mirror of https://github.com/ArduPilot/ardupilot
152 lines
4.1 KiB
C++
152 lines
4.1 KiB
C++
/*
|
|
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 <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
|
|
#include "support.h"
|
|
#include "bl_protocol.h"
|
|
#include "can.h"
|
|
#include <stdio.h>
|
|
|
|
extern "C" {
|
|
int main(void);
|
|
}
|
|
|
|
struct boardinfo board_info;
|
|
|
|
#ifndef HAL_BOOTLOADER_TIMEOUT
|
|
#define HAL_BOOTLOADER_TIMEOUT 5000
|
|
#endif
|
|
|
|
#ifndef HAL_STAY_IN_BOOTLOADER_VALUE
|
|
#define HAL_STAY_IN_BOOTLOADER_VALUE 0
|
|
#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;
|
|
|
|
#ifdef HAL_BOARD_AP_PERIPH_ZUBAXGNSS
|
|
// setup remapping register for ZubaxGNSS
|
|
uint32_t mapr = AFIO->MAPR;
|
|
mapr &= ~AFIO_MAPR_SWJ_CFG;
|
|
mapr |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
|
|
AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP;
|
|
#endif
|
|
|
|
#ifndef NO_FASTBOOT
|
|
enum rtc_boot_magic m = check_fast_reboot();
|
|
bool was_watchdog = stm32_was_watchdog_reset();
|
|
if (was_watchdog) {
|
|
try_boot = true;
|
|
timeout = 0;
|
|
} else if (m == RTC_BOOT_HOLD) {
|
|
timeout = 0;
|
|
} else if (m == RTC_BOOT_FAST) {
|
|
try_boot = true;
|
|
timeout = 0;
|
|
}
|
|
#if HAL_USE_CAN == TRUE
|
|
else if ((m & 0xFFFFFF00) == RTC_BOOT_CANBL) {
|
|
try_boot = false;
|
|
timeout = 10000;
|
|
can_set_node_id(m & 0xFF);
|
|
}
|
|
can_check_update();
|
|
if (!can_check_firmware()) {
|
|
// bad firmware CRC, don't try and boot
|
|
timeout = 0;
|
|
try_boot = false;
|
|
} else if (timeout != 0) {
|
|
// fast boot for good firmware
|
|
try_boot = true;
|
|
timeout = 1000;
|
|
}
|
|
if (was_watchdog && m != RTC_BOOT_FWOK) {
|
|
// we've had a watchdog within 30s of booting main CAN
|
|
// firmware. We will stay in bootloader to allow the user to
|
|
// load a fixed firmware
|
|
stm32_watchdog_clear_reason();
|
|
try_boot = false;
|
|
timeout = 0;
|
|
}
|
|
#endif
|
|
|
|
// 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);
|
|
#endif
|
|
|
|
#ifdef HAL_GPIO_PIN_STAY_IN_BOOTLOADER
|
|
// optional "stay in bootloader" pin
|
|
if (palReadLine(HAL_GPIO_PIN_STAY_IN_BOOTLOADER) == HAL_STAY_IN_BOOTLOADER_VALUE) {
|
|
try_boot = false;
|
|
timeout = 0;
|
|
}
|
|
#endif
|
|
|
|
if (try_boot) {
|
|
jump_to_app();
|
|
}
|
|
|
|
#if defined(BOOTLOADER_DEV_LIST)
|
|
init_uarts();
|
|
#endif
|
|
#if HAL_USE_CAN == TRUE
|
|
can_start();
|
|
#endif
|
|
flash_init();
|
|
|
|
#if defined(BOOTLOADER_DEV_LIST)
|
|
while (true) {
|
|
bootloader(timeout);
|
|
jump_to_app();
|
|
}
|
|
#else
|
|
// CAN only
|
|
while (true) {
|
|
uint32_t t0 = AP_HAL::millis();
|
|
while (timeout == 0 || AP_HAL::millis() - t0 <= timeout) {
|
|
can_update();
|
|
chThdSleep(chTimeMS2I(1));
|
|
}
|
|
jump_to_app();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
|