/**
* @brief 从保存终端系统参数的存储模块中读取参数保存到全局变量中
* @param[in] none
* @param[out] 存储终端参数的全局变量
* @return unsigned char 0 :SUCCESS else : 错误代码
* @note
*/
int ReadTerminalPara(void)
{
unsigned long checkvalue;
int ret;
if (param_mod_state == 0)
{
ret = param_init(sizeof(TTerminalPara));
if (ret)
{
if (ret == -3 || ret == -4 || ret == -6)
{
ret = param_format(sizeof(TTerminalPara));
if (ret)
{
return ret;
}
}
else
{
return ret;
}
}
param_mod_state = 1;
}
ret = param_read((unsigned char*)&g_param,sizeof(TTerminalPara));
if(ret)
{
return ret;
}
#if 1
//计算校验值是否正确
checkvalue = crc32(0,(unsigned char*)&g_param.line_after_mark,sizeof(TTerminalPara) - 4);
if (g_param.checkvalue != checkvalue)
{
//参数的校验值不对
return 2;
}
// 检查参数是否正确
if ((g_param.endtag[0] != 0x55)||(g_param.endtag[1] != 0xAA)||(g_param.endtag[2] != 0x5A)||(g_param.struct_ver != 1))
{
//参数的结束标记不对
return 3;
}
//检查其余参数是否正确
//@todo....
#endif
return 0;
}
void init_once()
{
_shell_task_id = pthread_self();
//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
work_queues_init();
hrt_work_queue_init();
hrt_init();
param_init();
}
int pbc_param_init_i(pbc_param_ptr p, struct symtab_s *tab) {
param_init(p);
params *param = p->data;
int err = 0;
err += lookup_int(¶m->m, tab, "m");
err += lookup_int(¶m->t, tab, "t");
err += lookup_mpz(param->n, tab, "n");
err += lookup_mpz(param->n2, tab, "n2");
return err;
}
void user_init(void)
{
#ifdef DEBUG
uart_init(115200, 115200);
#endif
INFO("\r\nWelcom to Noduino Open miniK Plug!\r\n");
INFO("Current firmware is user%d.bin\r\n", system_upgrade_userbin_check()+1);
INFO("%s", noduino_banner);
param_init();
led_init();
relay_init();
xkey_init();
// restore the relay status quickly
relay_set_status(param_get_status());
system_init_done_cb(init_yun);
}
static void
agurim_init(void)
{
param_init();
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
#if defined(CONFIG_STM32_BBSRAM)
/* NB. the use of the console requires the hrt running
* to poll the DMA
*/
/* Using Battery Backed Up SRAM */
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
/* Panic Logging in Battery Backed Up Files */
/*
* In an ideal world, if a fault happens in flight the
* system save it to BBSRAM will then reboot. Upon
* rebooting, the system will log the fault to disk, recover
* the flight state and continue to fly. But if there is
* a fault on the bench or in the air that prohibit the recovery
* or committing the log to disk, the things are too broken to
* fly. So the question is:
*
* Did we have a hard fault and not make it far enough
* through the boot sequence to commit the fault data to
* the SD card?
*/
/* Do we have an uncommitted hard fault in BBSRAM?
* - this will be reset after a successful commit to SD
*/
int hadCrash = hardfault_check_status("boot");
if (hadCrash == OK) {
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
" while booting to halt the system!\n");
/* Yes. So add one to the boot count - this will be reset after a successful
* commit to SD
*/
int reboots = hardfault_increment_reboot("boot", false);
/* Also end the misery for a user that holds for a key down on the console */
int bytesWaiting;
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
if (reboots > 2 || bytesWaiting != 0) {
/* Since we can not commit the fault dump to disk. Display it
* to the console.
*/
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
reboots,
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
/* For those of you with a debugger set a break point on up_assert and
* then set dbgContinue = 1 and go.
*/
/* Clear any key press that got us here */
static volatile bool dbgContinue = false;
int c = '>';
while (!dbgContinue) {
switch (c) {
case EOF:
case '\n':
case '\r':
case ' ':
continue;
default:
putchar(c);
putchar('\n');
switch (c) {
case 'D':
case 'd':
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
break;
case 'C':
case 'c':
hardfault_rearm("boot");
hardfault_increment_reboot("boot", true);
break;
case 'B':
case 'b':
dbgContinue = true;
break;
default:
break;
} // Inner Switch
message("\nEnter B - Continue booting\n" \
"Enter C - Clear the fault log\n" \
"Enter D - Dump fault log\n\n?>");
fflush(stdout);
if (!dbgContinue) {
c = getchar();
}
break;
} // outer switch
} // for
} // inner if
} // outer if
#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM
/* initial LED state */
drv_led_start();
led_off(LED_RED);
led_off(LED_GREEN);
led_off(LED_BLUE);
#ifdef CONFIG_SPI
int ret = stm32_spi_bus_initialize();
if (ret != OK) {
board_autoled_on(LED_RED);
return ret;
}
#endif
#ifdef CONFIG_MMCSD
ret = stm32_sdio_initialize();
if (ret != OK) {
board_autoled_on(LED_RED);
return ret;
}
#endif
return OK;
}
const char *param (const char *key) /* {{{ */
{
param_init ();
return (param_get (pl_global, key));
} /* }}} const char *param */
int main(int argc, char *argv[])
{
int rc = 0;
volatile int disassemble = 0;
volatile int flags = 0;
volatile int opened = 0;
char outfname[1044];
FILE * volatile out = stdout;
struct param_state *params = NULL;
param_init(¶ms);
if ((rc = setjmp(errbuf))) {
if (rc == DISPLAY_USAGE)
usage(argv[0]);
if (opened && out)
// Technically there is a race condition here ; we would like to be
// able to remove a file by a stream connected to it, but there is
// apparently no portable way to do this.
remove(outfname);
return EXIT_FAILURE;
}
const struct format *f = &tenyr_asm_formats[0];
int ch;
while ((ch = getopt_long(argc, argv, shortopts, longopts, NULL)) != -1) {
switch (ch) {
case 'd': disassemble = 1; break;
case 'f': if (find_format(optarg, &f)) usage(argv[0]), exit(EXIT_FAILURE); break;
case 'o': out = fopen(strncpy(outfname, optarg, sizeof outfname - 1), "wb"); opened = 1; break;
case 'p': param_add(params, optarg); break;
case 'q': flags |= ASM_QUIET; break;
case 'v': flags |= ASM_VERBOSE; break;
case 'V': puts(version()); return EXIT_SUCCESS;
case 'h':
usage(argv[0]);
return EXIT_FAILURE;
default:
usage(argv[0]);
return EXIT_FAILURE;
}
}
if (optind >= argc)
fatal(DISPLAY_USAGE, "No input files specified on the command line");
#if _WIN32
if (!disassemble)
// ensure we are in binary mode on Windows
if (out == stdout && setmode(1, O_BINARY) == -1)
fatal(0, "Failed to set binary mode on stdout ; use -ofilename to avoid corrupted binaries.");
#endif
for (int i = optind; i < argc; i++) {
FILE *in = NULL;
if (!out)
fatal(PRINT_ERRNO, "Failed to open output file");
if (!strcmp(argv[i], "-")) {
in = stdin;
} else {
in = fopen(argv[i], "rb");
if (!in)
fatal(PRINT_ERRNO, "Failed to open input file `%s'", argv[i]);
}
param_set(params, "assembling", (int[]){ !disassemble }, 1, false, false);
void *ud = NULL;
FILE *stream = disassemble ? in : out;
if (f->init)
if (f->init(stream, params, &ud))
fatal(0, "Error during initialisation for format '%s'", f->name);
if (disassemble) {
// This output might be consumed by a tool that needs a line at a time
setvbuf(out, NULL, _IOLBF, 0);
if (f->in) {
rc = do_disassembly(in, out, f, ud, flags);
} else {
fatal(0, "Format `%s' does not support disassembly", f->name);
}
} else {
if (f->out) {
rc = do_assembly(in, out, f, ud);
} else {
fatal(0, "Format `%s' does not support assembly", f->name);
}
}
if (!rc && f->emit)
rc |= f->emit(stream, &ud);
else if (rc)
remove(outfname); // race condition ?
if (f->fini)
rc |= f->fini(stream, &ud);
fflush(out);
fclose(in);
}
static int set_params(struct pcm *pcm)
{
struct snd_pcm_hw_params *params;
struct snd_pcm_sw_params *sparams;
unsigned long periodSize, bufferSize, reqBuffSize;
unsigned int periodTime, bufferTime;
unsigned int requestedRate = pcm->rate;
int channels = (pcm->flags & PCM_MONO) ? 1 : ((pcm->flags & PCM_5POINT1)? 6 : 2 );
params = (struct snd_pcm_hw_params*) calloc(1, sizeof(struct snd_pcm_hw_params));
if (!params) {
fprintf(stderr, "Aplay:Failed to allocate ALSA hardware parameters!");
return -ENOMEM;
}
param_init(params);
param_set_mask(params, SNDRV_PCM_HW_PARAM_ACCESS,
(pcm->flags & PCM_MMAP)? SNDRV_PCM_ACCESS_MMAP_INTERLEAVED : SNDRV_PCM_ACCESS_RW_INTERLEAVED);
param_set_mask(params, SNDRV_PCM_HW_PARAM_FORMAT, pcm->format);
param_set_mask(params, SNDRV_PCM_HW_PARAM_SUBFORMAT,
SNDRV_PCM_SUBFORMAT_STD);
if (period)
param_set_min(params, SNDRV_PCM_HW_PARAM_PERIOD_BYTES, period);
else
param_set_min(params, SNDRV_PCM_HW_PARAM_PERIOD_TIME, 10);
param_set_int(params, SNDRV_PCM_HW_PARAM_SAMPLE_BITS, 16);
param_set_int(params, SNDRV_PCM_HW_PARAM_FRAME_BITS,
pcm->channels * 16);
param_set_int(params, SNDRV_PCM_HW_PARAM_CHANNELS,
pcm->channels);
param_set_int(params, SNDRV_PCM_HW_PARAM_RATE, pcm->rate);
param_set_hw_refine(pcm, params);
if (param_set_hw_params(pcm, params)) {
fprintf(stderr, "Aplay:cannot set hw params\n");
return -errno;
}
if (debug)
param_dump(params);
pcm->buffer_size = pcm_buffer_size(params);
pcm->period_size = pcm_period_size(params);
pcm->period_cnt = pcm->buffer_size/pcm->period_size;
if (debug) {
fprintf (stderr,"period_cnt = %d\n", pcm->period_cnt);
fprintf (stderr,"period_size = %d\n", pcm->period_size);
fprintf (stderr,"buffer_size = %d\n", pcm->buffer_size);
}
sparams = (struct snd_pcm_sw_params*) calloc(1, sizeof(struct snd_pcm_sw_params));
if (!sparams) {
fprintf(stderr, "Aplay:Failed to allocate ALSA software parameters!\n");
return -ENOMEM;
}
// Get the current software parameters
sparams->tstamp_mode = SNDRV_PCM_TSTAMP_NONE;
sparams->period_step = 1;
sparams->avail_min = pcm->period_size/(channels * 2) ;
sparams->start_threshold = pcm->period_size/(channels * 2) ;
sparams->stop_threshold = pcm->buffer_size ;
sparams->xfer_align = pcm->period_size/(channels * 2) ; /* needed for old kernels */
sparams->silence_size = 0;
sparams->silence_threshold = 0;
if (param_set_sw_params(pcm, sparams)) {
fprintf(stderr, "Aplay:cannot set sw params");
return -errno;
}
if (debug) {
fprintf (stderr,"sparams->avail_min= %lu\n", sparams->avail_min);
fprintf (stderr," sparams->start_threshold= %lu\n", sparams->start_threshold);
fprintf (stderr," sparams->stop_threshold= %lu\n", sparams->stop_threshold);
fprintf (stderr," sparams->xfer_align= %lu\n", sparams->xfer_align);
fprintf (stderr," sparams->boundary= %lu\n", sparams->boundary);
}
return 0;
}
int start(void)
{
int i, result;
printf("mm_init()\n");
result = mm_init();
if (result != 0)
goto error;
printf("param_init()\n");
result = param_init();
if (result != 0)
goto error;
printf("gelic_init()\n");
result = gelic_init();
if (result != 0)
goto error;
printf("gelic_xmit_test()\n");
result = gelic_xmit_test();
if (result != 0)
goto error;
/*
printf("gelic_recv_test()\n");
result = gelic_recv_test();
if (result != 0)
goto error;
*/
/*
printf("dump_lv2()\n");
result = dump_lv2(0x8000000000000000ULL, 64 * 1024 * 1024);
if (result != 0)
goto error;
*/
/*
printf("dump_slb()\n");
result = dump_slb();
if (result != 0)
goto error;
*/
/*
printf("dump_sprg0()\n");
result = dump_sprg0();
if (result != 0)
goto error;
*/
/*
printf("dump_htab()\n");
result = dump_htab();
if (result != 0)
goto error;
*/
/*
printf("dump_stor()\n");
result = dump_stor();
if (result != 0)
goto error;
*/
printf("dump_flash()\n");
result = dump_flash();
if (result != 0)
goto error;
/*
printf("dump_repo_nodes()\n");
result = dump_repo_nodes();
if (result != 0)
goto error;
*/
/*
printf("dump_repo_nodes_spu()\n");
result = dump_repo_nodes_spu();
if (result != 0)
goto error;
*/
/*
printf("dump_profile()\n");
result = dump_profile();
if (result != 0)
goto error;
*/
/*
printf("decrypt_profile()\n");
result = decrypt_profile();
if (result != 0)
goto error;
*/
/*
printf("vuart_sysmgr()\n");
result = vuart_sysmgr();
if (result != 0)
goto error;
*/
/*
printf("vuart_dispmgr()\n");
result = vuart_dispmgr();
if (result != 0)
goto error;
*/
/*
printf("decrypt_usb_dongle_master_key()\n");
result = decrypt_usb_dongle_master_key();
if (result != 0)
goto error;
*/
/*
printf("update_mgr_inspect_pkg()\n");
result = update_mgr_inspect_pkg();
if (result != 0)
goto error;
*/
/*
printf("query_lpar_address()\n");
result = query_lpar_address();
if (result != 0)
goto error;
*/
/*
printf("decrypt_pkg()\n");
result = decrypt_pkg();
if (result != 0)
goto error;
*/
return 0;
error:
return -1;
}
int main(void)
{
int i, result;
result = mm_init();
if (result != 0)
goto error;
result = param_init();
if (result != 0)
goto error;
result = gelic_init();
if (result != 0)
goto error;
patch_dispmgr();
/*
result = gelic_xmit_test();
if (result != 0)
goto error;
*/
/*
result = gelic_recv_test();
if (result != 0)
goto error;
*/
/*
result = dump_lv2(0x8000000000000000ULL, 8 * 1024 * 1024);
if (result != 0)
goto error;
*/
/*
result = dump_slb();
if (result != 0)
goto error;
*/
/*
result = dump_sprg0();
if (result != 0)
goto error;
*/
/*
result = dump_htab();
if (result != 0)
goto error;
*/
/*
result = dump_stor();
if (result != 0)
goto error;
*/
/*
result = dump_flash();
if (result != 0)
goto error;
*/
/*
result = dump_repo_nodes();
if (result != 0)
goto error;
*/
/*
result = dump_repo_nodes_spu();
if (result != 0)
goto error;
*/
/*
result = dump_profile();
if (result != 0)
goto error;
*/
/*
result = decrypt_profile();
if (result != 0)
goto error;
*/
/*
result = vuart_sysmgr();
if (result != 0)
goto error;
*/
/*
result = vuart_dispmgr();
if (result != 0)
goto error;
*/
/*
result = decrypt_usb_dongle_master_key();
if (result != 0)
goto error;
*/
/*
result = update_mgr_qa_flag();
if (result != 0)
goto error;
*/
/*
result = update_mgr_get_token_seed();
if (result != 0)
goto error;
*/
/*
result = update_mgr_set_token();
if (result != 0)
goto error;
*/
/*
result = update_mgr_inspect_pkg();
if (result != 0)
goto error;
*/
/*
result = query_lpar_address();
if (result != 0)
goto error;
*/
/*
result = update_mgr_calc_token();
if (result != 0)
goto error;
*/
/*
result = update_mgr_verify_token();
if (result != 0)
goto error;
*/
/*
result = decrypt_pkg();
if (result != 0)
goto error;
*/
/*
result = decrypt_self();
if (result != 0)
goto error;
*/
/*
result = dump_hvcall99_param();
if (result != 0)
goto error;
*/
/*
result = decrypt_npdrm();
if (result != 0)
goto error;
*/
/*
result = self_decrypter_hook();
if (result != 0)
goto error;
*/
/*
result = decrypt_game();
if (result != 0)
goto error;
*/
/*
result = decrypt_lv2_direct();
if (result != 0)
goto error;
*/
/*
result = decrypt_lv2_direct_355();
if (result != 0)
goto error;
*/
/*
result = usb_dongle_auth();
if (result != 0)
goto error;
*/
/*
result = product_mode_off();
if (result != 0)
goto error;
*/
/*
result = decrypt_self_direct();
if (result != 0)
goto error;
*/
/*
result = decrypt_self_direct_355();
if (result != 0)
goto error;
*/
/*
result = vuart_hook();
if (result != 0)
goto error;
*/
/*
result = stor_hook();
if (result != 0)
goto error;
*/
/*
result = hvcall209_hook();
if (result != 0)
goto error;
*/
/*
result = dump_lpar_ra();
if (result != 0)
goto error;
*/
/*
result = hv_mmap_exploit();
if (result != 0)
goto error;
*/
/*
result = dump_lv1();
if (result != 0)
goto error;
*/
/*
result = sc_mgr_read_eprom();
if (result != 0)
goto error;
*/
/*
result = sc_mgr_get_region_data();
if (result != 0)
goto error;
*/
/*
result = sc_mgr_get_sc_status();
if (result != 0)
goto error;
*/
/*
result = sc_mgr_get_srh();
if (result != 0)
goto error;
*/
/*
result = aim_get_device_type();
if (result != 0)
goto error;
*/
/*
result = aim_get_device_id();
if (result != 0)
goto error;
*/
/*
result = aim_get_ps_code();
if (result != 0)
goto error;
*/
/*
result = aim_get_open_ps_id();
if (result != 0)
goto error;
*/
/*
result = decrypt_profile_direct();
if (result != 0)
goto error;
*/
/*
result = sc_iso_sc_binary_patch();
if (result != 0)
goto error;
*/
/*
result = sc_iso_get_sc_status();
if (result != 0)
goto error;
*/
/*
result = sc_iso_get_property();
if (result != 0)
goto error;
*/
/*
result = sb_iso_get_rnd();
if (result != 0)
goto error;
*/
/*
result = sb_iso_encdec_key();
if (result != 0)
goto error;
*/
/*
result = edec_kgen1();
if (result != 0)
goto error;
*/
/*
result = store_file_on_flash();
if (result != 0)
goto error;
*/
/*
result = replace_lv2();
if (result != 0)
goto error;
*/
result = dump_dev_flash();
if (result != 0)
goto error;
return 0;
done:
lv1_panic(0);
return 0;
error:
lv1_panic(1);
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi3 = px4_spibus_initialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI3 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi3, 10000000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
up_udelay(20);
/* Get the SPI port for the FRAM */
spi4 = px4_spibus_initialize(4);
if (!spi4) {
message("[boot] FAILED to initialize SPI port 4\n");
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI4 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi4, 12 * 1000 * 1000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3);
SPI_SELECT(spi4, SPIDEV_FLASH(0), false);
return OK;
}
void pbc_param_init_i_gen(pbc_param_ptr par, int group_size) {
param_init(par);
params *p = par->data;
if (group_size <= 150) {
p->m = 97;
p->t = 12;
mpz_set_str(p->n, "2726865189058261010774960798134976187171462721", 10);
mpz_set_str(p->n2, "7", 10);
} else if (group_size <= 206) {
p->m = 199;
p->t = 164;
mpz_set_str(p->n, "167725321489096000055336949742738378351010268990525380470313869", 10);
mpz_set_str(p->n2, "527874953560391326545598291952743", 10);
} else if (group_size <= 259) {
p->m = 235;
p->t = 26;
mpz_set_str(p->n, "1124316700897695330265827797088699345032488681307846555184025129863722718180241", 10);
mpz_set_str(p->n2, "11819693021332914275777073321995059", 10);
} else if (group_size <= 316) {
p->m = 385;
p->t = 22;
mpz_set_str(p->n, "140884762419712839999909157778648717913595360839856026704744558309545986970238264714753014287541", 10);
mpz_set_str(p->n2, "34899486997246711147841377458771182755186809219564106252058066150110543296498189654810187", 10);
} else if (group_size <= 376) {
p->m = 337;
p->t = 30;
mpz_set_str(p->n, "250796519030408069744426774377542635685621984993105288007781750196791322190409525696108840742205849171229571431053", 10);
mpz_set_str(p->n2, "245777055088325363697128811262733732423405120899", 10);
} else if (group_size <= 430) {
p->m = 373;
p->t = 198;
mpz_set_str(p->n, "2840685307599487500956683789051368080919805957805957356540760731597378326586402072132959867084691357708217739285576524329854284197", 10);
mpz_set_str(p->n2, "3256903458766749542151641063558247849550904613763", 10);
} else if (group_size <= 484) {
p->m = 395;
p->t = 338;
mpz_set_str(p->n, "80172097064154181257340545445945701478615643539554910656655431171167598268341527430200810544156625333601812351266052856520678455274751591367269291", 10);
mpz_set_str(p->n2, "3621365590261279902324876775553649595261567", 10);
} else if (group_size <= 552) {
p->m = 433;
p->t = 120;
mpz_set_str(p->n, "15699907553631673835088720676147779193076555382157913339177784853763686462870506492752576492212322736133645158157557950634628006965882177348385366381692092784577773463", 10);
mpz_set_str(p->n2, "24980791723059119877470531054938874784049", 10);
} else if (group_size <= 644) {
p->m = 467;
p->t = 48;
mpz_set_str(p->n, "108220469499363631995525712756135494735252733492048868417164002000654321383482753640072319529019505742300964525569770933946381504691909098938045089999753901375631613294579329433690943459352138231", 10);
mpz_set_str(p->n2, "60438898450096967424971813347", 10);
} else if (group_size <= 696) {
p->m = 503;
p->t = 104;
mpz_set_str(p->n, "545523657676112447260904563578912738373307867219686215849632469801471112426878939776725222290437653718473962733760874627315930933126581248465899651120481066111839081575164964589811985885719017214938514563804313", 10);
mpz_set_str(p->n2, "1799606423432800810122901025413", 10);
} else if (group_size <= 803) {
p->m = 509;
p->t = 358;
mpz_set_str(p->n, "102239946202586852409809887418093021457150612495255706614733003327526279081563687830782748305746187060264985869283524441819589592750998086186315250781067131293823177124077445718802216415539934838376431091001197641295264650596195201747790167311", 10);
mpz_set_str(p->n2, "7", 10);
} else if (group_size <= 892) {
p->m = 617;
p->t = 88;
mpz_set_str(p->n, "57591959284219511220590893724691916802833742568034971006633345422620650391172287893878655658086794200963521584019889327992536532560877385225451713282279597074750857647455565899702728629166541223955196002755787520206774906606158388947359746178875040401304783332742806641", 10);
mpz_set_str(p->n2, "42019638181715250622338241", 10);
} else
pbc_die("unsupported group size");
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
#if defined(CONFIG_STM32_BBSRAM)
/* NB. the use of the console requires the hrt running
* to poll the DMA
*/
/* Using Battery Backed Up SRAM */
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
/* Panic Logging in Battery Backed Up Files */
/*
* In an ideal world, if a fault happens in flight the
* system save it to BBSRAM will then reboot. Upon
* rebooting, the system will log the fault to disk, recover
* the flight state and continue to fly. But if there is
* a fault on the bench or in the air that prohibit the recovery
* or committing the log to disk, the things are too broken to
* fly. So the question is:
*
* Did we have a hard fault and not make it far enough
* through the boot sequence to commit the fault data to
* the SD card?
*/
/* Do we have an uncommitted hard fault in BBSRAM?
* - this will be reset after a successful commit to SD
*/
int hadCrash = hardfault_check_status("boot");
if (hadCrash == OK) {
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
" while booting to halt the system!\n");
/* Yes. So add one to the boot count - this will be reset after a successful
* commit to SD
*/
int reboots = hardfault_increment_reboot("boot", false);
/* Also end the misery for a user that holds for a key down on the console */
int bytesWaiting;
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
if (reboots > 2 || bytesWaiting != 0) {
/* Since we can not commit the fault dump to disk. Display it
* to the console.
*/
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
reboots,
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
/* For those of you with a debugger set a break point on up_assert and
* then set dbgContinue = 1 and go.
*/
/* Clear any key press that got us here */
static volatile bool dbgContinue = false;
int c = '>';
while (!dbgContinue) {
switch (c) {
case EOF:
case '\n':
case '\r':
case ' ':
continue;
default:
putchar(c);
putchar('\n');
switch (c) {
case 'D':
case 'd':
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
break;
case 'C':
case 'c':
hardfault_rearm("boot");
hardfault_increment_reboot("boot", true);
break;
case 'B':
case 'b':
dbgContinue = true;
break;
default:
break;
} // Inner Switch
message("\nEnter B - Continue booting\n" \
"Enter C - Clear the fault log\n" \
"Enter D - Dump fault log\n\n?>");
fflush(stdout);
if (!dbgContinue) {
c = getchar();
}
break;
} // outer switch
} // for
} // inner if
} // outer if
#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi4 = px4_spibus_initialize(4);
if (!spi4) {
message("[boot] FAILED to initialize SPI port 4\n");
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI4 to 10MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi4, 10000000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3);
SPI_SELECT(spi4, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi4, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi4, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi4, PX4_SPIDEV_MPU, false);
up_udelay(20);
/* Get the SPI port for the FRAM */
spi1 = stm32_spibus_initialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, SPIDEV_FLASH, false);
spi2 = px4_spibus_initialize(2);
/* Default SPI2 to 10MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, PX4_SPIDEV_EXT0, false);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
#endif
return OK;
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* configure ADC pins */
/* configure power supply control/sense pins */
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* initial LED state */
drv_led_start();
led_on(LED_AMBER);
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi0 = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi0) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi0, 10000000);
SPI_SETBITS(spi0, 8);
SPI_SETMODE(spi0, SPIDEV_MODE3);
SPI_SELECT(spi0, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi0, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi0, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi0, PX4_SPIDEV_MPU, false);
up_udelay(20);
#if defined(CONFIG_SAMV7_SPI1_MASTER)
spi1 = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
/* Default SPI4 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_EXT0, false);
SPI_SELECT(spi1, PX4_SPIDEV_EXT1, false);
#endif
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
#endif
return OK;
}
