mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 18:51:36 +08:00
can-gps-v1:canbootloader Fixed
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
3e08fd6682
commit
85bd04f0c7
@@ -32,6 +32,7 @@
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############################################################################
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############################################################################
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if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
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if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
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add_library(drivers_board
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add_library(drivers_board
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boot_config.h
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boot_config.h
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boot.c
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boot.c
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@@ -65,7 +65,7 @@ __EXPORT void stm32_boardinitialize(void)
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putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
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putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
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stm32_configgpio(GPIO_CAN1_RX);
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stm32_configgpio(GPIO_CAN1_RX);
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stm32_configgpio(GPIO_CAN1_TX);
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stm32_configgpio(GPIO_CAN1_TX);
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stm32_configgpio(GPIO_CAN_CTRL);
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stm32_configgpio(GPIO_CAN1_SILENT_S0);
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putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
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putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
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putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
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putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
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@@ -1,185 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/init.h>
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#include <nuttx/arch.h>
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#include <nuttx/kmalloc.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <syslog.h>
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#include <errno.h>
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#include <nuttx/board.h>
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#include "up_internal.h"
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volatile dq_queue_t g_readytorun;
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void timer_init(void);
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int __wrap_up_svcall(int irq, FAR void *context);
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/****************************************************************************
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* Name: os_start
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*
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* Description:
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* This function hijacks the entry point of the OS. Normally called by the
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* statup code for a given architecture
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*
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****************************************************************************/
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#ifdef CONFIG_STACK_COLORATION
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inline static void irq_stack_collor(void *pv, unsigned int nwords)
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{
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#ifdef CONFIG_ARCH_INTERRUPTSTACK
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/* Set the Interrupt stack to the stack coloration value then jump to
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* os_start(). We take extreme care here because were currently
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* executing on this stack.
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*
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* We want to avoid sneak stack access generated by the compiler.
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*/
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__asm__ __volatile__
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(
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"\tmov r0, %[addr]\n" /* R0 = Address */
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"\tmovs r1, %[nwords]\n" /* R1 = nbyts*/
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"\tbeq 2f\n" /* (should not happen) */
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"\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */
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"\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */
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"\tmovt r2, #0xdead\n"
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"1:\n" /* Top of the loop */
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"\tsub r1, r1, #1\n" /* R1 nwords-- */
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"\tcmp r1, #0\n" /* Check (nwords == 0) */
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"\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */
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"\tbne 1b\n" /* Bottom of the loop */
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"2:\n"
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:
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: [addr]"r"(pv), [nwords]"r"(nwords) /* Address*/
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: /* No clobbers */
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);
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#endif
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}
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#endif
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void os_start(void)
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{
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#ifdef CONFIG_STACK_COLORATION
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/* Color the irq stack */
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irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK / sizeof(uint32_t));
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#endif
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/* Initialize the timer software subsystem */
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timer_init();
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/* Initialize the interrupt subsystem */
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up_irqinitialize();
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#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
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!defined(CONFIG_SYSTEMTICK_EXTCLK)
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/* Initialize the OS's timer subsystem */
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arm_timer_initialize();
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#endif
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/* Keep the compiler happy for a no return function */
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while (1) {
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main(0, 0);
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}
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}
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/****************************************************************************
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* Name: malloc
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*
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* Description:
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* This function hijacks the OS's malloc and provides no allocation
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*
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****************************************************************************/
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FAR void *malloc(size_t size)
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{
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return NULL;
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}
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/****************************************************************************
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* Name: malloc
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*
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* Description:
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* This function hijacks the systems exit
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*
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****************************************************************************/
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void exit(int status)
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{
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while (1);
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}
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/****************************************************************************
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* Name: sched_ufree
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*
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* Description:
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* This function hijacks the systems sched_ufree that my be called during
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* exception processing.
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*
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****************************************************************************/
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void sched_ufree(FAR void *address)
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{
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}
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/****************************************************************************
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* Name: up_svcall
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*
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* Description:
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* This function hijacks by the way of a compile time wrapper the systems
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* up_svcall
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*
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****************************************************************************/
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int __wrap_up_svcall(int irq, FAR void *context)
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{
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return 0;
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}
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