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LibrePilot/flight/targets/boards/discoveryf4bare/bootloader/main.c

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/**
******************************************************************************
* @addtogroup RevolutionBL Revolution BootLoader
* @brief These files contain the code to the Revolution Bootloader.
*
* @{
* @file main.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This is the file with the main function of the Revolution BootLoader
* @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
*/
#include <pios.h>
#include <pios_board_info.h>
#include <op_dfu.h>
#include <pios_iap.h>
#include <fifo_buffer.h>
#include <pios_com_msg.h>
#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
#include <stdbool.h>
#include <pios_board_init.h>
#include <pios_board_io.h>
extern void FLASH_Download();
void check_bor();
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
/* Private typedef -----------------------------------------------------------*/
typedef void (*pFunction)(void);
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
////////////////////////////////////////
uint8_t tempcount = 0;
/* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState;
int16_t status = 0;
bool JumpToApp = false;
bool GO_dfu = false;
bool USB_connected = false;
bool User_DFU_request = false;
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
int main()
{
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
// Make sure the brown out reset value for this chip
// is 2.7 volts
check_bor();
USB_connected = PIOS_USB_CheckAvailable(0);
if (PIOS_IAP_CheckRequest() == true) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = true;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == true) || (User_DFU_request == true);
if (GO_dfu == true) {
if (User_DFU_request == true) {
DeviceState = DFUidle;
} else {
DeviceState = BLidle;
}
} else {
JumpToApp = true;
}
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (true) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == true) {
jump_to_app();
}
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
period1 = 5000;
sweep_steps1 = 100;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default: // error
period1 = 5000;
sweep_steps1 = 100;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
if (stopwatch > 50 * 1000 * 1000) {
stopwatch = 0;
}
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
JumpToApp = true;
}
processRX();
DataDownload(start);
}
}
void jump_to_app()
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
// Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000;
// Check for the two possible irqstack locations (sram or core coupled sram)
if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
/* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
PIOS_USBHOOK_Deactivate();
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 {
DeviceState = failed_jump;
return;
}
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
{
uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
if (curr_sweep & 1) {
pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
}
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
}
uint8_t processRX()
{
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return true;
}
/**
* Check the brown out reset threshold is 2.7 volts and if not
* resets it. This solves an issue that can prevent boards
* powering up with some BEC
*/
void check_bor()
{
uint8_t bor = FLASH_OB_GetBOR();
if (bor != OB_BOR_LEVEL3) {
FLASH_OB_Unlock();
FLASH_OB_BORConfig(OB_BOR_LEVEL3);
FLASH_OB_Launch();
while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
;
}
FLASH_OB_Lock();
while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
;
}
}
}
int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
{
return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
}