flight/targets/boards/discoveryf4bare/bootloader/main.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup RevolutionBL Revolution BootLoader
   4  * @brief These files contain the code to the Revolution Bootloader.
   5  *
   6  * @{
   7  * @file       main.c
   8  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   9  * @brief      This is the file with the main function of the Revolution BootLoader
  10  * @see        The GNU Public License (GPL) Version 3
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #include <pios.h>
  30 #include <pios_board_info.h>
  31 #include <op_dfu.h>
  32 #include <pios_iap.h>
  33 #include <fifo_buffer.h>
  34 #include <pios_com_msg.h>
  35 #include <pios_usbhook.h> /* PIOS_USBHOOK_* */
  36 #include <stdbool.h>
  37 #include <pios_board_init.h>
  38
  39 extern void FLASH_Download();
  40 void check_bor();
  41 #define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
  42
  43 /* Private typedef -----------------------------------------------------------*/
  44 typedef void (*pFunction)(void);
  45 /* Private define ------------------------------------------------------------*/
  46 /* Private macro -------------------------------------------------------------*/
  47 /* Private variables ---------------------------------------------------------*/
  48 pFunction Jump_To_Application;
  49 uint32_t JumpAddress;
  50
  51 /// LEDs PWM
  52 uint32_t period1 = 5000; // 5 mS
  53 uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
  54 uint32_t period2 = 5000; // 5 mS
  55 uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
  56
  57
  58 ////////////////////////////////////////
  59 uint8_t tempcount = 0;
  60
  61 /* Extern variables ----------------------------------------------------------*/
  62 DFUStates DeviceState;
  63 int16_t status        = 0;
  64 bool JumpToApp        = false;
  65 bool GO_dfu           = false;
  66 bool USB_connected    = false;
  67 bool User_DFU_request = false;
  68 static uint8_t mReceive_Buffer[63];
  69 /* Private function prototypes -----------------------------------------------*/
  70 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
  71 uint8_t processRX();
  72 void jump_to_app();
  73
  74 int main()
  75 {
  76     PIOS_SYS_Init();
  77     PIOS_Board_Init();
  78     PIOS_IAP_Init();
  79
  80     // Make sure the brown out reset value for this chip
  81     // is 2.7 volts
  82     check_bor();
  83
  84     USB_connected = PIOS_USB_CheckAvailable(0);
  85
  86     if (PIOS_IAP_CheckRequest() == true) {
  87         PIOS_DELAY_WaitmS(1000);
  88         User_DFU_request = true;
  89         PIOS_IAP_ClearRequest();
  90     }
  91
  92     GO_dfu = (USB_connected == true) || (User_DFU_request == true);
  93
  94     if (GO_dfu == true) {
  95         if (User_DFU_request == true) {
  96             DeviceState = DFUidle;
  97         } else {
  98             DeviceState = BLidle;
  99         }
 100     } else {
 101         JumpToApp = true;
 102     }
 103
 104     uint32_t stopwatch  = 0;
 105     uint32_t prev_ticks = PIOS_DELAY_GetuS();
 106     while (true) {
 107         /* Update the stopwatch */
 108         uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
 109         prev_ticks += elapsed_ticks;
 110         stopwatch  += elapsed_ticks;
 111
 112         if (JumpToApp == true) {
 113             jump_to_app();
 114         }
 115
 116         switch (DeviceState) {
 117         case Last_operation_Success:
 118         case uploadingStarting:
 119         case DFUidle:
 120             period1 = 5000;
 121             sweep_steps1 = 100;
 122             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 123             period2 = 0;
 124             break;
 125         case uploading:
 126             period1 = 5000;
 127             sweep_steps1 = 100;
 128             period2 = 2500;
 129             sweep_steps2 = 50;
 130             break;
 131         case downloading:
 132             period1 = 2500;
 133             sweep_steps1 = 50;
 134             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 135             period2 = 0;
 136             break;
 137         case BLidle:
 138             period1 = 0;
 139             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 140             period2 = 0;
 141             break;
 142         default: // error
 143             period1 = 5000;
 144             sweep_steps1 = 100;
 145             period2 = 5000;
 146             sweep_steps2 = 100;
 147         }
 148
 149         if (period1 != 0) {
 150             if (LedPWM(period1, sweep_steps1, stopwatch)) {
 151                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 152             } else {
 153                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 154             }
 155         } else {
 156             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 157         }
 158
 159         if (period2 != 0) {
 160             if (LedPWM(period2, sweep_steps2, stopwatch)) {
 161                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 162             } else {
 163                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 164             }
 165         } else {
 166             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 167         }
 168
 169         if (stopwatch > 50 * 1000 * 1000) {
 170             stopwatch = 0;
 171         }
 172         if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
 173             JumpToApp = true;
 174         }
 175
 176         processRX();
 177         DataDownload(start);
 178     }
 179 }
 180
 181 void jump_to_app()
 182 {
 183     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 184
 185     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 186     // Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
 187     uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000;
 188     // Check for the two possible irqstack locations (sram or core coupled sram)
 189     if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
 190         /* Jump to user application */
 191         FLASH_Lock();
 192         RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 193         RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
 194         RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 195         RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 196
 197         PIOS_USBHOOK_Deactivate();
 198
 199         JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
 200         Jump_To_Application = (pFunction)JumpAddress;
 201         /* Initialize user application's Stack Pointer */
 202         __set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
 203         Jump_To_Application();
 204     } else {
 205         DeviceState = failed_jump;
 206         return;
 207     }
 208 }
 209 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
 210 {
 211     uint32_t curr_step  = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
 212     uint32_t pwm_duty   = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
 213
 214     uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
 215
 216     if (curr_sweep & 1) {
 217         pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
 218     }
 219     return ((count % pwm_period) > pwm_duty) ? 1 : 0;
 220 }
 221
 222 uint8_t processRX()
 223 {
 224     if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 225         processComand(mReceive_Buffer);
 226     }
 227     return true;
 228 }
 229
 230 /**
 231  * Check the brown out reset threshold is 2.7 volts and if not
 232  * resets it.  This solves an issue that can prevent boards
 233  * powering up with some BEC
 234  */
 235 void check_bor()
 236 {
 237     uint8_t bor = FLASH_OB_GetBOR();
 238
 239     if (bor != OB_BOR_LEVEL3) {
 240         FLASH_OB_Unlock();
 241         FLASH_OB_BORConfig(OB_BOR_LEVEL3);
 242         FLASH_OB_Launch();
 243         while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
 244             ;
 245         }
 246         FLASH_OB_Lock();
 247         while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
 248             ;
 249         }
 250     }
 251 }
 252
 253 int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
 254 {
 255     return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
 256 }