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LibrePilot/flight/Bootloaders/INS/main.c

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/**
******************************************************************************
* @addtogroup AHRS BOOTLOADER
* @brief The AHRS Modules perform
*
* @{
* @addtogroup AHRS_BOOTLOADER_Main
* @brief Main function which does the hardware dependent stuff
* @{
*
*
* @file main.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
#include "ahrs_bl.h"
#include <pios_board_info.h>
#include "pios_opahrs_proto.h"
#include "bl_fsm.h" /* lfsm_state */
#include "stm32f2xx_flash.h"
extern void PIOS_Board_Init(void);
#define NSS_HOLD_STATE ((GPIOB->IDR & GPIO_Pin_12) ? 0 : 1)
enum bootloader_status boot_status;
/* Private typedef -----------------------------------------------------------*/
typedef void
(*pFunction)(void);
pFunction Jump_To_Application;
uint32_t JumpAddress;
/* Function Prototypes */
//void
//process_spi_request(void);
void
jump_to_app();
uint32_t Fw_crc;
/**
* @brief Bootloader Main function
*/
int main() {
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
#if 0
uint8_t GO_dfu = false;
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
/* Delay system */
PIOS_DELAY_Init();
for (uint32_t t = 0; t < 10000000; ++t) {
if (NSS_HOLD_STATE == 1)
GO_dfu = TRUE;
else {
GO_dfu = FALSE;
break;
}
}
//while(TRUE)
// {
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
// }
//GO_dfu = TRUE;
PIOS_IAP_Init();
GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
if (GO_dfu == FALSE) {
jump_to_app();
}
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if (PIOS_IAP_CheckRequest()) {
PIOS_DELAY_WaitmS(1000);
PIOS_IAP_ClearRequest();
}
PIOS_Board_Init();
boot_status = idle;
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Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
PIOS_LED_On(LED1);
while (1) {
process_spi_request();
}
#endif
jump_to_app();
return 0;
}
#if 0
static struct opahrs_msg_v0 link_tx_v0;
static struct opahrs_msg_v0 link_rx_v0;
static struct opahrs_msg_v0 user_tx_v0;
static struct opahrs_msg_v0 user_rx_v0;
void process_spi_request(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool msg_to_process = FALSE;
PIOS_IRQ_Disable();
/* Figure out if we're in an interesting stable state */
switch (lfsm_get_state()) {
case LFSM_STATE_USER_BUSY:
msg_to_process = TRUE;
break;
case LFSM_STATE_INACTIVE:
/* Queue up a receive buffer */
lfsm_user_set_rx_v0(&user_rx_v0);
lfsm_user_done();
break;
case LFSM_STATE_STOPPED:
/* Get things going */
lfsm_set_link_proto_v0(&link_tx_v0, &link_rx_v0);
break;
default:
/* Not a stable state */
break;
}
PIOS_IRQ_Enable();
if (!msg_to_process) {
/* Nothing to do */
//PIOS_COM_SendFormattedString(PIOS_COM_AUX, ".");
return;
}
if (user_rx_v0.tail.magic != OPAHRS_MSG_MAGIC_TAIL) {
return;
}
switch (user_rx_v0.payload.user.t) {
case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
break;
case OPAHRS_MSG_V0_REQ_RESET:
PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.reset.reset_delay_in_ms);
PIOS_SYS_Reset();
break;
case OPAHRS_MSG_V0_REQ_VERSIONS:
//PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
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user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8)
| BOARD_REVISION;
user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_MEM_MAP:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
| (BOARD_WRITABLE << 1));
user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
= bdinfo->fw_size;
user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
= bdinfo->desc_size;
user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
= bdinfo->fw_base;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_SERIAL:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_SERIAL);
PIOS_SYS_SerialNumberGet(
(char *) &(user_tx_v0.payload.user.v.rsp.serial.serial_bcd));
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_STATUS:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_DATA:
PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< bdinfo->fw_base)) {
for (uint8_t x = 0; x
< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
if (FLASH_ProgramWord(
(user_rx_v0.payload.user.v.req.fwup_data.adress
+ ((uint32_t)(x * 4))),
user_rx_v0.payload.user.v.req.fwup_data.data[x])
!= FLASH_COMPLETE) {
boot_status = write_error;
break;
}
}
} else {
boot_status = outside_dev_capabilities;
}
PIOS_LED_Off(LED1);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWDN_DATA:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWDN_DATA);
uint32_t adr = user_rx_v0.payload.user.v.req.fwdn_data.adress;
for (uint8_t x = 0; x < 4; ++x) {
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]
= *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_START:
FLASH_Unlock();
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
PIOS_LED_On(LED1);
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if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
boot_status = started;
PIOS_LED_Off(LED1);
} else {
boot_status = start_failed;
break;
}
break;
case OPAHRS_MSG_V0_REQ_BOOT:
PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.boot.boot_delay_in_ms);
FLASH_Lock();
jump_to_app();
break;
default:
break;
}
/* Finished processing the received message, requeue it */
lfsm_user_set_rx_v0(&user_rx_v0);
lfsm_user_done();
return;
}
#endif
void jump_to_app() {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_LED_On(LED1);
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
//_SetCNTR(0); // clear interrupt mask
//_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
boot_status = jump_failed;
return;
}
}