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

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotBL OpenPilot BootLoader
   4  * @brief These files contain the code to the OpenPilot MB 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 OpenPilot 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 <usb_lib.h>
  33 #include <pios_iap.h>
  34 #include <fifo_buffer.h>
  35 #include <pios_com_msg.h>
  36 #include <pios_board_init.h>
  37 #include <pios_board_io.h>
  38
  39 extern void FLASH_Download();
  40 #define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
  41
  42 /* Private typedef -----------------------------------------------------------*/
  43 typedef void (*pFunction)(void);
  44 /* Private define ------------------------------------------------------------*/
  45 /* Private macro -------------------------------------------------------------*/
  46 /* Private variables ---------------------------------------------------------*/
  47 pFunction Jump_To_Application;
  48 uint32_t JumpAddress;
  49
  50 /// LEDs PWM
  51 uint32_t period1 = 5000; // 5 mS
  52 uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
  53 uint32_t period2 = 5000; // 5 mS
  54 uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
  55
  56
  57 ////////////////////////////////////////
  58 uint8_t tempcount = 0;
  59
  60 extern uint32_t pios_com_telem_usb_id;
  61
  62 /* Extern variables ----------------------------------------------------------*/
  63 DFUStates DeviceState;
  64 int16_t status           = 0;
  65 uint8_t JumpToApp        = FALSE;
  66 uint8_t GO_dfu           = FALSE;
  67 uint8_t USB_connected    = FALSE;
  68 uint8_t User_DFU_request = FALSE;
  69 static uint8_t mReceive_Buffer[63];
  70 /* Private function prototypes -----------------------------------------------*/
  71 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
  72 uint8_t processRX();
  73 void jump_to_app();
  74
  75 int main()
  76 {
  77     PIOS_SYS_Init();
  78     PIOS_Board_Init();
  79     PIOS_IAP_Init();
  80
  81     USB_connected = PIOS_USB_CableConnected(0);
  82
  83     if (PIOS_IAP_CheckRequest() == TRUE) {
  84         PIOS_DELAY_WaitmS(1000);
  85         User_DFU_request = TRUE;
  86         PIOS_IAP_ClearRequest();
  87     }
  88
  89     GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
  90
  91     if (GO_dfu == TRUE) {
  92         PIOS_Board_Init();
  93         if (User_DFU_request == TRUE) {
  94             DeviceState = DFUidle;
  95         } else {
  96             DeviceState = BLidle;
  97         }
  98     } else {
  99         JumpToApp = TRUE;
 100     }
 101
 102     uint32_t stopwatch  = 0;
 103     uint32_t prev_ticks = PIOS_DELAY_GetuS();
 104     while (TRUE) {
 105         /* Update the stopwatch */
 106         uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
 107         prev_ticks += elapsed_ticks;
 108         stopwatch  += elapsed_ticks;
 109
 110         if (JumpToApp == TRUE) {
 111             jump_to_app();
 112         }
 113
 114         switch (DeviceState) {
 115         case Last_operation_Success:
 116         case uploadingStarting:
 117         case DFUidle:
 118             period1 = 5000;
 119             sweep_steps1 = 100;
 120             PIOS_LED_Off(PIOS_LED_ALARM);
 121             period2 = 0;
 122             break;
 123         case uploading:
 124             period1 = 5000;
 125             sweep_steps1 = 100;
 126             period2 = 2500;
 127             sweep_steps2 = 50;
 128             break;
 129         case downloading:
 130             period1 = 2500;
 131             sweep_steps1 = 50;
 132             PIOS_LED_Off(PIOS_LED_ALARM);
 133             period2 = 0;
 134             break;
 135         case BLidle:
 136             period1 = 0;
 137             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 138             period2 = 0;
 139             break;
 140         default: // error
 141             period1 = 5000;
 142             sweep_steps1 = 100;
 143             period2 = 5000;
 144             sweep_steps2 = 100;
 145         }
 146
 147         if (period1 != 0) {
 148             if (LedPWM(period1, sweep_steps1, stopwatch)) {
 149                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 150             } else {
 151                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 152             }
 153         } else {
 154             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 155         }
 156
 157         if (period2 != 0) {
 158             if (LedPWM(period2, sweep_steps2, stopwatch)) {
 159                 PIOS_LED_On(PIOS_LED_ALARM);
 160             } else {
 161                 PIOS_LED_Off(PIOS_LED_ALARM);
 162             }
 163         } else {
 164             PIOS_LED_Off(PIOS_LED_ALARM);
 165         }
 166
 167         if (stopwatch > 50 * 1000 * 1000) {
 168             stopwatch = 0;
 169         }
 170         if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
 171                                               == BLidle)) {
 172             JumpToApp = TRUE;
 173         }
 174
 175         processRX();
 176         DataDownload(start);
 177     }
 178 }
 179
 180 void jump_to_app()
 181 {
 182     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 183
 184     if (((*(__IO uint32_t *)bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 185         FLASH_Lock();
 186         RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 187         RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
 188         RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 189         RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 190         _SetCNTR(0); // clear interrupt mask
 191         _SetISTR(0); // clear all requests
 192         JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
 193         Jump_To_Application = (pFunction)JumpAddress;
 194         /* Initialize user application's Stack Pointer */
 195         __set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
 196         Jump_To_Application();
 197     } else {
 198         DeviceState = failed_jump;
 199         return;
 200     }
 201 }
 202 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
 203 {
 204     uint32_t curr_step  = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
 205     uint32_t pwm_duty   = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
 206
 207     uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
 208
 209     if (curr_sweep & 1) {
 210         pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
 211     }
 212     return ((count % pwm_period) > pwm_duty) ? 1 : 0;
 213 }
 214
 215 uint8_t processRX()
 216 {
 217     if (PIOS_COM_MSG_Receive(pios_com_telem_usb_id, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 218         processComand(mReceive_Buffer);
 219     }
 220     return TRUE;
 221 }
 222
 223 int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
 224 {
 225     return PIOS_COM_MSG_Send(pios_com_telem_usb_id, msg, msg_len);
 226 }