dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

board_common:Add board_configure_reset and board_booted_by_px4 API

This commit is contained in:
David Sidrane 2021-02-10 08:28:48 -08:00 committed by Daniel Agar
parent 7a6ed0281b
commit 8943644566
2 changed files with 110 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
platforms/common/include/px4_platform_common/board_common.h
View File

@ -587,6 +587,51 @@ int board_power_off(int status);
int board_reset(int status);
#endif
/****************************************************************************
* Name: board_configure_reset
*
* Description:
* Configures the device that maintains the state shared by the
* application and boot loader. This is usually an RTC.
*
* Input Parameters:
* mode - The type of reset. See reset_mode_e
*
* Returned Value:
* 0 for Success
* 1 if invalid argument
*
****************************************************************************/
#ifdef CONFIG_BOARDCTL_RESET
typedef enum reset_mode_e {
BOARD_RESET_MODE_CLEAR = 0, /* Clear the mode */
BOARD_RESET_MODE_BOOT_TO_BL = 1, /* Reboot and stay in the bootloader */
BOARD_RESET_MODE_BOOT_TO_VALID_APP = 2, /* Reboot to a valid app or stay in bootloader */
BOARD_RESET_MODE_CAN_BL = 3, /* Used to pass a node ID and stay in the can bootloader */
BOARD_RESET_MODE_RTC_BOOT_FWOK = 4 /* Set by a a watch dogged application after running > 30 Seconds */
} reset_mode_e;
int board_configure_reset(reset_mode_e mode, uint32_t arg);
#endif
/****************************************************************************
* Name: board_booted_by_px4
*
* Description:
* Determines if the the boot loader was PX4
*
* Input Parameters:
* none
*
* Returned Value:
* true if booted byt a PX4 bootloader.
*
****************************************************************************/
bool board_booted_by_px4(void);
/************************************************************************************
* Name: board_query_manifest
*

74
platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp
View File

@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
#include <stm32_pwr.h>
#include <stm32_rtc.h>
@ -45,20 +46,53 @@
#ifdef CONFIG_BOARDCTL_RESET
static int board_reset_enter_bootloader()
/****************************************************************************
* Name: board_configure_reset
*
* Description:
* Configures the device that maintains the state shared by the
* application and boot loader. This is usually an RTC.
*
* Input Parameters:
* mode - The type of reset. See reset_mode_e
*
* Returned Value:
* 0 for Success
* 1 if invalid argument
*
****************************************************************************/
static const uint32_t modes[] = {
/* to tb */
/* BOARD_RESET_MODE_CLEAR 5 y */ 0,
/* BOARD_RESET_MODE_BOOT_TO_BL 0 n */ 0xb0070001,
/* BOARD_RESET_MODE_BOOT_TO_VALID_APP 0 y */ 0xb0070002,
/* BOARD_RESET_MODE_CAN_BL 10 n */ 0xb0080000,
/* BOARD_RESET_MODE_RTC_BOOT_FWOK 0 n */ 0xb0093a26
};
int board_configure_reset(reset_mode_e mode, uint32_t arg)
{
stm32_pwr_enablebkp(true);
int rv = -1;
uint32_t regvalue = 0xb007b007;
if (mode < arraySize(modes)) {
stm32_pwr_enablebkp(true);
arg = mode == BOARD_RESET_MODE_CAN_BL ? arg & ~0xff : 0;
// Check if we can to use the new register definition
// Check if we can to use the new register definition
#ifndef STM32_RTC_BK0R
*(uint32_t *)STM32_BKP_BASE = regvalue;
*(uint32_t *)STM32_BKP_BASE = modes[mode] | arg;
#else
*(uint32_t *)STM32_RTC_BK0R = regvalue;
*(uint32_t *)STM32_RTC_BK0R = modes[mode] | arg;
#endif
stm32_pwr_enablebkp(false);
return OK;
stm32_pwr_enablebkp(false);
rv = OK;
}
return rv;
}
/****************************************************************************
@ -84,7 +118,7 @@ static int board_reset_enter_bootloader()
int board_reset(int status)
{
if (status == 1) {
board_reset_enter_bootloader();
board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
}
#if defined(BOARD_HAS_ON_RESET)
@ -96,3 +130,25 @@ int board_reset(int status)
}
#endif /* CONFIG_BOARDCTL_RESET */
/****************************************************************************
* Name: board_booted_by_px4
*
* Description:
* Determines if the the boot loader was PX4
*
* Input Parameters:
* none
*
* Returned Value:
* true if booted byt a PX4 bootloader.
*
****************************************************************************/
bool board_booted_by_px4(void)
{
uint32_t *vectors = (uint32_t *) STM32_FLASH_BASE;
/* Nuttx uses common vector */
return (vectors[2] == vectors[3]) && (vectors[4] == vectors[5]);
}