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274 lines
8.5 KiB
C
274 lines
8.5 KiB
C
/**
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******************************************************************************
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* @addtogroup CopterControlBL CopterControl BootLoader
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* @brief These files contain the code to the CopterControl 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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#include <pios.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <pios_board_info.h>
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#include <op_dfu.h>
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#include <pios_iap.h>
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#include <fifo_buffer.h>
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#include <pios_com.h>
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#include <ssp.h>
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#include <pios_delay.h>
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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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int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len);
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/* Private typedef -----------------------------------------------------------*/
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typedef void (*pFunction)(void);
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/* Private define ------------------------------------------------------------*/
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#define MAX_PACKET_DATA_LEN 255
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#define MAX_PACKET_BUF_SIZE (1 + 1 + MAX_PACKET_DATA_LEN + 2)
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#define UART_BUFFER_SIZE 256
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#define BL_WAIT_TIME 6 * 1000 * 1000
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#define DFU_BUFFER_SIZE 63
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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pFunction Jump_To_Application;
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static uint32_t JumpAddress;
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/// LEDs PWM
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uint32_t period1 = 5000; // 5 mS
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uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
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uint32_t period2 = 5000; // 5 mS
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uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
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static uint8_t process_buffer[DFU_BUFFER_SIZE];
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static uint8_t rx_buffer[UART_BUFFER_SIZE];
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static uint8_t txBuf[MAX_PACKET_BUF_SIZE];
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static uint8_t rxBuf[MAX_PACKET_BUF_SIZE];
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/* Extern variables ----------------------------------------------------------*/
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DFUStates DeviceState = DFUidle;
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int16_t status = 0;
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bool JumpToApp = false;
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bool ssp_dfu = false; // signal that ssp data has been received
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bool User_DFU_request = true;
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/* Private function prototypes -----------------------------------------------*/
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static void led_pwm_step(uint16_t pwm_period, uint16_t pwm_sweep_steps, uint32_t stopwatch, bool default_state);
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static uint32_t LedPWM(uint16_t pwm_period, uint16_t pwm_sweep_steps, uint32_t count);
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static void processRX();
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static void jump_to_app();
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static void SSP_CallBack(uint8_t *buf, uint16_t len);
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static int16_t SSP_SerialRead(void);
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static void SSP_SerialWrite(uint8_t);
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static const PortConfig_t ssp_portConfig = {
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.rxBuf = rxBuf,
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.rxBufSize = MAX_PACKET_DATA_LEN,
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.txBuf = txBuf,
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.txBufSize = MAX_PACKET_DATA_LEN,
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.max_retry = 1,
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.timeoutLen = 5000,
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.pfCallBack = SSP_CallBack,
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.pfSerialRead = SSP_SerialRead,
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.pfSerialWrite = SSP_SerialWrite,
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.pfGetTime = PIOS_DELAY_GetuS,
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};
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static Port_t ssp_port;
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static t_fifo_buffer ssp_buffer;
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int main()
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{
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PIOS_SYS_Init();
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PIOS_Board_Init();
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PIOS_IAP_Init();
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if (PIOS_IAP_CheckRequest() == false) {
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PIOS_DELAY_WaitmS(500);
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User_DFU_request = false;
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DeviceState = BLidle;
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PIOS_IAP_ClearRequest();
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}
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// Initialize the SSP layer between serial port and DFU
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fifoBuf_init(&ssp_buffer, rx_buffer, UART_BUFFER_SIZE);
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ssp_Init(&ssp_port, &ssp_portConfig);
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uint32_t stopwatch = 0;
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const uint32_t start_time = PIOS_DELAY_GetuS();
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while (true) {
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/* Update the stopwatch */
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stopwatch = PIOS_DELAY_GetuSSince(start_time);
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processRX();
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switch (DeviceState) {
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case Last_operation_Success:
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case uploadingStarting:
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case DFUidle:
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period1 = 5000;
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sweep_steps1 = 100;
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// PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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period2 = 0;
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break;
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case uploading:
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period1 = 5000;
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sweep_steps1 = 100;
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period2 = 2500;
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sweep_steps2 = 50;
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break;
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case downloading:
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period1 = 2500;
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sweep_steps1 = 50;
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// PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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period2 = 0;
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break;
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case BLidle:
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period1 = 0;
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sweep_steps1 = 100;
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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period2 = 0;
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break;
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default: // error
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period1 = 5000;
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sweep_steps1 = 100;
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period2 = 5000;
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sweep_steps2 = 100;
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}
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led_pwm_step(period1, sweep_steps1, stopwatch, false);
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led_pwm_step(period2, sweep_steps2, stopwatch, true);
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JumpToApp |= (stopwatch > BL_WAIT_TIME) && ((DeviceState == BLidle) || (DeviceState == DFUidle));
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DataDownload(start);
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if (JumpToApp == true && !ssp_dfu) {
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jump_to_app();
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}
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}
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}
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void led_pwm_step(uint16_t pwm_period, uint16_t pwm_sweep_steps, uint32_t stopwatch, bool default_state)
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{
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if (pwm_period != 0) {
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if (LedPWM(pwm_period, pwm_sweep_steps, stopwatch)) {
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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} else {
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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}
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} else {
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if (default_state) {
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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} else {
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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}
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}
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}
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void jump_to_app()
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{
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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if (((*(__IO uint32_t *)bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
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FLASH_Lock();
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RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
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RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
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RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
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RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
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JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
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Jump_To_Application = (pFunction)JumpAddress;
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/* Initialize user application's Stack Pointer */
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__set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
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Jump_To_Application();
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} else {
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DeviceState = failed_jump;
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return;
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}
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}
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uint32_t LedPWM(uint16_t pwm_period, uint16_t pwm_sweep_steps, uint32_t count)
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{
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const uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
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uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
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const uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
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if (curr_sweep & 1) {
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pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
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}
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return ((count % pwm_period) > pwm_duty) ? 1 : 0;
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}
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uint32_t process_count = 0;
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void processRX()
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{
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do {
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ssp_ReceiveProcess(&ssp_port);
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status = ssp_SendProcess(&ssp_port);
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} while ((status != SSP_TX_IDLE) && (status != SSP_TX_ACKED));
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if (fifoBuf_getUsed(&ssp_buffer) >= DFU_BUFFER_SIZE) {
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for (int32_t x = 0; x < DFU_BUFFER_SIZE; ++x) {
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process_buffer[x] = fifoBuf_getByte(&ssp_buffer);
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}
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process_count++;
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processComand(process_buffer);
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}
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}
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uint32_t callback_cnt = 0;
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uint32_t read_cnt = 0;
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uint32_t write_cnt = 0;
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uint32_t rx_check_cnt = 0;
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void SSP_CallBack(uint8_t *buf, uint16_t len)
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{
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ssp_dfu = true;
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callback_cnt++;
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fifoBuf_putData(&ssp_buffer, buf, len);
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}
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int16_t SSP_SerialRead(void)
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{
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uint8_t byte;
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rx_check_cnt++;
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if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, &byte, 1, 0) == 1) {
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read_cnt++;
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return byte;
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} else {
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return -1;
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}
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}
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int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
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{
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return ssp_SendData(&ssp_port, msg, msg_len);
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}
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void SSP_SerialWrite(uint8_t value)
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{
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write_cnt++;
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PIOS_COM_SendChar(PIOS_COM_TELEM_USB, value);
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}
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