void mainLoop(void)
{
bool resetToFw = false;
static CrtpPacket crtpPacket;
static bool stmStarted = false;
while(!resetToFw) {
EsbPacket *packet;
buttonProcess();
if (buttonGetState() != buttonIdle) {
resetToFw = true;
}
if ((stmStarted == false) && (nrf_gpio_pin_read(UART_RX_PIN))) {
nrf_gpio_cfg_input(UART_RTS_PIN, NRF_GPIO_PIN_NOPULL);
uartInit();
stmStarted = true;
}
if (cstate != connect_ble) {
packet = esbGetRxPacket();
if (packet != NULL) {
if ( ((packet->size >= 2) &&
(packet->data[0]==0xff) &&
(packet->data[1]==0xff)) ||
((packet->size >= 2) &&
(packet->data[0]==0xff) &&
(packet->data[1]==0xfe))
) {
// Disable Bluetooth advertizing when receiving a bootloader SB packet
if (cstate == connect_idle) {
//sd_ble_gap_adv_stop();
cstate = connect_sb;
}
}
// If we are connected SB, the packet is read and used
if (cstate == connect_sb) {
memcpy(crtpPacket.raw, packet->data, packet->size);
crtpPacket.datalen = packet->size-1;
}
esbReleaseRxPacket(packet);
}
}
if (cstate != connect_sb) {
if (bleCrazyfliesIsPacketReceived()) {
cstate = connect_ble;
packet = bleCrazyfliesGetRxPacket();
memcpy(crtpPacket.raw, packet->data, packet->size);
crtpPacket.datalen = packet->size-1;
bleCrazyfliesReleaseRxPacket(packet);
}
}
if (crtpPacket.datalen != 0xffu) {
struct syslinkPacket slPacket;
slPacket.type = SYSLINK_RADIO_RAW;
memcpy(slPacket.data, crtpPacket.raw, crtpPacket.datalen+1);
slPacket.length = crtpPacket.datalen+1;
if (bootloaderProcess(&crtpPacket) == false) {
// Send packet to stm32
syslinkSend(&slPacket);
crtpPacket.datalen = 0xFFU;
// If packet received from stm32, send it back
if (syslinkReceive(&slPacket)) {
if (slPacket.type == SYSLINK_RADIO_RAW) {
memcpy(crtpPacket.raw, slPacket.data, slPacket.length);
crtpPacket.datalen = slPacket.length-1;
}
}
}
}
if (crtpPacket.datalen != 0xFFU) {
if (cstate == connect_sb) {
EsbPacket *pk = esbGetTxPacket();
if (pk) {
memcpy(pk->data, crtpPacket.raw, crtpPacket.datalen+1);
pk->size = crtpPacket.datalen+1;
esbSendTxPacket(pk);
}
} else if (cstate == connect_ble) {
static EsbPacket pk;
memcpy(pk.data, crtpPacket.raw, crtpPacket.datalen+1);
pk.size = crtpPacket.datalen+1;
bleCrazyfliesSendPacket(&pk);
}
}
crtpPacket.datalen = 0xFFU;
// Blink the LED
if (NRF_TIMER1->EVENTS_COMPARE[0]) {
NRF_TIMER1->EVENTS_COMPARE[0] = 0;
#ifndef DEBUG_TIMESLOT
NRF_GPIOTE->TASKS_OUT[0] = 1;
#endif
}
}
//Set bit 0x20 forces boot to firmware
NRF_POWER->GPREGRET |= 0x20U;
sd_nvic_SystemReset();
while(1);
}
int main()
{
GPIO_InitTypeDef gpioInit = {0};
struct syslinkPacket slPacket;
struct crtpPacket_s packet;
unsigned int ledGreenTime=0;
unsigned int ledRedTime = 0;
unsigned int ledBlueTime = 0;
/* Detecting if we need to boot firmware or DFU bootloader */
bootpinInit();
if (bootpinStartFirmware() == true) {
if (*((uint32_t*)FIRMWARE_START) != 0xFFFFFFFFU) {
void (*firmware)(void) __attribute__((noreturn)) = (void *)(*(uint32_t*)(FIRMWARE_START+4));
bootpinDeinit();
// Start firmware
NVIC_SetVectorTable(FIRMWARE_START, 0);
__set_MSP(*((uint32_t*)FIRMWARE_START));
firmware();
}
} else if (bootpinNrfReset() == true) {
void (*bootloader)(void) __attribute__((noreturn)) = (void *)(*(uint32_t*)(SYSTEM_BASE+4));
bootpinDeinit();
// Start bootloader
NVIC_SetVectorTable(SYSTEM_BASE, 0);
__set_MSP(*((uint32_t*)SYSTEM_BASE));
bootloader();
}
bootpinDeinit();
/* Booting CRTP Bootloader! */
SystemInit();
uartInit();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
gpioInit.GPIO_Pin = GPIO_Pin_2;
gpioInit.GPIO_Mode = GPIO_Mode_OUT;
GPIO_Init(GPIOD, &gpioInit);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
gpioInit.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_0;
gpioInit.GPIO_Mode = GPIO_Mode_OUT;
GPIO_Init(GPIOC, &gpioInit);
GPIO_WriteBit(GPIOC, GPIO_Pin_0, 1);
GPIO_WriteBit(GPIOC, GPIO_Pin_1, 1);
SysTick->LOAD = (SystemCoreClock/8)/1000; // Set systick to overflow every 1ms
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk | SysTick_CTRL_TICKINT_Msk;
NVIC_EnableIRQ(SysTick_IRQn);
// Blue LED ON by default
GPIO_WriteBit(GPIOD, GPIO_Pin_2, 1);
while(1) {
if (syslinkReceive(&slPacket)) {
if (slPacket.type == SYSLINK_RADIO_RAW) {
memcpy(packet.raw, slPacket.data, slPacket.length);
packet.datalen = slPacket.length-1;
ledGreenTime = tick;
GPIO_WriteBit(GPIOC, GPIO_Pin_1, 0);
if (bootloaderProcess(&packet)) {
ledRedTime = tick;
GPIO_WriteBit(GPIOC, GPIO_Pin_0, 0);
memcpy(slPacket.data, packet.raw, packet.datalen+1);
slPacket.length = packet.datalen+1;
syslinkSend(&slPacket);
}
}
}
if (ledGreenTime!=0 && tick-ledGreenTime>10) {
GPIO_WriteBit(GPIOC, GPIO_Pin_1, 1);
ledGreenTime = 0;
}
if (ledRedTime!=0 && tick-ledRedTime>10) {
GPIO_WriteBit(GPIOC, GPIO_Pin_0, 1);
ledRedTime = 0;
}
if ((tick-ledBlueTime)>500) {
if (GPIO_ReadInputDataBit(GPIOD, GPIO_Pin_2)) {
GPIO_WriteBit(GPIOD, GPIO_Pin_2, 0);
} else {
GPIO_WriteBit(GPIOD, GPIO_Pin_2, 1);
}
ledBlueTime = tick;
}
}
return 0;
}