/**
* @brief Bootloader Main function
*/
int main() {
uint8_t GO_dfu = false;
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
/* Delay system */
PIOS_DELAY_Init();
for (uint32_t t = 0; t < 10000000; ++t) {
if (NSS_HOLD_STATE == 1)
GO_dfu = TRUE;
else {
GO_dfu = FALSE;
break;
}
}
//while(TRUE)
// {
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
// }
//GO_dfu = TRUE;
PIOS_IAP_Init();
GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
if (GO_dfu == FALSE) {
jump_to_app();
}
if (PIOS_IAP_CheckRequest()) {
PIOS_DELAY_WaitmS(1000);
PIOS_IAP_ClearRequest();
}
PIOS_Board_Init();
boot_status = idle;
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
PIOS_LED_On(LED1);
while (1) {
process_spi_request();
}
return 0;
}
/**
* Execute the application binary
*
* \param addr Application start address.
* \return If success, no return;
* 1 - address alignment error;
* 2 - address not executable.
*/
static uint8_t _app_exec(void *addr)
{
uint32_t i;
/* Check parameters */
if ((uint32_t)addr & 0x7F) {
return 1;
}
if ((uint32_t)addr > CM_SRAM_END) {
return 2;
}
__disable_irq();
/* Disable SysTick */
SysTick->CTRL = 0;
/* Disable IRQs & clear pending IRQs */
for (i = 0; i < 8; i++) {
NVIC->ICER[i] = 0xFFFFFFFF;
NVIC->ICPR[i] = 0xFFFFFFFF;
}
/* Switch clock to slow RC */
osc_enable(OSC_SLCK_32K_RC);
osc_wait_ready(OSC_SLCK_32K_RC);
pmc_switch_mck_to_sclk(SYSCLK_PRES_1);
/* Switch clock to fast RC */
osc_enable(OSC_MAINCK_12M_RC);
osc_wait_ready(OSC_MAINCK_12M_RC);
pmc_switch_mck_to_mainck(SYSCLK_PRES_1);
/* Modify vector table location */
__DSB();
__ISB();
SCB->VTOR = ((uint32_t)addr & SCB_VTOR_TBLOFF_Msk);
__DSB();
__ISB();
__enable_irq();
/* Jump to application */
jump_to_app(addr);
/* Never be here */
return 0;
}
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
PIOS_Board_Init();
if (User_DFU_request == TRUE)
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100, LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
while (TRUE) {
if (JumpToApp == TRUE)
jump_to_app();
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
sweep_steps1 = 100;
PIOS_LED_Off(BLUE);
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(BLUE);
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(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_Off(BLUE);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
== BLidle))
JumpToApp = TRUE;
processRX();
DataDownload(start);
}
}
int main() {
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
USB_connected = PIOS_USB_CheckAvailable(0);
if (PIOS_IAP_CheckRequest() == true) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = true;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == true) || (User_DFU_request == true);
if (GO_dfu == true) {
PIOS_Board_Init();
if (User_DFU_request == true)
DeviceState = DFUidle;
else
DeviceState = BLidle;
} else
JumpToApp = true;
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (true) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == true)
jump_to_app();
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
period1 = 5000;
sweep_steps1 = 100;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
period1 = 5000;
sweep_steps1 = 100;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
== BLidle))
JumpToApp = true;
processRX();
DataDownload(start);
}
}
int
main(void)
{
bool try_boot = true; /* try booting before we drop to the bootloader */
unsigned timeout = BOOTLOADER_DELAY; /* if nonzero, drop out of the bootloader after this time */
/* Enable the FPU before we hit any FP instructions */
SCB_CPACR |= ((3UL << 10*2) | (3UL << 11*2)); /* set CP10 Full Access and set CP11 Full Access */
#if defined(BOARD_VRBRAINV40) || defined(BOARD_VRBRAINV45)
if(!board_test_force_pin() && !(board_get_rtc_signature() == BOOT_RTC_SIGNATURE)) {
jump_to_app();
}
#endif
/* do board-specific initialisation */
board_init();
/*
* Check the force-bootloader register; if we find the signature there, don't
* try booting.
*/
if (board_get_rtc_signature() == BOOT_RTC_SIGNATURE) {
/*
* Don't even try to boot before dropping to the bootloader.
*/
try_boot = false;
/*
* Don't drop out of the bootloader until something has been uploaded.
*/
timeout = 0;
#if defined(BOARD_VRBRAINV40) || defined(BOARD_VRBRAINV45)
// force an erase of the first sector because version 4.x
// of the board is not able to reset USB after first boot.
// This will force the bootloader to stay until a program has been flashed.
flash_unlock();
flash_func_erase_sector(0);
flash_lock();
#endif
/*
* Clear the signature so that if someone resets us while we're
* in the bootloader we'll try to boot next time.
*/
board_set_rtc_signature(0);
}
#ifdef INTERFACE_USB
/*
* Check for USB connection - if present, don't try to boot, but set a timeout after
* which we will fall out of the bootloader.
*
* If the force-bootloader pins are tied, we will stay here until they are removed and
* we then time out.
*/
#if defined(BOARD_VRBRAINV40) || defined(BOARD_VRBRAINV45)
if (gpio_get(BOARD_PRESENCE_PORT, BOARD_PRESENCE_PIN) != 0 && board_test_force_pin()) {
/* don't try booting before we set up the bootloader */
try_boot = false;
}
#else
if (gpio_get(BOARD_PRESENCE_PORT, BOARD_PRESENCE_PIN) != 0) {
/* don't try booting before we set up the bootloader */
try_boot = false;
}
#endif
#endif
/* Try to boot the app if we think we should just go straight there */
if (try_boot) {
/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
#ifdef BOARD_BOOT_FAIL_DETECT
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
#endif
/* try to boot immediately */
jump_to_app();
/* booting failed, stay in the bootloader forever */
timeout = 0;
}
/* configure the clock for bootloader activity */
rcc_clock_setup_hse_3v3(&clock_setup);
/* start the interface */
cinit(BOARD_INTERFACE_CONFIG);
#if 0
// MCO1/02
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
gpio_set_output_options(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, GPIO8);
gpio_set_af(GPIOA, GPIO_AF0, GPIO8);
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
gpio_set_af(GPIOC, GPIO_AF0, GPIO9);
#endif
while (1)
{
/* run the bootloader, come back after an app is uploaded or we time out */
bootloader(timeout);
/* if the force-bootloader pins are strapped, just loop back */
if (board_test_force_pin())
continue;
/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
#ifdef BOARD_BOOT_FAIL_DETECT
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
#endif
/* look to see if we can boot the app */
jump_to_app();
/* launching the app failed - stay in the bootloader forever */
timeout = 0;
}
}
int main(void)
{
unsigned tempi;
char val;
uint8_t sw1,sw2;
#ifdef START_POWERSAVE
char OK = 1;
#endif
cli();
MCUCR = (1<<IVCE);
MCUCR = (1<<IVSEL); //move interruptvectors to the Boot sector
USART_Init(UART_BAUD_SELECT(BAUDRATE,XTAL),UARTSINGLE); // single speed
// USART_Init(UART_BAUD_SELECT(BAUDRATE/2,XTAL),UARTDOUBLE); // double speed
d7segment_init();
#if defined(START_POWERSAVE)
/*
This is an adoption of the Butterfly Bootloader startup-sequence.
It may look a little strange but separating the login-loop from
the main parser-loop gives a lot a possibilities (timeout, sleep-modes
etc.).
*/
for(;OK;)
{
if((BLPIN1 & (1<<BLPNUM1)) || (BLPIN2 & (1<<BLPNUM2))) // Either one of two switch press still go app mode
{
// jump to main app if pin is not grounded
BLPORT1 &= ~(1<<BLPNUM1); // set to default
MCUCR = (1<<IVCE);
MCUCR = (0<<IVSEL); // move interruptvectors to the Application sector
jump_to_app(); // Jump to application sector
}
else
{
val = recchar();
if( val == 0x1B ) /* ESC */
{ // AVRPROG connection
while (val != 'S') // Wait for signon
{
val = recchar();
}
send_boot(); // Report signon
OK = 0;
}
else
sendchar('?');
}
// Power-Save code here
}
#elif defined(START_SIMPLE)
sw1 = _7SEGMENT_SW1_IN_PORT & _7SEGMENT_SW1;
sw2 = _7SEGMENT_SW2_IN_PORT & _7SEGMENT_SW2;
if ((sw1) ) //&& (!sw2)) // SW1, SW2 Press
// if((BLPIN1 & (1<<BLPNUM1)) || (BLPIN2 & (1<<BLPNUM2)))
{
// jump to main app if pin is grounded
// BLPORT1 &= ~(1<<BLPNUM1); // set to default ??
// BLPORT2 &= ~(1<<BLPNUM2); // set to default ??
MCUCR = (1<<IVCE);
MCUCR = (0<<IVSEL); //move interruptvectors to the Application sector
d7segment_display(_7SEGMENT_C_P,1);
jump_to_app(); // Jump to application sector
}
#elif defined(START_BOOTICE)
#warning "BOOTICE mode - no startup-condition"
#else
#error "Select START_ condition for bootloader in main.c"
#endif
for(;;)
{
d7segment_display(_7SEGMENT_C_B,1);
val=recchar();
if(val=='a') //Autoincrement?
{
sendchar('Y'); //Autoincrement is quicker
}
else if(val=='A') //write address
{
address=recchar(); //read address 8 MSB
address=(address<<8)|recchar();
address=address<<1; // !! convert from word address to byte address
sendchar('\r');
}
else if(val=='b')
{ // Buffer load support
sendchar('Y'); // Report buffer load supported
sendchar((UART_RX_BUFFER_SIZE >> 8) & 0xFF);
// Report buffer size in bytes
sendchar(UART_RX_BUFFER_SIZE & 0xFF);
}
else if(val=='B') // Start buffer load
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;
PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
if (USB_connected)
ProgPort = Usb;
else
ProgPort = Serial;
PIOS_Board_Init();
if(User_DFU_request == TRUE)
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100,LED_PWM_TIMER);
if (ProgPort == Serial) {
fifoBuf_init(&ssp_buffer,rx_buffer,UART_BUFFER_SIZE);
STOPWATCH_Init(100,SSP_TIMER);//nao devia ser 1000?
STOPWATCH_Reset(SSP_TIMER);
ssp_Init(&ssp_port, &SSP_PortConfig);
}
PIOS_OPAHRS_ForceSlaveSelected(true);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
while (TRUE) {
if (ProgPort == Serial) {
ssp_ReceiveProcess(&ssp_port);
status=ssp_SendProcess(&ssp_port);
while((status!=SSP_TX_IDLE) && (status!=SSP_TX_ACKED)){
ssp_ReceiveProcess(&ssp_port);
status=ssp_SendProcess(&ssp_port);
}
}
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(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(RED);
else
PIOS_LED_Off(RED);
} else
PIOS_LED_Off(RED);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
JumpToApp = TRUE;
processRX();
DataDownload(start);
}
}
/*--- MAIN -------------------------------------------------------------------*/
int main(void)
{
char temp_char;
uint16_t loop = 1;
uint8_t bootFlag = TRUE;
cli();
/* the following code moves the interrupt vector pointer to the bootloader
section. The problem is the compiler doesn't understand where to put
the IV table. */
GICR = _BV(IVCE);
GICR |= _BV(IVSEL); //move interruptvectors to the Boot sector
/* The slow baud rate is required because of the intel hex parsing overhead.
If I could figure out how to enable interrupts in the BLS (compiler issue)
then a higher speed could be used by switching to an interrupt based
UART ISR. The code could also be optimized. */
SerCom0Init(BAUD_2400); // NOTE, the baud rates are constants defined in
// sercom.h. You need to adjust those constants
// to fit your MCU speed
// poll USART receive complete flag 64k times to catch the 'i' reliably
// test if flash is empty (i.e. flash content is 0xff)
if(pgm_read_byte_near(0x0000) != 0xFF) {
bootFlag = FALSE;
}
do {
if(bit_is_set( UCSRA, RXC))
if( UDR == 'i')
{ bootFlag = TRUE;
PutString0("Boot V ");
PutChar0(VER_HIGH_BYTE);
PutChar0(VER_LOW_BYTE);
PutString0("\r\n");
}
} while(loop++);
/* this main loop is the user 'menu'. */
while(bootFlag)
{
if( Hit0() ) // more necessary for UART code running interrupts
{
temp_char=GetChar0();
switch(temp_char)
{
case 'u': // download new program
{
/* erase the main flash excepting BLS */
buf_address = 0;
while ( APP_END > buf_address )
{
boot_page_erase(buf_address); // Perform page erase
boot_spm_busy_wait(); // Wait until the memory is erased.
buf_address += SPM_PAGESIZE;
}
buf_address = 0;
/* load new program */
PutString0("READY");
if(( temp_char = ihex_load()))
{
PutString0("ERR ");
PutInt0(temp_char);
}
else
{( PutString0("OK") );
bootFlag = FALSE ; // Exit to run
}
}
break;
case 'x': //Exit upgrade
{
GICR = _BV(IVCE);
GICR &= ~_BV(IVSEL); //move interruptvectors to the Application sector
jump_to_app(); // Jump to application sector
// wdt_enable(WDTO_15MS); // Enable Watchdog Timer to give reset
}
break;
default:
{
PutString0("u - Upload or x - Execute\r\n");
}
} // end switch
} // end if( Hit0() )
} // end while(1)
// Start to application
GICR = _BV(IVCE);
GICR &= ~_BV(IVSEL); //move interruptvectors to the Application sector
jump_to_app(); // Jump to application sector
return 0;
}
int main()
{
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
// Make sure the brown out reset value for this chip
// is 2.7 volts
check_bor();
#ifdef PIOS_INCLUDE_USB
USB_connected = PIOS_USB_CheckAvailable(0);
#endif
if (PIOS_IAP_CheckRequest() == true) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = true;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == true) || (User_DFU_request == true);
if (GO_dfu == true) {
if (User_DFU_request == true) {
DeviceState = DFUidle;
} else {
DeviceState = BLidle;
}
} else {
JumpToApp = true;
}
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (true) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == true) {
jump_to_app();
}
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
period1 = 5000;
sweep_steps1 = 100;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default: // error
period1 = 5000;
sweep_steps1 = 100;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
if (stopwatch > 50 * 1000 * 1000) {
stopwatch = 0;
}
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
JumpToApp = true;
}
processRX();
DataDownload(start);
}
}
int
main(void)
{
unsigned timeout = 0;
/* do board-specific initialisation */
board_init();
#if defined(INTERFACE_USART) | defined (INTERFACE_USB)
/* XXX sniff for a USART connection to decide whether to wait in the bootloader? */
timeout = BOOTLOADER_DELAY;
#endif
#ifdef INTERFACE_I2C
# error I2C bootloader detection logic not implemented
#endif
/* if the app left a cookie saying we should wait, then wait */
if (should_wait())
timeout = BOOTLOADER_DELAY;
#ifdef BOARD_FORCE_BL_PIN
/* if the force-BL pin state matches the state of the pin, wait in the bootloader forever */
if (BOARD_FORCE_BL_VALUE == gpio_get(BOARD_FORCE_BL_PORT, BOARD_FORCE_BL_PIN))
timeout = 0xffffffff;
#endif
/* look for the magic wait-in-bootloader value in backup register zero */
/* if we aren't expected to wait in the bootloader, try to boot immediately */
if (timeout == 0) {
/* try to boot immediately */
jump_to_app();
/* if we returned, there is no app; go to the bootloader and stay there */
timeout = 0;
}
/* configure the clock for bootloader activity */
#if defined(INTERFACE_USB)
rcc_clock_setup_in_hsi_out_48mhz();
#else
rcc_clock_setup_in_hsi_out_24mhz();
#endif
/* start the interface */
cinit(BOARD_INTERFACE_CONFIG);
while (1)
{
/* run the bootloader, possibly coming back after the timeout */
bootloader(timeout);
/* look to see if we can boot the app */
jump_to_app();
/* boot failed; stay in the bootloader forever next time */
timeout = 0;
}
}
void ATrst(void)
{
for(uint8_t i=0; i<sizeof(ok); i++) usart0_write(ok[i]);
_delay_ms(50);
jump_to_app();
}
/*--- MAIN -------------------------------------------------------------------*/
int main(void)
{
uint8_t temp_char,tmp;
uint8_t bootFlag = TRUE;
cli();
/* the following code moves the interrupt vector pointer to the bootloader
section. The problem is the compiler doesn't understand where to put
the IV table. */
GICR = _BV(IVCE);
GICR = _BV(IVSEL); //move interruptvectors to the Boot sector ** WRITE 0 TO IVCE use = not |
// Initial 7 Segments on E_io
// Set direction of two switch to Input
DDRB = 0xFF; // Output
DDRC = 0x18; // P3, P4 for Control 7 segments Digits
// Enable pull up resistor
PORTC |= 0x24;
/* The slow baud rate is required because of the intel hex parsing overhead.
If I could figure out how to enable interrupts in the BLS (compiler issue)
then a higher speed could be used by switching to an interrupt based
UART ISR. The code could also be optimized. */
uart_init( UART_INTERRUPT,UART_8_N_1,UART_38400);
// poll USART receive complete flag 64k times to catch the 'i' reliably
// test if flash is empty (i.e. flash content is 0xff)
if(pgm_read_byte_near(0x0000) != 0xFF) {
bootFlag = FALSE;
}
// Enter boot mode by press b
// while (!(tmp = uart_read()));
// if (tmp == 'b')
// bootFlag = TRUE;
// Check SW for enter boot mode either press both SW at the same time
tmp = PINC & (0x24); // PB0, PB3 port
if (!tmp) // Press SW tmp = 0
bootFlag = TRUE;
uart_write_str (VERSION);
// Display b characters
E_OUT_PORTA = 0x7C; // b
E_OUT_PB1(0);
E_OUT_PB2(1);
/* this main loop is the user 'menu'. */
while(bootFlag)
{
if( (tmp = uart_read()) )
{
switch(tmp)
{
case 'u': // download new program
{
/* erase the main flash excepting BLS */
buf_address = 0;
while ( APP_END > buf_address )
{
boot_page_erase(buf_address); // Perform page erase
boot_spm_busy_wait(); // Wait until the memory is erased.
buf_address += SPM_PAGESIZE;
}
buf_address = 0;
/* load new program */
uart_write_str("READY \n");
if(( temp_char = ihex_load()))
{
uart_write_str("ERR ");
uart_write_char(temp_char + '0' );
uart_write_char('\n');
}
else
{
bootFlag = FALSE ; // Exit to run
}
}
break;
case 'x': //Exit upgrade
{
GICR = _BV(IVCE);
GICR &= ~(_BV(IVSEL) | _BV(IVCE)); //move interruptvectors to the Application sector Write 0 to IVCE
jump_to_app(); // Jump to application sector
// wdt_enable(WDTO_15MS); // Enable Watchdog Timer to give reset
}
break;
default:
{
uart_write_str(" u - Upload or x - Execute \n");
}
} // end switch
}
} // end while(1)
// Start to application
GICR = _BV(IVCE);
GICR &= ~(_BV(IVSEL) | _BV(IVCE)); //move interruptvectors to the Application sector Write 0 to IVCE
jump_to_app(); // Jump to application sector
return 0;
}
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;
PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
PIOS_Board_Init();
if(User_DFU_request == TRUE)
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100,LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
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(BLUE);
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(BLUE);
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(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_Off(BLUE);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
JumpToApp = TRUE;
processRX();
DataDownload(start);
}
}
void process_spi_request(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool msg_to_process = FALSE;
PIOS_IRQ_Disable();
/* Figure out if we're in an interesting stable state */
switch (lfsm_get_state()) {
case LFSM_STATE_USER_BUSY:
msg_to_process = TRUE;
break;
case LFSM_STATE_INACTIVE:
/* Queue up a receive buffer */
lfsm_user_set_rx_v0(&user_rx_v0);
lfsm_user_done();
break;
case LFSM_STATE_STOPPED:
/* Get things going */
lfsm_set_link_proto_v0(&link_tx_v0, &link_rx_v0);
break;
default:
/* Not a stable state */
break;
}
PIOS_IRQ_Enable();
if (!msg_to_process) {
/* Nothing to do */
//PIOS_COM_SendFormattedString(PIOS_COM_AUX, ".");
return;
}
if (user_rx_v0.tail.magic != OPAHRS_MSG_MAGIC_TAIL) {
return;
}
switch (user_rx_v0.payload.user.t) {
case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
break;
case OPAHRS_MSG_V0_REQ_RESET:
PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.reset.reset_delay_in_ms);
PIOS_SYS_Reset();
break;
case OPAHRS_MSG_V0_REQ_VERSIONS:
//PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8)
| BOARD_REVISION;
user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_MEM_MAP:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
| (BOARD_WRITABLE << 1));
user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
= bdinfo->fw_size;
user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
= bdinfo->desc_size;
user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
= bdinfo->fw_base;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_SERIAL:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_SERIAL);
PIOS_SYS_SerialNumberGet(
(char *) &(user_tx_v0.payload.user.v.rsp.serial.serial_bcd));
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_STATUS:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_DATA:
PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< bdinfo->fw_base)) {
for (uint8_t x = 0; x
< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
if (FLASH_ProgramWord(
(user_rx_v0.payload.user.v.req.fwup_data.adress
+ ((uint32_t)(x * 4))),
user_rx_v0.payload.user.v.req.fwup_data.data[x])
!= FLASH_COMPLETE) {
boot_status = write_error;
break;
}
}
} else {
boot_status = outside_dev_capabilities;
}
PIOS_LED_Off(LED1);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWDN_DATA:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWDN_DATA);
uint32_t adr = user_rx_v0.payload.user.v.req.fwdn_data.adress;
for (uint8_t x = 0; x < 4; ++x) {
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]
= *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_START:
FLASH_Unlock();
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
PIOS_LED_On(LED1);
if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
boot_status = started;
PIOS_LED_Off(LED1);
} else {
boot_status = start_failed;
break;
}
break;
case OPAHRS_MSG_V0_REQ_BOOT:
PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.boot.boot_delay_in_ms);
FLASH_Lock();
jump_to_app();
break;
default:
break;
}
/* Finished processing the received message, requeue it */
lfsm_user_set_rx_v0(&user_rx_v0);
lfsm_user_done();
return;
}
