/*
* @brief The function containing all drivers and modules to be deinitialized.
* All deinitialization should be here (except internal deinits).
*
* @note This will run after the request for critical tasks to terminate,
* but before SysTick is disabled.
*
* @note Remember to do the deinitialization in reverse order from the
* initialization.
*/
static void vSystemDeinitList(void)
{
/*
*
* Add all driver and module deinitializations here!
*
*/
/*
*
* Disable the serial-over-USB CDC driver.
*
*/
usbDisconnectBus(serusbcfg.usbp);
usbStop(serusbcfg.usbp);
sduStop(&SDU1);
}
/**
* Stop the system and jump to the bootloader.
*/
void flash_helper_jump_to_bootloader(void) {
typedef void (*pFunction)(void);
mc_interface_unlock();
mc_interface_release_motor();
usbDisconnectBus(&USBD1);
usbStop(&USBD1);
sdStop(&HW_UART_DEV);
palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT);
palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);
// Disable watchdog
timeout_configure_IWDT_slowest();
chSysDisable();
pFunction jump_to_bootloader;
// Variable that will be loaded with the start address of the application
volatile uint32_t* jump_address;
const volatile uint32_t* bootloader_address = (volatile uint32_t*)0x080E0000;
// Get jump address from application vector table
jump_address = (volatile uint32_t*) bootloader_address[1];
// Load this address into function pointer
jump_to_bootloader = (pFunction) jump_address;
// Clear pending interrupts
SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk;
// Disable all interrupts
for(int i = 0;i < 8;i++) {
NVIC->ICER[i] = NVIC->IABR[i];
}
// Set stack pointer
__set_MSP((uint32_t) (bootloader_address[0]));
// Jump to the bootloader
jump_to_bootloader();
}
/**
* Stop the system and jump to the bootloader.
*/
void flash_helper_jump_to_bootloader(void) {
typedef void (*pFunction)(void);
mcpwm_unlock();
mcpwm_release_motor();
usbDisconnectBus(&USBD1);
usbStop(&USBD1);
uartStop(&HW_UART_DEV);
palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT);
palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);
// Disable watchdog
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
chSysDisable();
pFunction jump_to_bootloader;
// Variable that will be loaded with the start address of the application
vu32* jump_address;
const vu32* bootloader_address = (vu32*)0x080E0000;
// Get jump address from application vector table
jump_address = (vu32*) bootloader_address[1];
// Load this address into function pointer
jump_to_bootloader = (pFunction) jump_address;
// Clear pending interrupts
SCB_ICSR = ICSR_PENDSVCLR;
// Disable all interrupts
for(int i = 0;i < 8;i++) {
NVIC->ICER[i] = NVIC->IABR[i];
}
// Set stack pointer
__set_MSP((u32) (bootloader_address[0]));
// Jump to the bootloader
jump_to_bootloader();
}
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg);
/*
* GPIOI1 is programmed as output (board LED).
*/
palClearLine(LINE_ARD_D13);
palSetLineMode(LINE_ARD_D13, PAL_MODE_OUTPUT_PUSHPULL);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, spawning shells.
*/
while (true) {
if (SDU2.config->usbp->state == USB_ACTIVE) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp);
}
#if 0
if (palReadPad(GPIOI, GPIOI_BUTTON_USER)) {
usbDisconnectBus(serusbcfg.usbp);
usbStop(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
}
#endif
chThdSleepMilliseconds(1000);
}
}
/**
* @brief Application entry point.
* @details
*/
int main(void) {
/* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/* Initializes a serial-over-USB CDC driver. */
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbStop(serusbcfg.usbp);
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbConnectBus(serusbcfg.usbp);
usbStart(serusbcfg.usbp, &usbcfg);
/* Activates the serial driver 4 using the driver's default configuration. */
sdStart(&SD4, NULL);
/* Activates the I2C driver 2. */
i2cInit();
i2cStart(&I2CD2, &i2cfg_d2);
/* Enables the CRC peripheral clock. */
rccEnableCRC(FALSE);
/* Loads settings from external EEPROM chip. */
if (eepromLoadSettings()) {
g_boardStatus |= EEPROM_24C02_DETECTED;
}
/* Initializes the MPU6050 sensor. */
if (mpu6050Init()) {
g_boardStatus |= MPU6050_LOW_DETECTED;
/* Creates a taken binary semaphore. */
chBSemInit(&bsemNewDataReady, TRUE);
/* Creates the MPU6050 polling thread and attitude calculation thread. */
chThdCreateStatic(waPollMPU6050Thread, sizeof(waPollMPU6050Thread),
NORMALPRIO + 1, PollMPU6050Thread, NULL);
chThdCreateStatic(waAttitudeThread, sizeof(waAttitudeThread),
HIGHPRIO, AttitudeThread, NULL);
/* Starts motor drivers. */
pwmOutputStart();
/* Starts ADC and ICU input drivers. */
mixedInputStart();
}
/* Creates the blinker thread. */
chThdCreateStatic(waBlinkerThread, sizeof(waBlinkerThread),
LOWPRIO, BlinkerThread, NULL);
/* Normal main() thread activity. */
while (TRUE) {
g_chnp = serusbcfg.usbp->state == USB_ACTIVE ? (BaseChannel *)&SDU1 : (BaseChannel *)&SD4;
telemetryReadSerialData();
if (eepromIsDataLeft()) {
eepromContinueSaving();
}
chThdSleepMilliseconds(TELEMETRY_SLEEP_MS);
}
/* This point should never be reached. */
return 0;
}
/*
* Application entry point.
*/
int main(void) {
thread_t *shelltp = NULL;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Stopping and restarting the USB in order to test the stop procedure. The
* following lines are not usually required.
*/
chThdSleepMilliseconds(3000);
usbDisconnectBus(serusbcfg.usbp);
usbStop(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (true) {
if (!shelltp && (SDU2.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminatedX(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chThdSleepMilliseconds(1000);
}
}
