flight/targets/boards/revolution/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 #include <pios_board_io.h>
  39
  40 extern void FLASH_Download();
  41 void check_bor();
  42 #define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
  43
  44 /* Private typedef -----------------------------------------------------------*/
  45 typedef void (*pFunction)(void);
  46 /* Private define ------------------------------------------------------------*/
  47 /* Private macro -------------------------------------------------------------*/
  48 /* Private variables ---------------------------------------------------------*/
  49 pFunction Jump_To_Application;
  50 uint32_t JumpAddress;
  51
  52 /// LEDs PWM
  53 uint32_t period1 = 5000; // 5 mS
  54 uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
  55 uint32_t period2 = 5000; // 5 mS
  56 uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
  57
  58
  59 ////////////////////////////////////////
  60 uint8_t tempcount = 0;
  61
  62 /* Extern variables ----------------------------------------------------------*/
  63 DFUStates DeviceState;
  64 int16_t status        = 0;
  65 bool JumpToApp        = false;
  66 bool GO_dfu           = false;
  67 bool USB_connected    = false;
  68 bool 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     // Make sure the brown out reset value for this chip
  82     // is 2.7 volts
  83     check_bor();
  84
  85     USB_connected = PIOS_USB_CableConnected(0);
  86
  87     if (PIOS_IAP_CheckRequest() == true) {
  88         PIOS_DELAY_WaitmS(1000);
  89         User_DFU_request = true;
  90         PIOS_IAP_ClearRequest();
  91     }
  92
  93     GO_dfu = (USB_connected == true) || (User_DFU_request == true);
  94
  95     if (GO_dfu == true) {
  96         if (User_DFU_request == true) {
  97             DeviceState = DFUidle;
  98         } else {
  99             DeviceState = BLidle;
 100         }
 101     } else {
 102         JumpToApp = true;
 103     }
 104
 105     uint32_t stopwatch  = 0;
 106     uint32_t prev_ticks = PIOS_DELAY_GetuS();
 107     while (true) {
 108         /* Update the stopwatch */
 109         uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
 110         prev_ticks += elapsed_ticks;
 111         stopwatch  += elapsed_ticks;
 112
 113         if (JumpToApp == true) {
 114             jump_to_app();
 115         }
 116
 117         switch (DeviceState) {
 118         case Last_operation_Success:
 119         case uploadingStarting:
 120         case DFUidle:
 121             period1 = 5000;
 122             sweep_steps1 = 100;
 123             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 124             period2 = 0;
 125             break;
 126         case uploading:
 127             period1 = 5000;
 128             sweep_steps1 = 100;
 129             period2 = 2500;
 130             sweep_steps2 = 50;
 131             break;
 132         case downloading:
 133             period1 = 2500;
 134             sweep_steps1 = 50;
 135             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 136             period2 = 0;
 137             break;
 138         case BLidle:
 139             period1 = 0;
 140             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 141             period2 = 0;
 142             break;
 143         default: // error
 144             period1 = 5000;
 145             sweep_steps1 = 100;
 146             period2 = 5000;
 147             sweep_steps2 = 100;
 148         }
 149
 150         if (period1 != 0) {
 151             if (LedPWM(period1, sweep_steps1, stopwatch)) {
 152                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 153             } else {
 154                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 155             }
 156         } else {
 157             PIOS_LED_On(PIOS_LED_HEARTBEAT);
 158         }
 159
 160         if (period2 != 0) {
 161             if (LedPWM(period2, sweep_steps2, stopwatch)) {
 162                 PIOS_LED_On(PIOS_LED_HEARTBEAT);
 163             } else {
 164                 PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 165             }
 166         } else {
 167             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 168         }
 169
 170         if (stopwatch > 50 * 1000 * 1000) {
 171             stopwatch = 0;
 172         }
 173         if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
 174             JumpToApp = true;
 175         }
 176
 177         processRX();
 178         DataDownload(start);
 179     }
 180 }
 181
 182 void jump_to_app()
 183 {
 184     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 185
 186     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 187     // Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
 188     uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000;
 189     // Check for the two possible irqstack locations (sram or core coupled sram)
 190     if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
 191         /* Jump to user application */
 192         FLASH_Lock();
 193         RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 194         RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
 195         RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 196         RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 197
 198         PIOS_USBHOOK_Deactivate();
 199
 200         JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
 201         Jump_To_Application = (pFunction)JumpAddress;
 202         /* Initialize user application's Stack Pointer */
 203         __set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
 204         Jump_To_Application();
 205     } else {
 206         DeviceState = failed_jump;
 207         return;
 208     }
 209 }
 210 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
 211 {
 212     uint32_t curr_step  = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
 213     uint32_t pwm_duty   = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
 214
 215     uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
 216
 217     if (curr_sweep & 1) {
 218         pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
 219     }
 220     return ((count % pwm_period) > pwm_duty) ? 1 : 0;
 221 }
 222
 223 uint8_t processRX()
 224 {
 225     if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 226         processComand(mReceive_Buffer);
 227     }
 228     return true;
 229 }
 230
 231 /**
 232  * Check the brown out reset threshold is 2.7 volts and if not
 233  * resets it.  This solves an issue that can prevent boards
 234  * powering up with some BEC
 235  */
 236 void check_bor()
 237 {
 238     uint8_t bor = FLASH_OB_GetBOR();
 239
 240     if (bor != OB_BOR_LEVEL3) {
 241         FLASH_OB_Unlock();
 242         FLASH_OB_BORConfig(OB_BOR_LEVEL3);
 243         FLASH_OB_Launch();
 244         while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
 245             ;
 246         }
 247         FLASH_OB_Lock();
 248         while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
 249             ;
 250         }
 251     }
 252 }
 253
 254 int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
 255 {
 256     return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
 257 }