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HAL_ChibiOS: added support for RTC sig for fast boot

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This commit is contained in:
Andrew Tridgell 2018-06-27 18:46:34 +10:00
parent a3e44b3249
commit 2b7b499c63
3 changed files with 49 additions and 1 deletions
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5
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -32,6 +32,7 @@
#include <DataFlash/DataFlash.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "hwdef/common/stm32_util.h"
#include "shared_dma.h"
#include "sdcard.h"
@ -232,7 +233,6 @@ void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_u
_failsafe = failsafe;
}
extern void Reset_Handler();
void Scheduler::reboot(bool hold_in_bootloader)
{
// disarm motors to ensure they are off during a bootloader upload
@ -245,6 +245,9 @@ void Scheduler::reboot(bool hold_in_bootloader)
// stop sdcard driver, if active
sdcard_stop();
// setup RTC for fast reboot
set_fast_reboot(hold_in_bootloader?RTC_BOOT_HOLD:RTC_BOOT_FAST);
// disable all interrupt sources
port_disable();

33
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
View File

@ -218,3 +218,36 @@ uint32_t get_fattime()
return fattime;
}
// get RTC backup register 0
static uint32_t get_rtc_backup0(void)
{
return RTC->BKP0R;
}
// set RTC backup register 0
static void set_rtc_backup0(uint32_t v)
{
if ((RCC->BDCR & RCC_BDCR_RTCEN) == 0) {
RCC->BDCR |= STM32_RTCSEL;
RCC->BDCR |= RCC_BDCR_RTCEN;
}
#ifdef PWR_CR_DBP
PWR->CR |= PWR_CR_DBP;
#else
PWR->CR1 |= PWR_CR1_DBP;
#endif
RTC->BKP0R = v;
}
// see if RTC registers is setup for a fast reboot
enum rtc_boot_magic check_fast_reboot(void)
{
return (enum rtc_boot_magic)get_rtc_backup0();
}
// set RTC register for a fast reboot
void set_fast_reboot(enum rtc_boot_magic v)
{
set_rtc_backup0(v);
}

12
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
View File

@ -52,6 +52,18 @@ uint32_t get_fattime(void);
#define OTP_BASE 0x1ff0f000
#define OTP_SIZE 1024
#endif
enum rtc_boot_magic {
RTC_BOOT_OFF = 0,
RTC_BOOT_HOLD = 0xb0070001,
RTC_BOOT_FAST = 0xb0070002
};
// see if RTC registers is setup for a fast reboot
enum rtc_boot_magic check_fast_reboot(void);
// set RTC register for a fast reboot
void set_fast_reboot(enum rtc_boot_magic v);
#ifdef __cplusplus
}