1+SRAM2 */
     ram2    : org = 0x30000000, len = 288k              /* AHB SRAM1+SRAM2+SRAM3 */
     ram3    : org = 0x30040000, len = 32k               /* AHB SRAM3 */
@@ -14,5 +14,5 @@ MEMORY
     ram5    : org = 0x20000000, len = 128k              /* DTCM-RAM */
     ram6    : org = 0x00000000, len = 64k               /* ITCM-RAM */
     ram7    : org = 0x38800000, len = 4k                /* BCKP SRAM */
-    app_bl_shared (rwx) : ORIGIN = 0x30000000+(256k-256), LENGTH = 256
+    app_bl_shared (rwx) : ORIGIN = 0x24000000+(512k-256), LENGTH = 256
 }
diff --git a/tools/uavcan_upload.py b/tools/uavcan_upload.py
index 98a1ace..fffc786 100644
--- a/tools/uavcan_upload.py
+++ b/tools/uavcan_upload.py
@@ -28,7 +28,7 @@ def get_firmware_crc_provided(data):
 parser.add_argument('node_name', nargs=1)
 parser.add_argument('firmware_name', nargs=1)
 parser.add_argument('bus', nargs=1)
-parser.add_argument('--discovery_time', nargs=1, default=5)
+parser.add_argument('--discovery_time', nargs=1, default=[5])
 args = parser.parse_args()
 
 with open(args.firmware_name[0], 'rb') as f:
@@ -43,7 +43,7 @@ def monitor_update_handler(e):
         print(e.entry)
         if e.entry.info.name == args.node_name[0]:
             if e.entry.info.software_version.image_crc != firmware_crc:
-                if e.entry.status.mode != e.entry.status.MODE_SOFTWARE_UPDATE:
+                if e.entry.status.mode != e.entry.status.MODE_SOFTWARE_UPDATE or e.entry.status.health == e.entry.status.HEALTH_CRITICAL:
                     print('updating %u' % (e.entry.node_id,))
                     req_msg = uavcan.protocol.file.BeginFirmwareUpdate.Request(source_node_id=node.node_id, image_file_remote_path=uavcan.protocol.file.Path(path=args.firmware_name[0]))
                     node.request(req_msg, e.entry.node_id, update_response_handler)