From 85bd04f0c7be2a409d416ae2066443d8e555480d Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Tue, 12 Jan 2021 14:46:37 -0800 Subject: [PATCH] can-gps-v1:canbootloader Fixed --- boards/cuav/can-gps-v1/src/CMakeLists.txt | 1 + boards/cuav/can-gps-v1/src/boot.c | 2 +- boards/cuav/can-gps-v1/src/ostubs.c | 185 ---------------------- 3 files changed, 2 insertions(+), 186 deletions(-) delete mode 100644 boards/cuav/can-gps-v1/src/ostubs.c diff --git a/boards/cuav/can-gps-v1/src/CMakeLists.txt b/boards/cuav/can-gps-v1/src/CMakeLists.txt index 1df4cdf1a2..d9bcb21516 100644 --- a/boards/cuav/can-gps-v1/src/CMakeLists.txt +++ b/boards/cuav/can-gps-v1/src/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") + add_library(drivers_board boot_config.h boot.c diff --git a/boards/cuav/can-gps-v1/src/boot.c b/boards/cuav/can-gps-v1/src/boot.c index 71574145d4..1cd2fdc4dd 100644 --- a/boards/cuav/can-gps-v1/src/boot.c +++ b/boards/cuav/can-gps-v1/src/boot.c @@ -65,7 +65,7 @@ __EXPORT void stm32_boardinitialize(void) putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR); stm32_configgpio(GPIO_CAN1_RX); stm32_configgpio(GPIO_CAN1_TX); - stm32_configgpio(GPIO_CAN_CTRL); + stm32_configgpio(GPIO_CAN1_SILENT_S0); putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); diff --git a/boards/cuav/can-gps-v1/src/ostubs.c b/boards/cuav/can-gps-v1/src/ostubs.c deleted file mode 100644 index ac1637013e..0000000000 --- a/boards/cuav/can-gps-v1/src/ostubs.c +++ /dev/null @@ -1,185 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ -#ifdef CONFIG_STACK_COLORATION -inline static void irq_stack_collor(void *pv, unsigned int nwords) -{ -#ifdef CONFIG_ARCH_INTERRUPTSTACK - /* Set the Interrupt stack to the stack coloration value then jump to - * os_start(). We take extreme care here because were currently - * executing on this stack. - * - * We want to avoid sneak stack access generated by the compiler. - */ - - __asm__ __volatile__ - ( - "\tmov r0, %[addr]\n" /* R0 = Address */ - "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/ - "\tbeq 2f\n" /* (should not happen) */ - - "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */ - "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */ - "\tmovt r2, #0xdead\n" - - "1:\n" /* Top of the loop */ - "\tsub r1, r1, #1\n" /* R1 nwords-- */ - "\tcmp r1, #0\n" /* Check (nwords == 0) */ - "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */ - "\tbne 1b\n" /* Bottom of the loop */ - - "2:\n" - : - : [addr]"r"(pv), [nwords]"r"(nwords) /* Address*/ - : /* No clobbers */ - - ); -#endif -} -#endif - -void os_start(void) -{ -#ifdef CONFIG_STACK_COLORATION - /* Color the irq stack */ - irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK / sizeof(uint32_t)); -#endif - - /* Initialize the timer software subsystem */ - timer_init(); - - /* Initialize the interrupt subsystem */ - up_irqinitialize(); - - -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - /* Initialize the OS's timer subsystem */ - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - while (1) { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -}