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Uavcan bootloader Starts Watchdog for Application

This commit is contained in:
David Sidrane 2021-01-29 06:59:53 -08:00 committed by Daniel Agar
parent 77d0eae40b
commit ef29ed7db3
2 changed files with 27 additions and 3 deletions
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1
platforms/nuttx/src/canbootloader/CMakeLists.txt
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@ -48,4 +48,5 @@ target_compile_options(canbootloader PRIVATE -Wno-error)
target_link_libraries(canbootloader
PRIVATE
drivers_bootloaders
arch_watchdog_iwdg
)

29
platforms/nuttx/src/canbootloader/uavcan/main.c
View File

@ -57,6 +57,7 @@
#include "random.h"
#include <drivers/bootloaders/boot_app_shared.h>
#include <drivers/drv_watchdog.h>
#include <lib/systemlib/crc.h>
//#define DEBUG_APPLICATION_INPLACE 1 /* Never leave defined */
@ -108,7 +109,7 @@ bootloader_t bootloader;
const uint8_t debug_log_source[uavcan_byte_count(LogMessage, source)] = {'B', 'o', 'o', 't'};
/****************************************************************************
* Name: start_the_watch_dog
* Name: early_start_the_watch_dog
*
* Description:
* This function will start the hardware watchdog. Once stated the code must
@ -122,11 +123,32 @@ const uint8_t debug_log_source[uavcan_byte_count(LogMessage, source)] = {'B', 'o
*
****************************************************************************/
static inline void start_the_watch_dog(void)
static inline void early_start_the_watch_dog(void)
{
#ifdef OPT_ENABLE_WD
#endif
}
/****************************************************************************
* Name: app_start_the_watch_dog
*
* Description:
* This function will start the hardware watchdog. Once stated the code must
* kick it before it time out a reboot will occur.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
static inline void app_start_the_watch_dog(void)
{
watchdog_init();
watchdog_pet();
}
/****************************************************************************
* Name: kick_the_watch_dog
*
@ -943,6 +965,7 @@ static void application_run(size_t fw_image_size, bootloader_app_shared_t *commo
putreg32(APPLICATION_LOAD_ADDRESS, NVIC_VECTAB);
__asm volatile("dsb");
/* extract the stack and entrypoint from the app vector table and go */
app_start_the_watch_dog();
do_jump(fw_image[0], fw_image[1]);
}
}
@ -1014,7 +1037,7 @@ __EXPORT int main(int argc, char *argv[])
flash_error_t status;
bootloader_app_shared_t common;
start_the_watch_dog();
early_start_the_watch_dog();
/* Begin with all data zeroed */
memset((void *)&bootloader, 0, sizeof(bootloader));