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https://bitbucket.org/librepilot/librepilot.git
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6bb4f0c61d
LEDs are now configured based on a board-specific initialization in PIOS_BOARD_Init(). LEDs are now named: PIOS_LED_HEARTBEAT PIOS_LED_ALARM
130 lines
3.8 KiB
C
130 lines
3.8 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 <stdbool.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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/* The ADDRESSES of the _binary_* symbols are the important
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* data. This is non-intuitive for _binary_size where you
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* might expect its value to hold the size but you'd be wrong.
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*/
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extern uint32_t _binary_start;
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extern uint32_t _binary_end;
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extern uint32_t _binary_size;
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const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
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const uint32_t * embedded_image_end = (uint32_t *) &(_binary_end);
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const uint32_t embedded_image_size = (uint32_t) &(_binary_size);
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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(PIOS_LED_HEARTBEAT);
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PIOS_DELAY_WaitmS(3000);
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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/// Self overwrite check
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uint32_t base_address = SCB->VTOR;
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if ((0x08000000 + embedded_image_size) > base_address)
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error(PIOS_LED_HEARTBEAT);
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///
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FLASH_Unlock();
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/// Bootloader memory space erase
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uint32_t pageAddress;
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pageAddress = 0x08000000;
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bool fail = false;
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while ((pageAddress < base_address) && (fail == false)) {
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for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
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if (FLASH_ErasePage(pageAddress) == 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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pageAddress += 2048;
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#elif defined (STM32F10X_MD)
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pageAddress += 1024;
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#endif
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}
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if (fail == true)
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error(PIOS_LED_HEARTBEAT);
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///
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/// Bootloader programing
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for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
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bool result = false;
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
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if (result == false) {
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result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
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== FLASH_COMPLETE) ? true : false;
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}
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}
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if (result == false)
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error(PIOS_LED_HEARTBEAT);
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}
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///
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for (uint8_t x = 0; x < 3; ++x) {
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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PIOS_DELAY_WaitmS(1000);
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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PIOS_DELAY_WaitmS(1000);
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}
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/// Invalidate the bootloader updater so we won't run
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/// the update again on the next power cycle.
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FLASH_ProgramWord(base_address, 0);
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FLASH_Lock();
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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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