flight/targets/boards/nucleof303re/bootloader/main.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup BootLoader
   4  *
   5  * @{
   6  * @file       main.c
   7  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   8  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   9  * @brief      This is the file with the main function of the LibrePilot 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 variables ----------------------------------------------------------*/
  61 DFUStates DeviceState;
  62 int16_t status           = 0;
  63 uint8_t JumpToApp        = FALSE;
  64 uint8_t GO_dfu           = FALSE;
  65 uint8_t USB_connected    = FALSE;
  66 uint8_t User_DFU_request = FALSE;
  67 static uint8_t mReceive_Buffer[63];
  68 /* Private function prototypes -----------------------------------------------*/
  69 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
  70 uint8_t processRX();
  71 void jump_to_app();
  72
  73 int main()
  74 {
  75     PIOS_SYS_Init();
  76     PIOS_Board_Init();
  77     PIOS_IAP_Init();
  78
  79     USB_connected = PIOS_USB_CableConnected(0);
  80
  81     if (PIOS_IAP_CheckRequest() == TRUE) {
  82         PIOS_DELAY_WaitmS(1000);
  83         User_DFU_request = TRUE;
  84         PIOS_IAP_ClearRequest();
  85     }
  86
  87     GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
  88
  89     if (GO_dfu == TRUE) {
  90         PIOS_Board_Init();
  91         if (User_DFU_request == TRUE) {
  92             DeviceState = DFUidle;
  93         } else {
  94             DeviceState = BLidle;
  95         }
  96     } else {
  97         JumpToApp = TRUE;
  98     }
  99
 100     uint32_t stopwatch  = 0;
 101     uint32_t prev_ticks = PIOS_DELAY_GetuS();
 102     while (TRUE) {
 103         /* Update the stopwatch */
 104         uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
 105         prev_ticks += elapsed_ticks;
 106         stopwatch  += elapsed_ticks;
 107
 108         if (JumpToApp == TRUE) {
 109             jump_to_app();
 110         }
 111
 112         switch (DeviceState) {
 113         case Last_operation_Success:
 114         case uploadingStarting:
 115         case DFUidle:
 116             period1 = 5000;
 117             sweep_steps1 = 100;
 118             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 119             period2 = 0;
 120             break;
 121         case uploading:
 122             period1 = 5000;
 123             sweep_steps1 = 100;
 124             period2 = 2500;
 125             sweep_steps2 = 50;
 126             break;
 127         case downloading:
 128             period1 = 2500;
 129             sweep_steps1 = 50;
 130             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 131             period2 = 0;
 132             break;
 133         case BLidle:
 134             period1 = 0;
 135             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 136             period2 = 0;
 137             break;
 138         default: // error
 139             period1 = 5000;
 140             sweep_steps1 = 100;
 141             period2 = 5000;
 142             sweep_steps2 = 100;
 143         }
 144
 145         if (period1 != 0) {
 146             if (LedPWM(period1, sweep_steps1, stopwatch)) {
 147                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 148             } else {
 149                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 150             }
 151         } else {
 152             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 153         }
 154
 155         if (period2 != 0) {
 156             if (LedPWM(period2, sweep_steps2, stopwatch)) {
 157                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 158             } else {
 159                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 160             }
 161         } else {
 162             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 163         }
 164
 165         if (stopwatch > 50 * 1000 * 1000) {
 166             stopwatch = 0;
 167         }
 168         if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) /*|| (DeviceState == DFUidle && !USB_connected)*/)) {
 169             JumpToApp = TRUE;
 170         }
 171
 172         processRX();
 173         DataDownload(start);
 174     }
 175 }
 176
 177 void jump_to_app()
 178 {
 179     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 180
 181     uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000;
 182
 183     // Check for the two possible irqstack locations (sram or core coupled sram)
 184     if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
 185         /* Jump to user application */
 186         FLASH_Lock();
 187         RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 188         RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
 189         RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 190         RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 191
 192         _SetCNTR(0); // clear interrupt mask
 193         _SetISTR(0); // clear all requests
 194
 195         JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
 196         Jump_To_Application = (pFunction)JumpAddress;
 197         /* Initialize user application's Stack Pointer */
 198         __set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
 199         Jump_To_Application();
 200     } else {
 201         DeviceState = failed_jump;
 202         JumpToApp   = FALSE;
 203         return;
 204     }
 205 }
 206 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
 207 {
 208     uint32_t curr_step  = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
 209     uint32_t pwm_duty   = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
 210
 211     uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
 212
 213     if (curr_sweep & 1) {
 214         pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
 215     }
 216     return ((count % pwm_period) > pwm_duty) ? 1 : 0;
 217 }
 218
 219 uint8_t processRX()
 220 {
 221     if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 222         processComand(mReceive_Buffer);
 223     }
 224     return TRUE;
 225 }
 226
 227 int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
 228 {
 229     return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
 230 }