示例#1
0
/**
 * @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;
}
示例#2
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);
	}
}
示例#3
0
文件: main.c 项目: Crash1/TauLabs
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);
	}
}
示例#4
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) {
		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);
	}
}
示例#5
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);
    }
}
示例#6
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);
	}
}