radio/src/loadboot.cpp

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #include "opentx.h"
  22
  23 #if defined(PCBSKY9X)
  24   #include "AT91SAM3S4.h"
  25 #else
  26   #include "targets/taranis/board.h"
  27 #endif
  28
  29 #if defined(PCBTARANIS)
  30 void bwdt_reset()
  31 {
  32   IWDG->KR = 0xAAAA; // reload
  33 }
  34 #endif
  35
  36 #if defined(PCBTARANIS)
  37 // TODO needed?
  38 __attribute__ ((section(".bootrodata"), used))
  39 void _bootStart(void);
  40 #endif
  41
  42 #if defined(PCBTARANIS)
  43 __attribute__ ((section(".isr_boot_vector"), used))
  44 const uint32_t BootVectors[] = {
  45   (uint32_t) &_estack,
  46   (uint32_t) (void (*)(void)) ((unsigned long) &_bootStart) };
  47 #endif
  48
  49 #if defined(PCBTARANIS)
  50 __attribute__ ((section(".bootrodata.*"), used))
  51 #elif defined(PCBSKY9X)
  52 __attribute__ ((section(".bootrodata"), used))
  53 #endif
  54
  55 const uint8_t BootCode[] = {
  56 #include "bootloader.lbm"
  57 };
  58
  59 #if defined(PCBTARANIS)
  60 __attribute__ ((section(".bootrodata"), used))
  61 void _bootStart()
  62 {
  63 #if defined(PCBX9E)
  64   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN | RCC_AHB1ENR_GPIOGEN | RCC_AHB1ENR_GPIODEN;
  65 #else
  66   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN | RCC_AHB1ENR_GPIOEEN | RCC_AHB1ENR_GPIODEN;
  67 #endif
  68
  69   // these two NOPs are needed (see STM32F errata sheet) before the peripheral
  70   // register can be written after the peripheral clock was enabled
  71   __ASM volatile ("nop");
  72   __ASM volatile ("nop");
  73
  74   // Turn soft power ON now, but only if we got started because of the watchdog
  75   // or software reset. If the radio was started by user pressing the power button
  76   // then that button is providing power and we don't need to enable it here.
  77   //
  78   // If we were to turn it on here indiscriminately, then the radio can go into the
  79   // power on/off loop after being powered off by the user. (issue #2790)
  80   if (WAS_RESET_BY_WATCHDOG_OR_SOFTWARE()) {
  81     GPIOD->BSRRL = 1;                                  // set PWR_ON_GPIO_PIN pin to 1
  82     GPIOD->MODER = (GPIOD->MODER & 0xFFFFFFFC) | 1;    // General purpose output mode
  83   }
  84
  85   // TRIMS_GPIO_PIN_LHR is on PG0 on X9E and on PE3 on Taranis
  86   // TRIMS_GPIO_PIN_RHL is on PC1 on all versions
  87   // turn on pull-ups on trim keys
  88   GPIOC->PUPDR = 0x00000004;
  89 #if defined(PCBX9E)
  90   GPIOG->PUPDR = 0x00000001;
  91 #else
  92   GPIOE->PUPDR = 0x00000040;
  93 #endif
  94
  95   // wait for inputs to stabilize
  96   for (uint32_t i = 0; i < 50000; i += 1) {
  97     bwdt_reset();
  98   }
  99
 100   // now the second part of power on sequence
 101   // If we got here and the radio was not started by the watchdog/software reset,
 102   // then we must have a power button pressed. If not then we are in power on/off loop
 103   // and to terminate it, just wait here without turning on PWR pin. The power supply will
 104   // eventually exhaust and the radio will turn off.
 105   if (!WAS_RESET_BY_WATCHDOG_OR_SOFTWARE()) {
 106     // wait here until the power key is pressed
 107     while (GPIOD->IDR & PWR_SWITCH_GPIO_PIN) {
 108       bwdt_reset();
 109     }
 110   }
 111
 112   if (!(TRIMS_GPIO_REG_LHR & TRIMS_GPIO_PIN_LHR) && !(TRIMS_GPIO_REG_RHL & TRIMS_GPIO_PIN_RHL)) {
 113     // Bootloader needed
 114     const uint8_t *src;
 115     uint8_t *dest;
 116     uint32_t size;
 117
 118     bwdt_reset();
 119     size = sizeof(BootCode);
 120     src = BootCode;
 121     dest = (uint8_t *) 0x20000000;
 122
 123     for (; size; size -= 1) {
 124       *dest++ = *src++;
 125     }
 126     // Could check for a valid copy to RAM here
 127     // Go execute bootloader
 128     bwdt_reset();
 129
 130     uint32_t address = *(uint32_t *) 0x20000004;
 131
 132     ((void (*)(void)) (address))();             // Go execute the loaded application
 133   }
 134
 135 // run_application() ;
 136   asm(" mov.w   r1, #134217728");
 137   // 0x8000000
 138   asm(" add.w   r1, #32768");
 139   // 0x8000
 140
 141   asm(" movw    r0, #60680");
 142   // 0xED08
 143   asm(" movt    r0, #57344");
 144   // 0xE000
 145   asm(" str     r1, [r0, #0]");
 146   // Set the VTOR
 147
 148   asm("ldr      r0, [r1, #0]");
 149   // Stack pointer value
 150   asm("msr msp, r0");
 151   // Set it
 152   asm("ldr      r0, [r1, #4]");
 153   // Reset address
 154   asm("mov.w    r1, #1");
 155   asm("orr              r0, r1");
 156   // Set lsbit
 157   asm("bx r0");
 158   // Execute application
 159 }
 160 #endif
 161