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Code Issues Releases Activity

OP-1477 - Fix bootloader

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This commit is contained in:
Alessio Morale 2014-09-07 22:25:49 +02:00
parent 9b61fc611b
commit 1970e0a870
7 changed files with 77 additions and 45 deletions
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6
flight/targets/boards/gpsplatinum/board-info.mk
View File

@ -14,9 +14,9 @@ OPENOCD_CONFIG := stm32f0x.cfg
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00001000 # Should include BD_INFO region
FW_BANK_BASE := 0x08001000 # Start of firmware flash
FW_BANK_SIZE := 0x00008000 # Should include FW_DESC_SIZE
BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region
FW_BANK_BASE := 0x08002000 # Start of firmware flash
FW_BANK_SIZE := 0x00006000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

38
flight/targets/boards/gpsplatinum/board_hw_defs.c
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@ -25,10 +25,31 @@
*/
#define BOARD_REVISION_GPSP 1
/*
* GPS Platinum board.
* pins allocation:
* port | Pins
* -------------|-------------
* GPS I2C | PB7 SDA
* | PB6 SCL
* ---------------------------
* Led HB | PB4
* ---------------------------
* Mag/Flash SPI| PA4 MAG SS
* | PA5 SCK
* | PA6 MISO
* | PA7 MOSI
* | PB1 FLASH SS
* | PB0 Mag Int
*----------------------------
* Main Port | PA9 TX
* | PA10 RX
*----------------------------
*/
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_gpio pios_leds_gpsp[] = {
// PB4
[PIOS_LED_HEARTBEAT] = {
@ -36,11 +57,12 @@ static const struct pios_gpio pios_leds_gpsp[] = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Mode = GPIO_OType_OD,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_OD,
.GPIO_Speed = GPIO_Speed_Level_1,
},
},
.active_low = true
.active_low = false
},
};
@ -208,6 +230,7 @@ static const struct flashfs_logfs_cfg flashfs_m25p_cfg = {
static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_0,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
@ -219,8 +242,7 @@ static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelCmd = ENABLE,
},
},
@ -229,7 +251,8 @@ static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
.GPIO_OType = GPIO_OType_OD,
.GPIO_Mode = GPIO_Mode_AF,
},
},
.tx = {
@ -237,7 +260,8 @@ static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_OType = GPIO_OType_PP,
.GPIO_Mode = GPIO_Mode_AF,
},
},
};

9
flight/targets/boards/gpsplatinum/bootloader/Makefile
View File

@ -20,11 +20,16 @@ ifndef OPENPILOT_IS_COOL
$(error Top level Makefile must be used to build this target)
endif
## The standard CMSIS startup
SRC += $(CMSIS_DEVICEDIR)/Source/system_stm32f0xx.c
PIOS_OMITS_USB = YES
PIOS_APPS_MINIMAL = YES
include ../board-info.mk
include $(ROOT_DIR)/make/firmware-defs.mk
## The standard CMSIS startup
SRC += $(CMSIS_DEVICEDIR)/system_stm32f0xx.c
include $(ROOT_DIR)/make/boot-defs.mk
include $(ROOT_DIR)/make/common-defs.mk

1
flight/targets/boards/gpsplatinum/bootloader/inc/pios_config.h
View File

@ -39,6 +39,7 @@
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT

44
flight/targets/boards/gpsplatinum/bootloader/main.c
View File

@ -27,6 +27,8 @@
*/
#include <pios.h>
#include <stdbool.h>
#include <stdint.h>
#include <pios_board_info.h>
#include <op_dfu.h>
#include <pios_iap.h>
@ -36,7 +38,6 @@
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
/* Private typedef -----------------------------------------------------------*/
typedef void (*pFunction)(void);
@ -59,10 +60,9 @@ uint8_t tempcount = 0;
/* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState;
int16_t status = 0;
uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
bool JumpToApp = false;
bool GO_dfu = 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);
@ -75,36 +75,33 @@ int main()
PIOS_Board_Init();
PIOS_IAP_Init();
USB_connected = FALSE;
if (PIOS_IAP_CheckRequest() == TRUE) {
if (PIOS_IAP_CheckRequest() == false) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
User_DFU_request = false;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
GO_dfu = (User_DFU_request == true);
if (GO_dfu == TRUE) {
PIOS_Board_Init();
if (User_DFU_request == TRUE) {
if (GO_dfu == true) {
if (User_DFU_request == true) {
DeviceState = DFUidle;
} else {
DeviceState = BLidle;
}
} else {
JumpToApp = TRUE;
JumpToApp = true;
}
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (TRUE) {
while (true) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == TRUE) {
if (JumpToApp == true) {
jump_to_app();
}
@ -164,8 +161,8 @@ int main()
if (stopwatch > 50 * 1000 * 1000) {
stopwatch = 0;
}
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
JumpToApp = TRUE;
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle))) {
JumpToApp = true;
}
processRX();
@ -183,8 +180,7 @@ void jump_to_app()
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 */
@ -210,8 +206,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
uint8_t processRX()
{
// if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
// processComand(mReceive_Buffer);
// }
return TRUE;
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_RF, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return true;
}

19
flight/targets/boards/gpsplatinum/bootloader/pios_board.c
View File

@ -36,8 +36,9 @@
*/
#include "../board_hw_defs.c"
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_telem_rf_id;
void setupCom();
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
@ -50,12 +51,6 @@ void PIOS_Board_Init(void)
return;
}
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Delay system */
PIOS_DELAY_Init();
@ -68,6 +63,16 @@ void PIOS_Board_Init(void)
#endif /* PIOS_INCLUDE_LED */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); // TODO Tirar
setupCom();
board_init_complete = true;
}
void setupCom(){
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_MSG_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id)) {
PIOS_Assert(0);
}
}

5
flight/targets/boards/gpsplatinum/pios_board.h
View File

@ -57,8 +57,8 @@
// ------------------------
// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define BOARD_READABLE true
#define BOARD_WRITABLE true
#define MAX_DEL_RETRYS 3
// ------------------------
@ -122,6 +122,7 @@ extern uint32_t pios_i2c_gps_adapter_id;
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_rf_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;