int
au_check_header_valid(int idx, long nbytes)
{
image_header_t *hdr;
unsigned long checksum;
unsigned char buf[4];
hdr = (image_header_t *)LOAD_ADDR;
#if defined(CONFIG_FIT)
if (genimg_get_format ((void *)hdr) != IMAGE_FORMAT_LEGACY) {
puts ("Non legacy image format not supported\n");
return -1;
}
#endif
/* check the easy ones first */
#undef CHECK_VALID_DEBUG
#ifdef CHECK_VALID_DEBUG
printf("magic %#x %#x ", image_get_magic (hdr), IH_MAGIC);
printf("arch %#x %#x ", image_get_arch (hdr), IH_ARCH_ARM);
printf("size %#x %#lx ", image_get_data_size (hdr), nbytes);
printf("type %#x %#x ", image_get_type (hdr), IH_TYPE_KERNEL);
#endif
if (nbytes < image_get_header_size ()) {
printf ("Image %s bad header SIZE\n", aufile[idx]);
return -1;
}
if (!image_check_magic (hdr) || !image_check_arch (hdr, IH_ARCH_ARM)) {
printf ("Image %s bad MAGIC or ARCH\n", aufile[idx]);
return -1;
}
/* check the hdr CRC */
if (!image_check_hcrc (hdr)) {
printf ("Image %s bad header checksum\n", aufile[idx]);
return -1;
}
/* check the type - could do this all in one gigantic if() */
if ((idx == IDX_FIRMWARE) &&
!image_check_type (hdr, IH_TYPE_FIRMWARE)) {
printf ("Image %s wrong type\n", aufile[idx]);
return -1;
}
if ((idx == IDX_KERNEL) && !image_check_type (hdr, IH_TYPE_KERNEL)) {
printf ("Image %s wrong type\n", aufile[idx]);
return -1;
}
if ((idx == IDX_DISK) && !image_check_type (hdr, IH_TYPE_FILESYSTEM)) {
printf ("Image %s wrong type\n", aufile[idx]);
return -1;
}
if ((idx == IDX_APP) && !image_check_type (hdr, IH_TYPE_RAMDISK)
&& !image_check_type (hdr, IH_TYPE_FILESYSTEM)) {
printf ("Image %s wrong type\n", aufile[idx]);
return -1;
}
if ((idx == IDX_PREPARE || idx == IDX_PREINST || idx == IDX_POSTINST)
&& !image_check_type (hdr, IH_TYPE_SCRIPT)) {
printf ("Image %s wrong type\n", aufile[idx]);
return -1;
}
/* special case for prepare.img */
if (idx == IDX_PREPARE)
return 0;
/* recycle checksum */
checksum = image_get_data_size (hdr);
/* for kernel and app the image header must also fit into flash */
if ((idx != IDX_DISK) && (idx != IDX_FIRMWARE))
checksum += image_get_header_size ();
/* check the size does not exceed space in flash. HUSH scripts */
/* all have ausize[] set to 0 */
if ((ausize[idx] != 0) && (ausize[idx] < checksum)) {
printf ("Image %s is bigger than FLASH\n", aufile[idx]);
return -1;
}
/* check the time stamp from the EEPROM */
/* read it in */
i2c_read_multiple(0x54, auee_off[idx].time, 1, buf, sizeof(buf));
#ifdef CHECK_VALID_DEBUG
printf ("buf[0] %#x buf[1] %#x buf[2] %#x buf[3] %#x "
"as int %#x time %#x\n",
buf[0], buf[1], buf[2], buf[3],
*((unsigned int *)buf), image_get_time (hdr));
#endif
/* check it */
if (*((unsigned int *)buf) >= image_get_time (hdr)) {
printf ("Image %s is too old\n", aufile[idx]);
return -1;
}
return 0;
}
int main ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
SYS_Initialize ( NULL );
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that kseg0 is cacheable (0x3)
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to get pins back
DDPCONbits.JTAGEN = 0;
// initialize I2C
initI2C2();
// initialize IMU
initIMU();
// initialize SPI, LCD
// SPI1_init();
// LCD_init();
__builtin_enable_interrupts();
// LCD_clearScreen(BLACK);
// char message[MAX_LENGTH];
unsigned char data[14];
// float accX, accY;
_CP0_SET_COUNT(0);
while ( true )
{
if (_CP0_GET_COUNT() > 480000) { // 50 Hz
i2c_read_multiple(IMU_ADDRESS, OUT_TEMP_L, data, 14);
temp_raw = data[1] << 8 | data[0];
gyroX_raw = data[3] << 8 | data[2];
gyroY_raw = data[5] << 8 | data[4];
gyroZ_raw = data[7] << 8 | data[6];
accX_raw = data[9] << 8 | data[8];
accY_raw = data[11] << 8 | data[10];
accZ_raw = data[13] << 8 | data[12];
// accX = accX_raw * 2.0 / 32768; // accel in g
// accY = accY_raw * 2.0 / 32768; // accel in g
// accZ = accZ_raw * 2.0 / 32768; // accel in g
// sprintf(message, "temp raw: %x ", temp_raw);
// LCD_drawString(10, 10, message, WHITE);
//
// sprintf(message, "accX: %f g ", accX);
// LCD_drawString(10, 20, message, WHITE);
//
// sprintf(message, "accY: %f g ", accY);
// LCD_drawString(10, 30, message, WHITE);
//
// sprintf(message, "accZ: %f g ", accZ);
// LCD_drawString(10, 40, message, WHITE);
//
// sprintf(message, "gyroX raw: %i ", gyroX_raw);
// LCD_drawString(10, 50, message, WHITE);
//
// sprintf(message, "gyroY raw: %i ", gyroY_raw);
// LCD_drawString(10, 60, message, WHITE);
//
// sprintf(message, "gyroZ raw: %i ", gyroZ_raw);
// LCD_drawString(10, 70, message, WHITE);
_CP0_SET_COUNT(0);
}
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks ( );
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
