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https://bitbucket.org/librepilot/librepilot.git
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297985c2a0
This should be removed at some point but can wait till we have a working bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1234 ebee16cc-31ac-478f-84a7-5cbb03baadba
83 lines
2.4 KiB
C
83 lines
2.4 KiB
C
/**
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******************************************************************************
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*
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* @file openpilot_bl.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Main OpenPilot Bootloader Function
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* OpenPilot Includes */
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#include "openpilot_bl.h"
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/* Global Variables */
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static pFunction Jump_To_Application;
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static uint32_t JumpAddress;
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/**
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* OpenPilot Bootloader Main function
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*/
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int main()
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{
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Only go into bootloader when the USB cable is connected */
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if(PIOS_USB_CableConnected()) {
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/* Delay system */
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PIOS_DELAY_Init();
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if(PIOS_USB_IsInitialized()) {
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/* Initialise the USB system */
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PIOS_USB_Init(0);
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}
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/* Initialise COM Ports */
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PIOS_COM_Init();
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/* Execute the IAP driver in order to re-program the Flash */
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StartBootloader();
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}
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/* Test if user code is programmed starting from address "ApplicationAddress" */
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if(((*(volatile uint32_t*) ApplicationAddress) & 0x2FFE0000) == 0x20000000) {
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/* Jump to user application */
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JumpAddress = *(volatile uint32_t*) (ApplicationAddress + 4);
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Jump_To_Application = (pFunction) JumpAddress;
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/* Initialise user application's Stack Pointer */
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__set_MSP(*(volatile uint32_t*) ApplicationAddress);
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Jump_To_Application();
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}
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/* Loop for ever if no application code is not programmed */
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_LED_Toggle(LED2);
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PIOS_DELAY_WaitmS(50);
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}
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return 0;
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}
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