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140 lines
3.7 KiB
140 lines
3.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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ArduPilot bootloader. This implements the same protocol originally |
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developed for PX4, but builds on top of the ChibiOS HAL |
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It does not use the full AP_HAL API in order to keep the firmware |
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size below the maximum of 16kByte required for F4 based |
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boards. Instead it uses the ChibiOS APIs directly |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include "ch.h" |
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#include "hal.h" |
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#include "hwdef.h" |
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#include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h> |
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#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h> |
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#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h> |
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#include "support.h" |
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#include "bl_protocol.h" |
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#include "can.h" |
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extern "C" { |
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int main(void); |
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} |
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struct boardinfo board_info; |
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#ifndef HAL_BOOTLOADER_TIMEOUT |
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#define HAL_BOOTLOADER_TIMEOUT 5000 |
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#endif |
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#ifndef HAL_STAY_IN_BOOTLOADER_VALUE |
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#define HAL_STAY_IN_BOOTLOADER_VALUE 0 |
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#endif |
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int main(void) |
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{ |
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board_info.board_type = APJ_BOARD_ID; |
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board_info.board_rev = 0; |
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board_info.fw_size = (BOARD_FLASH_SIZE - FLASH_BOOTLOADER_LOAD_KB)*1024; |
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if (BOARD_FLASH_SIZE > 1024 && check_limit_flash_1M()) { |
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board_info.fw_size = (1024 - FLASH_BOOTLOADER_LOAD_KB)*1024; |
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} |
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bool try_boot = false; |
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uint32_t timeout = HAL_BOOTLOADER_TIMEOUT; |
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#ifdef HAL_BOARD_AP_PERIPH_ZUBAXGNSS |
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// setup remapping register for ZubaxGNSS |
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uint32_t mapr = AFIO->MAPR; |
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mapr &= ~AFIO_MAPR_SWJ_CFG; |
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mapr |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE; |
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AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP; |
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#endif |
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#ifndef NO_FASTBOOT |
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enum rtc_boot_magic m = check_fast_reboot(); |
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if (stm32_was_watchdog_reset()) { |
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try_boot = true; |
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timeout = 0; |
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} else if (m == RTC_BOOT_HOLD) { |
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timeout = 0; |
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} else if (m == RTC_BOOT_FAST) { |
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try_boot = true; |
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timeout = 0; |
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} |
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#if HAL_USE_CAN == TRUE |
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else if ((m & 0xFFFFFF00) == RTC_BOOT_CANBL) { |
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try_boot = false; |
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timeout = 10000; |
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can_set_node_id(m & 0xFF); |
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} |
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if (!can_check_firmware()) { |
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// bad firmware CRC, don't try and boot |
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timeout = 0; |
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try_boot = false; |
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} else if (timeout != 0) { |
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// fast boot for good firmware |
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try_boot = true; |
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timeout = 1000; |
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} |
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#endif |
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// if we fail to boot properly we want to pause in bootloader to give |
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// a chance to load new app code |
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set_fast_reboot(RTC_BOOT_OFF); |
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#endif |
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#ifdef HAL_GPIO_PIN_STAY_IN_BOOTLOADER |
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// optional "stay in bootloader" pin |
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if (palReadLine(HAL_GPIO_PIN_STAY_IN_BOOTLOADER) == HAL_STAY_IN_BOOTLOADER_VALUE) { |
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try_boot = false; |
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timeout = 0; |
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} |
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#endif |
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if (try_boot) { |
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jump_to_app(); |
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} |
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#if defined(BOOTLOADER_DEV_LIST) |
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init_uarts(); |
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#endif |
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#if HAL_USE_CAN == TRUE |
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can_start(); |
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#endif |
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flash_init(); |
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#if defined(BOOTLOADER_DEV_LIST) |
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while (true) { |
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bootloader(timeout); |
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jump_to_app(); |
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} |
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#else |
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// CAN only |
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while (true) { |
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uint32_t t0 = AP_HAL::millis(); |
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while (timeout == 0 || AP_HAL::millis() - t0 <= timeout) { |
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can_update(); |
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chThdSleep(chTimeMS2I(1)); |
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} |
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jump_to_app(); |
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} |
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#endif |
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} |
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