ardupilot/Tools/AP_Bootloader/AP_Bootloader.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  ArduPilot bootloader. This implements the same protocol originally
  developed for PX4, but builds on top of the ChibiOS HAL

  It does not use the full AP_HAL API in order to keep the firmware
  size below the maximum of 16kByte required for F4 based
  boards. Instead it uses the ChibiOS APIs directly
 */

#include <AP_HAL/AP_HAL.h>
#include "ch.h"
#include "hal.h"
#include "hwdef.h"
#include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#include "support.h"
#include "bl_protocol.h"

extern "C" {
    int main(void);
}

struct boardinfo board_info;

#ifndef HAL_BOOTLOADER_TIMEOUT
#define HAL_BOOTLOADER_TIMEOUT 5000
#endif

int main(void)
{
    board_info.board_type = APJ_BOARD_ID;
    board_info.board_rev = 0;
    board_info.fw_size = (BOARD_FLASH_SIZE - FLASH_BOOTLOADER_LOAD_KB)*1024;
    if (BOARD_FLASH_SIZE > 1024 && check_limit_flash_1M()) {
        board_info.fw_size = (1024 - FLASH_BOOTLOADER_LOAD_KB)*1024;        
    }

    bool try_boot = false;
    uint32_t timeout = HAL_BOOTLOADER_TIMEOUT;

    enum rtc_boot_magic m = check_fast_reboot();
    if (m == RTC_BOOT_HOLD) {
        timeout = 0;
    } else if (m == RTC_BOOT_FAST) {
        try_boot = true;
        timeout = 0;
    }
    
    // if we fail to boot properly we want to pause in bootloader to give
    // a chance to load new app code
    set_fast_reboot(RTC_BOOT_OFF);

    if (try_boot) {
        jump_to_app();
    }

    init_uarts();
    flash_init();
    
    while (true) {
        bootloader(timeout);
        jump_to_app();
    }
}