boot.c
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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 <px4_config.h>
#include <stdint.h>
#include "boot_config.h"
#include "board.h"
#include <debug.h>
#include <string.h>
#include <arch/board/board.h>
#include <nuttx/board.h>
#include "led.h"
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__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_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);
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
#endif
}
/************************************************************************************
* Name: board_deinitialize
*
* Description:
* This function is called by the bootloader code prior to booting
* the application. Is should place the HW into an benign initialized state.
*
************************************************************************************/
void board_deinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
}
/****************************************************************************
* Name: board_get_product_name
*
* Description:
* Called to retrieve the product name. The returned value is a assumed
* to be written to a pascal style string that will be length prefixed
* and not null terminated
*
* Input Parameters:
* product_name - A pointer to a buffer to write the name.
* maxlen - The maximum number of charter that can be written
*
* Returned Value:
* The length of characters written to the buffer.
*
****************************************************************************/
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
{
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
}
/****************************************************************************
* Name: board_get_hardware_version
*
* Description:
* Called to retrieve the hardware version information. The function
* will first initialize the the callers struct to all zeros.
*
* Input Parameters:
* hw_version - A pointer to a uavcan_hardwareversion_t.
*
* Returned Value:
* Length of the unique_id
*
****************************************************************************/
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
{
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
hw_version->major = HW_VERSION_MAJOR;
hw_version->minor = HW_VERSION_MINOR;
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
}
/****************************************************************************
* Name: board_indicate
*
* Description:
* Provides User feedback to indicate the state of the bootloader
* on board specific hardware.
*
* Input Parameters:
* indication - A member of the uiindication_t
*
* Returned Value:
* None
*
****************************************************************************/
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
typedef begin_packed_struct struct led_t {
uint8_t red;
uint8_t green;
uint8_t blue;
uint8_t hz;
} end_packed_struct led_t;
static const led_t i2l[] = {
led(0, off, 0, 0, 0, 0),
led(1, reset, 128, 128, 128, 30),
led(2, autobaud_start, 0, 128, 0, 1),
led(3, autobaud_end, 0, 128, 0, 2),
led(4, allocation_start, 0, 0, 64, 2),
led(5, allocation_end, 0, 128, 64, 3),
led(6, fw_update_start, 32, 128, 64, 3),
led(7, fw_update_erase_fail, 32, 128, 32, 3),
led(8, fw_update_invalid_response, 64, 0, 0, 1),
led(9, fw_update_timeout, 64, 0, 0, 2),
led(a, fw_update_invalid_crc, 64, 0, 0, 4),
led(b, jump_to_app, 0, 128, 0, 10),
};
void board_indicate(uiindication_t indication)
{
rgb_led(i2l[indication].red,
i2l[indication].green,
i2l[indication].blue,
i2l[indication].hz);
}