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https://bitbucket.org/librepilot/librepilot.git
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56c195fa9a
Led(LED1 different color on each board) Sequence: 1-Power On 2-Led ON for 3 seconds (you can disconnect during this time - safety measure) 3-Led flashes very quickly while the board is being programed (because the program is stored in memory this is very fast and looks like a led glitch) 4-If all good - LED flashes 3 times with a 1sec period and turns off - you may now reboot. 4-If an error ocurred - LED will keep flashing with a 500ms period until power off git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2804 ebee16cc-31ac-478f-84a7-5cbb03baadba
111 lines
3.0 KiB
C
111 lines
3.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotBL OpenPilot BootLoader
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* @brief These files contain the code to the OpenPilot MB Bootloader.
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*
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* @{
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* @file main.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief This is the file with the main function of the OpenPilot BootLoader
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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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/* Bootloader Includes */
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#include <pios.h>
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#include <bl_array.h>
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#define MAX_WRI_RETRYS 3
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void FLASH_Download();
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void error(int);
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int main() {
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PIOS_SYS_Init();
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PIOS_Board_Init();
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PIOS_LED_On(LED1);
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PIOS_DELAY_WaitmS(3000);
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PIOS_LED_Off(LED1);
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/// Self overwrite check
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uint32_t base_adress = SCB->VTOR;
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if (0x08000000 + (sizeof(dataArray)) > base_adress)
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error(LED1);
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///
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FLASH_Unlock();
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/// Bootloader memory space erase
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uint32_t pageAdress;
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pageAdress = 0x08000000;
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uint8_t fail = FALSE;
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while ((pageAdress < base_adress) || (fail == TRUE)) {
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for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
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if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
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fail = FALSE;
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break;
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} else {
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fail = TRUE;
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}
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}
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#ifdef STM32F10X_HD
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pageAdress += 2048;
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#elif defined (STM32F10X_MD)
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pageAdress += 1024;
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#endif
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}
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if (fail == TRUE)
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error(LED1);
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///
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/// Bootloader programing
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for (int x = 0; x < sizeof(dataArray)/sizeof(uint32_t); ++x) {
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int result = 0;
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PIOS_LED_Toggle(LED1);
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for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
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if (result == 0) {
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result = (FLASH_ProgramWord(0x08000000 + (x * 4), dataArray[x])
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== FLASH_COMPLETE) ? 1 : 0;
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}
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}
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if (result == 0)
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error(LED1);
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}
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///
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for (int x=0;x<3;++x) {
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PIOS_LED_On(led);
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PIOS_DELAY_WaitmS(1000);
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PIOS_LED_Off(led);
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PIOS_DELAY_WaitmS(1000);
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}
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for (;;) {
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PIOS_DELAY_WaitmS(1000);
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}
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}
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void error(int led) {
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for (;;) {
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PIOS_LED_On(led);
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PIOS_DELAY_WaitmS(500);
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PIOS_LED_Off(led);
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PIOS_DELAY_WaitmS(500);
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}
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}
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