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https://bitbucket.org/librepilot/librepilot.git
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b3ca037308
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2458 ebee16cc-31ac-478f-84a7-5cbb03baadba
278 lines
8.2 KiB
C
278 lines
8.2 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_opahrs_proto.h"
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#include "bl_fsm.h" /* lfsm_state */
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#include "stm32f10x_flash.h"
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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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uint8_t jumpFW = FALSE;
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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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uint8_t GO_dfu = false;
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Enable Prefetch Buffer */
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FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
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/* Delay system */
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PIOS_DELAY_Init();
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for (uint32_t t = 0; t < 10000000; ++t) {
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if (NSS_HOLD_STATE == 1)
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GO_dfu = TRUE;
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else {
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GO_dfu = FALSE;
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break;
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}
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}
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//while(TRUE)
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// {
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// PIOS_LED_Toggle(LED1);
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// PIOS_DELAY_WaitmS(1000);
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// }
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//GO_dfu = TRUE;
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PIOS_IAP_Init();
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GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
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if (GO_dfu == FALSE) {
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jump_to_app();
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}
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if(PIOS_IAP_CheckRequest())
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{
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PIOS_DELAY_WaitmS(1000);
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PIOS_IAP_ClearRequest();
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}
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/* SPI link to master */
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PIOS_SPI_Init();
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lfsm_init();
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boot_status = idle;
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Fw_crc = crc_memory_calc();
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PIOS_LED_On(LED1);
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while (1) {
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process_spi_request();
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}
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return 0;
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}
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static struct opahrs_msg_v0 link_tx_v0;
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static struct opahrs_msg_v0 link_rx_v0;
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static struct opahrs_msg_v0 user_tx_v0;
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static struct opahrs_msg_v0 user_rx_v0;
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void process_spi_request(void) {
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bool msg_to_process = FALSE;
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PIOS_IRQ_Disable();
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/* Figure out if we're in an interesting stable state */
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switch (lfsm_get_state()) {
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case LFSM_STATE_USER_BUSY:
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msg_to_process = TRUE;
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break;
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case LFSM_STATE_INACTIVE:
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/* Queue up a receive buffer */
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lfsm_user_set_rx_v0(&user_rx_v0);
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lfsm_user_done();
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break;
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case LFSM_STATE_STOPPED:
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/* Get things going */
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lfsm_set_link_proto_v0(&link_tx_v0, &link_rx_v0);
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break;
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default:
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/* Not a stable state */
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break;
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}
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PIOS_IRQ_Enable();
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if (!msg_to_process) {
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/* Nothing to do */
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//PIOS_COM_SendFormattedString(PIOS_COM_AUX, ".");
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return;
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}
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if (user_rx_v0.tail.magic != OPAHRS_MSG_MAGIC_TAIL) {
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return;
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}
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switch (user_rx_v0.payload.user.t) {
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case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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Fw_crc = crc_memory_calc();
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lfsm_user_set_tx_v0(&user_tx_v0);
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boot_status = idle;
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PIOS_LED_Off(LED1);
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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break;
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case OPAHRS_MSG_V0_REQ_RESET:
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PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.reset.reset_delay_in_ms);
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PIOS_SYS_Reset();
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break;
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case OPAHRS_MSG_V0_REQ_VERSIONS:
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//PIOS_LED_On(LED1);
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
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user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
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user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8) | BOARD_REVISION;
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user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc;
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_MEM_MAP:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
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user_tx_v0.payload.user.v.rsp.mem_map.density = HW_TYPE;
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user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
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| (BOARD_WRITABLA << 1));
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user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
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= SIZE_OF_CODE;
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user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
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= SIZE_OF_DESCRIPTION;
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user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
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= START_OF_USER_CODE;
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_SERIAL:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_SERIAL);
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PIOS_SYS_SerialNumberGet(
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(char *) &(user_tx_v0.payload.user.v.rsp.serial.serial_bcd));
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_FWUP_STATUS:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_FWUP_DATA:
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PIOS_LED_On(LED1);
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
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< START_OF_USER_CODE)) {
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for (uint8_t x = 0; x
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< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
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if (FLASH_ProgramWord(
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(user_rx_v0.payload.user.v.req.fwup_data.adress
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+ ((uint32_t)(x * 4))),
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user_rx_v0.payload.user.v.req.fwup_data.data[x])
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!= FLASH_COMPLETE) {
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boot_status = write_error;
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break;
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}
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}
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} else {
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boot_status = outside_dev_capabilities;
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}
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PIOS_LED_Off(LED1);
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_FWDN_DATA:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWDN_DATA);
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uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
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for(uint8_t x=0;x<4;++x)
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{
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user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x);
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}
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_FWUP_START:
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FLASH_Unlock();
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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lfsm_user_set_tx_v0(&user_tx_v0);
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PIOS_LED_On(LED1);
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if (FLASH_Start() == TRUE) {
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boot_status = started;
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PIOS_LED_Off(LED1);
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} else {
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boot_status = start_failed;
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break;
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}
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break;
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case OPAHRS_MSG_V0_REQ_BOOT:
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PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.boot.boot_delay_in_ms);
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FLASH_Lock();
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jump_to_app();
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break;
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default:
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break;
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}
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/* Finished processing the received message, requeue it */
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lfsm_user_set_rx_v0(&user_rx_v0);
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lfsm_user_done();
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return;
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}
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void jump_to_app() {
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//while(TRUE)
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//{
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// PIOS_LED_Toggle(LED1);
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// PIOS_DELAY_WaitmS(1000);
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//}
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PIOS_LED_On(LED1);
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if (((*(__IO uint32_t*) START_OF_USER_CODE) & 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*) (START_OF_USER_CODE + 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*) START_OF_USER_CODE);
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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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