mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 16:38:30 -04:00
c1ef2e29d7
if the app has not been running for at least 30s then stay in bootloader to allow used to load new fw
152 lines
4.1 KiB
C++
152 lines
4.1 KiB
C++
/*
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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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#include <stdio.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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bool was_watchdog = stm32_was_watchdog_reset();
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if (was_watchdog) {
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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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can_check_update();
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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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if (was_watchdog && m != RTC_BOOT_FWOK) {
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// we've had a watchdog within 30s of booting main CAN
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// firmware. We will stay in bootloader to allow the user to
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// load a fixed firmware
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stm32_watchdog_clear_reason();
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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 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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