/** ****************************************************************************** * @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 #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(); } if (PIOS_IAP_CheckRequest()) { PIOS_DELAY_WaitmS(1000); PIOS_IAP_ClearRequest(); } PIOS_Board_Init(); boot_status = idle; 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); 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; 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: 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); 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; } }