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LibrePilot/flight/Bootloaders/OpenPilot/main.c
zedamota 3ba6372dc4 OP-21/Flight Bootloader - Clean up and linker files for the AHRS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-19 18:27:53 +00:00

206 lines
6.3 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @brief These files are the core system files of OpenPilot.
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
* in the main() function of openpilot.c
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @brief This is where the OP firmware starts. Those files also define the compile-time
* options of the firmware.
* @{
* @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up and runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
//#include "openpilot.h"
#include <pios.h>
#include "pios_opahrs.h"
#include "stopwatch.h"
#include "op_dfu.h"
#include "usb_lib.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
/* Private typedef -----------------------------------------------------------*/
typedef void (*pFunction)(void);
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 50; // *100 uS -> 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
/* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState;
uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
#define BLUE LED1
#define RED LED2
int main() {
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
GO_dfu = (USB_connected==TRUE) || (User_DFU_request==TRUE);
if (GO_dfu == TRUE) {
PIOS_Board_Init();
PIOS_OPAHRS_Init();
DeviceState = BLidle;
STOPWATCH_Init(100);
USB_connected = TRUE;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
//OPDfuIni(false);
} else
JumpToApp = TRUE;
STOPWATCH_Reset();
while (TRUE) {
if (JumpToApp == TRUE)
jump_to_app();
//pwm_period = 50; // *100 uS -> 5 mS
//pwm_sweep_steps =100; // * 5 mS -> 500 mS
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
period2 = 0;
break;
case uploading:
period1 = 50;
sweep_steps1 = 100;
period2 = 25;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
period2 = 0;
break;
default://error
period1 = 50;
sweep_steps1 = 100;
period2 = 50;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet()))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet()))
PIOS_LED_On(RED);
else
PIOS_LED_Off(RED);
} else
PIOS_LED_Off(RED);
if (STOPWATCH_ValueGet() > 100 * 50 * 100)
STOPWATCH_Reset();
if ((STOPWATCH_ValueGet() > 60000) && (DeviceState == BLidle))
JumpToApp = TRUE;
processRX();
DataDownload(start);
//DelayWithDown(10);//1000000);
}
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
Jump_To_Application();
} else {
DeviceState = failed_jump;
return;
}
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
/ (pwm_sweep_steps / pwm_period);
if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
* pwm_sweep_steps)
pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
}
uint8_t processRX() {
while(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB)>=63)
{
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
}
//PIOS_IRQ_Enable();
processComand(mReceive_Buffer);
}
return TRUE;
}