void
main(void) {
GPIO_OFF(E_NRST);
unstick_i2c();
GPIO_ON(E_NRST);
setup_clocks((int)info_get(boot_table, INFO_HSE_FREQ));
iwdg_start(4, 0xFFF);
watchdog_main = watchdog_net = 5;
ASSERT(xTaskCreate(main_thread, "main", MAIN_STACK_SIZE, NULL,
THREAD_PRIO_MAIN, &thread_main));
vTaskStartScheduler();
}
PinName port_pin(PortName port, int pin_n) {
MBED_ASSERT((port <= Port7) && (pin_n < 32));
int offset = 0;
// Lookup table only maps pins 0 to 15
if (pin_n > 15) {
return NC;
}
// Lookup SCU offset
if (port < Port4) {
offset = _scu_off[port][pin_n];
} else {
offset = _scu_off2[port - Port4][pin_n];
offset = ((offset & 0xf0) << 1) | (offset & 0x0f);
}
// Return pin name
return (PinName)((offset << 18) | GPIO_OFF(port, pin_n));
}
static void
main_thread(void *pdata) {
QueueSetHandle_t qs;
QueueSetMemberHandle_t active;
ASSERT((qs = xQueueCreateSet(SERIAL_RX_SIZE * 3)));
serial_start(cli_serial, 115200, qs);
serial_start(&Serial4, 57600, qs);
serial_start(&Serial5, cfg.gps_baud_rate ? cfg.gps_baud_rate : 57600, qs);
cli_set_output(cli_serial);
log_start(cli_serial);
cl_enabled = 1;
load_eeprom();
cfg.flags &= ~FLAG_HOLDOVER_TEST;
if (cfg.flags & FLAG_GPSEXT) {
gps_serial = &Serial5;
} else {
gps_serial = &Serial4;
}
if (!cfg.holdover) {
cfg.holdover = 60;
}
if (!cfg.loopstats_interval) {
cfg.loopstats_interval = 60;
}
ppscapture_start();
vtimer_start();
tcpip_start();
test_reset();
cli_banner();
if (!(cfg.flags & FLAG_GPSEXT)) {
ublox_configure();
if (HAS_FEATURE(PPSEN) && (cfg.flags & FLAG_PPSEN)) {
GPIO_OFF(PPSEN);
}
}
cl_enabled = 0;
while (1) {
watchdog_main = 5;
active = xQueueSelectFromSet(qs, pdMS_TO_TICKS(1000));
if (active == cli_serial->rx_q) {
int16_t val = serial_get(cli_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
cli_feed(val);
} else if (active == gps_serial->rx_q) {
int16_t val = serial_get(gps_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
gps_byte_received(val);
if (cfg.flags & FLAG_GPSOUT) {
char tmp = val;
serial_write(&Serial5, &tmp, 1);
}
#if 0
} else if (active == Serial5.rx_q) {
char tmp = serial_get(&Serial5, TIMEOUT_NOBLOCK);
serial_write(&Serial4, &tmp, 1);
#endif
}
}
}
static void
try_flash(void) {
int16_t rc;
FIL fp;
UINT nread;
const char *errmsg;
static uint8_t buf[512];
SPI3_Dev.cs_pad = SDIO_CS_PAD;
SPI3_Dev.cs_pin = SDIO_CS_PNUM;
spi_start(&SPI3_Dev, 0);
mmc_start();
GPIO_OFF(SDIO_PDOWN);
vTaskDelay(pdMS_TO_TICKS(100));
serial_puts(&Serial1, "Bootloader version: " VERSION "\r\n");
rc = mmc_connect();
if (rc == EERR_OK) {
serial_puts(&Serial1, "SD connected\r\n");
} else if (rc == EERR_TIMEOUT) {
serial_puts(&Serial1, "Timed out waiting for SD\r\n");
return;
} else {
serial_puts(&Serial1, "Failed to connect to SD\r\n");
return;
}
serial_puts(&Serial1, "Mounting SD filesystem\r\n");
if (f_mount(0, &MMC_FS) != FR_OK) {
serial_puts(&Serial1, "ERROR: Unable to mount filesystem\r\n");
return;
}
serial_puts(&Serial1, "Opening file " MMC_FIRMWARE_FILENAME "\r\n");
if (f_open(&fp, MMC_FIRMWARE_FILENAME, FA_READ) != FR_OK) {
serial_puts(&Serial1, "Error opening file, maybe it does not exist\r\n");
return;
}
serial_puts(&Serial1, "Comparing file to current flash contents\r\n");
bootloader_start();
while (bootloader_status == BLS_FLASHING) {
if (f_read(&fp, buf, sizeof(buf), &nread) != FR_OK) {
serial_puts(&Serial1, "Error reading file\r\n");
break;
}
if (nread == 0) {
serial_puts(&Serial1, "Error: premature end of file\r\n");
break;
}
errmsg = bootloader_feed(buf, nread);
if (errmsg != NULL) {
serial_puts(&Serial1, "Error flashing firmware: ");
serial_puts(&Serial1, errmsg);
serial_puts(&Serial1, "\r\n");
break;
}
}
if (bootloader_status == BLS_DONE) {
if (bootloader_was_changed()) {
serial_puts(&Serial1, "New firmware successfully loaded\r\n");
} else {
serial_puts(&Serial1, "Firmware is up-to-date\r\n");
}
} else {
serial_puts(&Serial1, "ERROR: Reset to try again or load last known good firmware\r\n");
HALT();
}
}
