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231 lines
6.8 KiB
C
231 lines
6.8 KiB
C
/**
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******************************************************************************
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* @addtogroup RevolutionBL Revolution BootLoader
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* @brief These files contain the code to the Revolution 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 Revolution 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 <pios_board_info.h>
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#include <stdbool.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_msg.h"
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#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
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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 check_bor();
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#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
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/* Private typedef -----------------------------------------------------------*/
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typedef void (*pFunction)(void);
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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pFunction Jump_To_Application;
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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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////////////////////////////////////////
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uint8_t tempcount = 0;
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/* Extern variables ----------------------------------------------------------*/
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DFUStates DeviceState;
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int16_t status = 0;
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bool JumpToApp = false;
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bool GO_dfu = false;
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bool USB_connected = false;
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bool User_DFU_request = false;
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static uint8_t mReceive_Buffer[63];
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/* Private function prototypes -----------------------------------------------*/
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uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
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uint8_t processRX();
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void jump_to_app();
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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_IAP_Init();
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// Make sure the brown out reset value for this chip
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// is 2.7 volts
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check_bor();
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USB_connected = PIOS_USB_CheckAvailable(0);
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if (PIOS_IAP_CheckRequest() == true) {
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PIOS_DELAY_WaitmS(1000);
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User_DFU_request = true;
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PIOS_IAP_ClearRequest();
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}
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GO_dfu = (USB_connected == true) || (User_DFU_request == true);
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if (GO_dfu == true) {
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if (User_DFU_request == true)
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DeviceState = DFUidle;
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else
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DeviceState = BLidle;
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} else
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JumpToApp = true;
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uint32_t stopwatch = 0;
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uint32_t prev_ticks = PIOS_DELAY_GetuS();
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while (true) {
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/* Update the stopwatch */
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uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
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prev_ticks += elapsed_ticks;
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stopwatch += elapsed_ticks;
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if (JumpToApp == true)
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jump_to_app();
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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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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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if (period1 != 0) {
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if (LedPWM(period1, sweep_steps1, 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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} else
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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if (period2 != 0) {
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if (LedPWM(period2, sweep_steps2, 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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} else
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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if (stopwatch > 50 * 1000 * 1000)
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stopwatch = 0;
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if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
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== BLidle))
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JumpToApp = true;
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processRX();
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DataDownload(start);
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}
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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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PIOS_USBHOOK_Deactivate();
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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(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
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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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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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uint8_t processRX() {
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if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
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processComand(mReceive_Buffer);
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}
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return true;
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}
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/**
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* Check the brown out reset threshold is 2.7 volts and if not
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* resets it. This solves an issue that can prevent boards
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* powering up with some BEC
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*/
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void check_bor()
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{
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uint8_t bor = FLASH_OB_GetBOR();
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if(bor != OB_BOR_LEVEL3) {
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FLASH_OB_Unlock();
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FLASH_OB_BORConfig(OB_BOR_LEVEL3);
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FLASH_OB_Launch();
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while(FLASH_WaitForLastOperation() == FLASH_BUSY);
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FLASH_OB_Lock();
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while(FLASH_WaitForLastOperation() == FLASH_BUSY);
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}
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}
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