ardupilot/Tools/AP_Bootloader/AP_Bootloader.cpp

85 lines
2.3 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"
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 (stm32_was_watchdog_reset()) {
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 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();
}
}