mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
277 lines
8.4 KiB
C
277 lines
8.4 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 "stm32f10x_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();
|
|
uint8_t jumpFW = FALSE;
|
|
uint32_t Fw_crc;
|
|
/**
|
|
* @brief Bootloader Main function
|
|
*/
|
|
int main() {
|
|
|
|
uint8_t GO_dfu = false;
|
|
/* Brings up System using CMSIS functions, enables the LEDs. */
|
|
PIOS_SYS_Init();
|
|
/* 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();
|
|
}
|
|
return 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;
|
|
}
|
|
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;
|
|
}
|
|
}
|