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92 lines
2.8 KiB
C
92 lines
2.8 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS BOOTLOADER
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_BOOTLOADER_Main
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* @brief Main function which does the hardware dependent stuff
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* @{
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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
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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 "ahrs_bl.h"
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#include <pios_board_info.h>
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#include "pios_opahrs_proto.h"
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#include "bl_fsm.h" /* lfsm_state */
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//#include "stm32f2xx_flash.h"
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extern void PIOS_Board_Init(void);
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#define NSS_HOLD_STATE ((GPIOB->IDR & GPIO_Pin_12) ? 0 : 1)
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enum bootloader_status boot_status;
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/* Private typedef -----------------------------------------------------------*/
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typedef void
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(*pFunction)(void);
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pFunction Jump_To_Application;
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uint32_t JumpAddress;
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/* Function Prototypes */
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//void
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//process_spi_request(void);
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void
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jump_to_app();
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uint32_t Fw_crc;
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/**
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* @brief Bootloader Main function
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*/
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int main() {
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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PIOS_Board_Init();
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jump_to_app();
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return 0;
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}
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void jump_to_app() {
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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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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//_SetCNTR(0); // clear interrupt mask
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//_SetISTR(0); // clear all requests
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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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boot_status = jump_failed;
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return;
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}
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}
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