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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Intial Commit PX4 FMUV6RT
nxp/rt117x:Fix Pin IRQ
nxp/rt117x:Support 4 i2c busses
nxp/rt117x:Add px4io_serial support
nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4
px4_fmu-6xrt:Using imxrt_flexspi_nor_octal
px4_fmu-6xrt:Entry is start
px4_fmu-6xrt:Add Proper MTD
px4_fmu-6xrt:Set I2C Buses
px4_fmu-6xrt:Proper SPI usage
px4_fmu-6xrt:Adjust memory Map to use the 2 MB
px4_fmu-6xrt:Bring in ROMAPI
px4_fmu-6xrt:Push FLASH to 200Mhz
px4_fmu-6xrt:Use BOARD_I2C_LATEINIT
px4_fmu-6xrt:Clock Config remove unused devices
px4_fmu-6xrt:Remove EVK SDRAM IO
px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE
px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI
px4_fmu-6xrt:Manifest
px4_fmu-6xrt:Restore board_peripheral_reset
px4_fmu-6xrt:Set I2C buss Interna/Externa and startup
nxp/rt117x:Set 6 I2C busses
px4_fmu-6xrt:Correct Clock Sources and Freqency Settings
px4_fmu-6xrt:Correct ADC Settings
px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning
px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata
Current config
1KB Prefetch .rodata
3KB Prefetch .text
px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers
px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable
px4_fmu-6xrt:Octal spi boot/debug problem bypass
px4_fmu-6xrt:Add PWM test
px4_fmu-6xrt:Fix clockconfig and USB vbus sense
px4_fmu-6xrt: Use TCM
px4_fmu-6xrt: Ethernet bringup
imxrt: use unique_id register for board_identity
px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0
px4_fmu-6xrt:correct rotation icm42688p onboard imu
rt117x: Add SSARC HP RAM driver for memory dumps
px4_fmu-6xrt: Enable hardfault_log
px4_fmu-6xrt: Enable DMA pool
px4_fmu-6xrt: fix uart mapping
px4_fmu-6xrt: enable SocketCAN & DroneCAN
px4_fmu-6xrt:Command line history TAB completion
px4_fmu-6xrt:Fix pinning duplication
px4_fmu-6xrt:Support conditional PHY address based on selected PHY
px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS
px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max
px4_fmu-6xrt::Set TELEM Buffers add HW HS
px4_fmu-6xrt:Turn off DMA poll
px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2!
px4_fmu-6xrt: bootloader (#22228)
* imxrt:Add bootloader support
* bootloader:imxrt clear BOOT_RTC_SIGNATURE
* px4_fmu-6xrt:Add bootloader
* px4_fmu-6xrt:bootloader removed ADC
* px4_fmu-6xrt:bootloader base bootloader script off of script.ld
* px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000
* px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes
px4_fmu-6xrt:Default to use LAN8742A PHY
px4_fmu-v6xrt:VID Set to Drone Code
board_reset:Enable ability to write RTC GP regs
px4_fmu-6xrt:Fix CMP0079 error
rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT
px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders
fmu-v6xrt: increase 5v down time
fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600,
Bootloder updated.
imxrt:board_hw_rev_ver Rework for 3.893V Ref
px4_fmu-v6xrt:Move ADC to Port3
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
e3f8d53718
commit
e90e8ae0ea
@@ -294,13 +294,13 @@ void
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jump_to_app()
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{
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const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS;
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const uint32_t *vec_base = (const uint32_t *)app_base;
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const uint32_t *vec_base = (const uint32_t *)app_base + APP_VECTOR_OFFSET;
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/*
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* We refuse to program the first word of the app until the upload is marked
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* complete by the host. So if it's not 0xffffffff, we should try booting it.
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*/
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if (app_base[0] == 0xffffffff) {
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if (app_base[APP_VECTOR_OFFSET_WORDS] == 0xffffffff) {
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return;
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}
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@@ -382,11 +382,11 @@ jump_to_app()
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* The second word of the app is the entrypoint; it must point within the
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* flash area (or we have a bad flash).
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*/
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if (app_base[1] < APP_LOAD_ADDRESS) {
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if (app_base[APP_VECTOR_OFFSET_WORDS + 1] < APP_LOAD_ADDRESS) {
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return;
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}
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if (app_base[1] >= (APP_LOAD_ADDRESS + board_info.fw_size)) {
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if (app_base[APP_VECTOR_OFFSET_WORDS + 1] >= (APP_LOAD_ADDRESS + board_info.fw_size)) {
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return;
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}
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@@ -816,15 +816,17 @@ bootloader(unsigned timeout)
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goto cmd_bad;
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}
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if (address == 0) {
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#if APP_VECTOR_OFFSET == 0
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#if defined(TARGET_HW_PX4_FMU_V4)
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if (address == APP_VECTOR_OFFSET) {
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# if defined(TARGET_HW_PX4_FMU_V4)
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if (check_silicon()) {
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goto bad_silicon;
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}
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#endif
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# endif
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// save the first word and don't program it until everything else is done
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first_word = flash_buffer.w[0];
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@@ -832,10 +834,20 @@ bootloader(unsigned timeout)
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flash_buffer.w[0] = 0xffffffff;
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}
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#endif
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arg /= 4;
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for (int i = 0; i < arg; i++) {
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#if APP_VECTOR_OFFSET != 0
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if (address == APP_VECTOR_OFFSET) {
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// save the first word from vector table and don't program it until everything else is done
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first_word = flash_buffer.w[i];
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// replace first word with bits we can overwrite later
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flash_buffer.w[i] = 0xffffffff;
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}
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#endif
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// program the word
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flash_func_write_word(address, flash_buffer.w[i]);
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@@ -869,7 +881,7 @@ bootloader(unsigned timeout)
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for (unsigned p = 0; p < board_info.fw_size; p += 4) {
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uint32_t bytes;
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if ((p == 0) && (first_word != 0xffffffff)) {
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if ((p == APP_VECTOR_OFFSET) && (first_word != 0xffffffff)) {
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bytes = first_word;
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} else {
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@@ -1032,9 +1044,9 @@ bootloader(unsigned timeout)
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// program the deferred first word
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if (first_word != 0xffffffff) {
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flash_func_write_word(0, first_word);
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flash_func_write_word(APP_VECTOR_OFFSET, first_word);
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if (flash_func_read_word(0) != first_word) {
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if (flash_func_read_word(APP_VECTOR_OFFSET) != first_word) {
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goto cmd_fail;
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}
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@@ -129,3 +129,8 @@ extern void cinit(void *config, uint8_t interface);
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extern void cfini(void);
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extern int cin(uint32_t devices);
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extern void cout(uint8_t *buf, unsigned len);
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#if !defined(APP_VECTOR_OFFSET)
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# define APP_VECTOR_OFFSET 0
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#endif
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#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
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@@ -32,10 +32,13 @@
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****************************************************************************/
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#include <string.h>
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#include "flash_cache.h"
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#include "hw_config.h"
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#include "bl.h"
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#include <nuttx/progmem.h>
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extern ssize_t arch_flash_write(uintptr_t address, const void *buffer, size_t buflen);
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@@ -54,7 +57,7 @@ inline void fc_reset(void)
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fcl_reset(&flash_cache[w]);
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}
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flash_cache[0].start_address = APP_LOAD_ADDRESS;
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flash_cache[0].start_address = APP_LOAD_ADDRESS + APP_VECTOR_OFFSET;
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}
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static inline flash_cache_line_t *fc_line_select(uintptr_t address)
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@@ -104,7 +107,7 @@ int fc_write(uintptr_t address, uint32_t word)
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// Are we back writing the first word?
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if (fc == &flash_cache[0] && index == 0 && fc->index == 7) {
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if (fc == &flash_cache[0] && index == 0 && fc->index == FC_LAST_WORD) {
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if (fc_is_dirty(fc1)) {
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@@ -46,10 +46,15 @@
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* *writes to the first 8 words of flash at APP_LOAD_ADDRESS
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* are buffered until the "first word" is written with the real value (not 0xffffffff)
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*
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* On a imxrt the ROM API supports 256 byte writes.
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*/
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#define FC_NUMBER_LINES 2 // Number of cache lines.
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#if defined(CONFIG_ARCH_CHIP_IMXRT)
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#define FC_NUMBER_WORDS 64 // Number of words per page
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#else
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#define FC_NUMBER_WORDS 8 // Number of words per cache line.
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#endif
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#define FC_NUMBER_LINES 2 // Number of cache lines.
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#define FC_LAST_WORD FC_NUMBER_WORDS-1 // The index of the last word in cache line.
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#define FC_ADDRESS_MASK ~(sizeof(flash_cache[0].words)-1) // Cache tag from address
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#define FC_ADDR2INDX(a) (((a) / sizeof(flash_cache[0].words[0])) % FC_NUMBER_WORDS) // index from address
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@@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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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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add_subdirectory(${PX4_CHIP})
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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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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px4_add_library(arch_bootloader
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main.c
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systick.c
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)
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target_link_libraries(arch_bootloader
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PRIVATE
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bootloader_lib
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nuttx_arch
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)
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@@ -0,0 +1,795 @@
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/*
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* imxrt board support for the bootloader.
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*
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_defines.h>
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#include "hw_config.h"
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#include "imxrt_flexspi_nor_flash.h"
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#include "imxrt_romapi.h"
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#include <hardware/rt117x/imxrt117x_ocotp.h>
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#include <hardware/rt117x/imxrt117x_anadig.h>
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#include <hardware/rt117x/imxrt117x_snvs.h>
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#include <hardware/imxrt_usb_analog.h>
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#include "imxrt_clockconfig.h"
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#include <nvic.h>
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#include <lib/systick.h>
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#include <lib/flash_cache.h>
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#include "bl.h"
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#include "uart.h"
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#include "arm_internal.h"
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#define MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK | GPIO_MODE_MASK)) | (GPIO_INPUT))
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#define BOOTLOADER_RESERVATION_SIZE (128 * 1024)
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#define APP_SIZE_MAX (BOARD_FLASH_SIZE - (BOOTLOADER_RESERVATION_SIZE + APP_RESERVATION_SIZE))
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#define CHIP_TAG "i.MX RT11?0,r??"
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#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1
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#define SI_REV(n) ((n & 0x7000000) >> 24)
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#define DIFPROG_TYPE(n) ((n & 0xF000) >> 12)
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#define DIFPROG_REV_MAJOR(n) ((n & 0xF0) >> 4)
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#define DIFPROG_REV_MINOR(n) ((n & 0xF))
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/* context passed to cinit */
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#if INTERFACE_USART
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# define BOARD_INTERFACE_CONFIG_USART INTERFACE_USART_CONFIG
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#endif
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#if INTERFACE_USB
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# define BOARD_INTERFACE_CONFIG_USB INTERFACE_USB_CONFIG
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#endif
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/* board definition */
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struct boardinfo board_info = {
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.board_type = BOARD_TYPE,
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.board_rev = 0,
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.fw_size = 0,
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.systick_mhz = 480,
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};
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static void board_init(void);
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#define BOOT_RTC_SIGNATURE 0xb007b007
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#define PX4_IMXRT_RTC_REBOOT_REG IMXRT_SNVS_LPGPR3
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/* State of an inserted USB cable */
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static bool usb_connected = false;
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static uint32_t board_get_rtc_signature(void)
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{
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uint32_t result = getreg32(PX4_IMXRT_RTC_REBOOT_REG);
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return result;
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}
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static void
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board_set_rtc_signature(uint32_t sig)
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{
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modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS);
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putreg32(sig, PX4_IMXRT_RTC_REBOOT_REG);
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}
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static bool board_test_force_pin(void)
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{
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#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT)
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/* two pins strapped together */
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volatile unsigned samples = 0;
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volatile unsigned vote = 0;
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for (volatile unsigned cycles = 0; cycles < 10; cycles++) {
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px4_arch_gpiowrite(BOARD_FORCE_BL_PIN_OUT, 1);
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for (unsigned count = 0; count < 20; count++) {
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if (px4_arch_gpioread(BOARD_FORCE_BL_PIN_IN) != 0) {
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vote++;
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}
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samples++;
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}
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px4_arch_gpiowrite(BOARD_FORCE_BL_PIN_OUT, 0);
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for (unsigned count = 0; count < 20; count++) {
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if (px4_arch_gpioread(BOARD_FORCE_BL_PIN_IN) == 0) {
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vote++;
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}
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samples++;
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}
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}
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/* the idea here is to reject wire-to-wire coupling, so require > 90% agreement */
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if ((vote * 100) > (samples * 90)) {
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return true;
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}
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#endif
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#if defined(BOARD_FORCE_BL_PIN)
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/* single pin pulled up or down */
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volatile unsigned samples = 0;
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volatile unsigned vote = 0;
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for (samples = 0; samples < 200; samples++) {
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if ((px4_arch_gpioread(BOARD_FORCE_BL_PIN) ? 1 : 0) == BOARD_FORCE_BL_STATE) {
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vote++;
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}
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}
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/* reject a little noise */
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if ((vote * 100) > (samples * 90)) {
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return true;
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}
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#endif
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return false;
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}
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#if INTERFACE_USART
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static bool board_test_usart_receiving_break(void)
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{
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#if !defined(SERIAL_BREAK_DETECT_DISABLED)
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/* (re)start the SysTick timer system */
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systick_interrupt_disable(); // Kill the interrupt if it is still active
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systick_counter_disable(); // Stop the timer
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systick_set_clocksource(CLKSOURCE_PROCESOR);
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/* Set the timer period to be half the bit rate
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*
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* Baud rate = 115200, therefore bit period = 8.68us
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* Half the bit rate = 4.34us
|
||||
* Set period to 4.34 microseconds (timer_period = timer_tick / timer_reset_frequency = 168MHz / (1/4.34us) = 729.12 ~= 729)
|
||||
*/
|
||||
systick_set_reload(729); /* 4.3us tick, magic number */
|
||||
systick_counter_enable(); // Start the timer
|
||||
|
||||
uint8_t cnt_consecutive_low = 0;
|
||||
uint8_t cnt = 0;
|
||||
|
||||
/* Loop for 3 transmission byte cycles and count the low and high bits. Sampled at a rate to be able to count each bit twice.
|
||||
*
|
||||
* One transmission byte is 10 bits (8 bytes of data + 1 start bit + 1 stop bit)
|
||||
* We sample at every half bit time, therefore 20 samples per transmission byte,
|
||||
* therefore 60 samples for 3 transmission bytes
|
||||
*/
|
||||
while (cnt < 60) {
|
||||
// Only read pin when SysTick timer is true
|
||||
if (systick_get_countflag() == 1) {
|
||||
if (gpio_get(BOARD_PORT_USART_RX, BOARD_PIN_RX) == 0) {
|
||||
cnt_consecutive_low++; // Increment the consecutive low counter
|
||||
|
||||
} else {
|
||||
cnt_consecutive_low = 0; // Reset the consecutive low counter
|
||||
}
|
||||
|
||||
cnt++;
|
||||
}
|
||||
|
||||
// If 9 consecutive low bits were received break out of the loop
|
||||
if (cnt_consecutive_low >= 18) {
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
systick_counter_disable(); // Stop the timer
|
||||
|
||||
/*
|
||||
* If a break is detected, return true, else false
|
||||
*
|
||||
* Break is detected if line was low for 9 consecutive bits.
|
||||
*/
|
||||
if (cnt_consecutive_low >= 18) {
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif // !defined(SERIAL_BREAK_DETECT_DISABLED)
|
||||
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
uint32_t
|
||||
board_get_devices(void)
|
||||
{
|
||||
uint32_t devices = BOOT_DEVICES_SELECTION;
|
||||
|
||||
if (usb_connected) {
|
||||
devices &= BOOT_DEVICES_FILTER_ONUSB;
|
||||
}
|
||||
|
||||
return devices;
|
||||
}
|
||||
|
||||
static void
|
||||
board_init(void)
|
||||
{
|
||||
/* fix up the max firmware size, we have to read memory to get this */
|
||||
board_info.fw_size = APP_SIZE_MAX;
|
||||
|
||||
#if defined(BOARD_POWER_PIN_OUT)
|
||||
/* Configure the Power pins */
|
||||
px4_arch_configgpio(BOARD_POWER_PIN_OUT);
|
||||
px4_arch_gpiowrite(BOARD_POWER_PIN_OUT, BOARD_POWER_ON);
|
||||
#endif
|
||||
|
||||
#if INTERFACE_USB
|
||||
#endif
|
||||
|
||||
#if INTERFACE_USART
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT)
|
||||
/* configure the force BL pins */
|
||||
px4_arch_configgpio(BOARD_FORCE_BL_PIN_IN);
|
||||
px4_arch_configgpio(BOARD_FORCE_BL_PIN_OUT);
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_FORCE_BL_PIN)
|
||||
/* configure the force BL pins */
|
||||
px4_arch_configgpio(BOARD_FORCE_BL_PIN);
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
/* Initialize LEDs */
|
||||
px4_arch_configgpio(BOARD_PIN_LED_ACTIVITY);
|
||||
#endif
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
/* Initialize LEDs */
|
||||
px4_arch_configgpio(BOARD_PIN_LED_BOOTLOADER);
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
board_deinit(void)
|
||||
{
|
||||
|
||||
#if INTERFACE_USART
|
||||
#endif
|
||||
|
||||
#if INTERFACE_USB
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT)
|
||||
/* deinitialise the force BL pins */
|
||||
px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN_IN));
|
||||
px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN_OUT));
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_FORCE_BL_PIN)
|
||||
/* deinitialise the force BL pin */
|
||||
px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN));
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_POWER_PIN_OUT) && defined(BOARD_POWER_PIN_RELEASE)
|
||||
/* deinitialize the POWER pin - with the assumption the hold up time of
|
||||
* the voltage being bleed off by an inupt pin impedance will allow
|
||||
* enough time to boot the app
|
||||
*/
|
||||
px4_arch_configgpio(MK_GPIO_INPUT(BOARD_POWER_PIN_OUT));
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
/* Initialize LEDs */
|
||||
px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_ACTIVITY));
|
||||
#endif
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
/* Initialize LEDs */
|
||||
px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_BOOTLOADER));
|
||||
#endif
|
||||
|
||||
const uint32_t dnfw[] = {
|
||||
CCM_CR_M7,
|
||||
CCM_CR_BUS,
|
||||
CCM_CR_BUS_LPSR,
|
||||
CCM_CR_SEMC,
|
||||
CCM_CR_CSSYS,
|
||||
CCM_CR_CSTRACE,
|
||||
CCM_CR_FLEXSPI1,
|
||||
CCM_CR_FLEXSPI2
|
||||
};
|
||||
|
||||
for (unsigned int i = 0; i < IMXRT_CCM_CR_COUNT; i++) {
|
||||
bool ok = true;
|
||||
|
||||
for (unsigned int d = 0; ok && d < arraySize(dnfw); d++) {
|
||||
ok = dnfw[d] != i;
|
||||
}
|
||||
|
||||
if (ok) {
|
||||
putreg32(CCM_CR_CTRL_OFF, IMXRT_CCM_CR_CTRL(i));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
inline void arch_systic_init(void)
|
||||
{
|
||||
// Done in NuttX
|
||||
}
|
||||
|
||||
inline void arch_systic_deinit(void)
|
||||
{
|
||||
/* kill the systick interrupt */
|
||||
irq_attach(IMXRT_IRQ_SYSTICK, NULL, NULL);
|
||||
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_CLKSOURCE, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes the RCC clock configuration.
|
||||
*
|
||||
* @param clock_setup : The clock configuration to set
|
||||
*/
|
||||
static inline void
|
||||
clock_init(void)
|
||||
{
|
||||
// Done by Nuttx
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Resets the RCC clock configuration to the default reset state.
|
||||
* @note The default reset state of the clock configuration is given below:
|
||||
* @note This function doesn't modify the configuration of the
|
||||
*/
|
||||
void
|
||||
clock_deinit(void)
|
||||
{
|
||||
}
|
||||
|
||||
void arch_flash_lock(void)
|
||||
{
|
||||
}
|
||||
|
||||
void arch_flash_unlock(void)
|
||||
{
|
||||
fc_reset();
|
||||
}
|
||||
|
||||
ssize_t arch_flash_write(uintptr_t address, const void *buffer, size_t buflen)
|
||||
{
|
||||
struct flexspi_nor_config_s *pConfig = &g_bootConfig;
|
||||
irqstate_t flags = enter_critical_section();
|
||||
|
||||
static volatile int j = 0;
|
||||
j++;
|
||||
|
||||
if (j == 6) {
|
||||
j++;
|
||||
}
|
||||
|
||||
uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
|
||||
|
||||
volatile uint32_t status = ROM_FLEXSPI_NorFlash_ProgramPage(1, pConfig, offset, (const uint32_t *)buffer);
|
||||
up_invalidate_dcache((uintptr_t)address,
|
||||
(uintptr_t)address + buflen);
|
||||
|
||||
|
||||
leave_critical_section(flags);
|
||||
|
||||
if (status == 100) {
|
||||
return buflen;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
inline void arch_setvtor(const uint32_t *address)
|
||||
{
|
||||
putreg32((uint32_t)address, NVIC_VECTAB);
|
||||
}
|
||||
|
||||
uint32_t
|
||||
flash_func_sector_size(unsigned sector)
|
||||
{
|
||||
if (sector <= BOARD_FLASH_SECTORS) {
|
||||
return 4 * 1024;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* @name Configuration Option
|
||||
* @{
|
||||
*/
|
||||
/*! @brief Serial NOR Configuration Option. */
|
||||
|
||||
|
||||
/*@}
|
||||
* */
|
||||
locate_code(".ramfunc")
|
||||
void
|
||||
flash_func_erase_sector(unsigned sector)
|
||||
{
|
||||
|
||||
if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* blank-check the sector */
|
||||
const uint32_t bytes_per_sector = flash_func_sector_size(sector);
|
||||
uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
|
||||
const uint32_t uint32_per_sector = bytes_per_sector / sizeof(*address);
|
||||
bool blank = true;
|
||||
|
||||
for (uint32_t i = 0; i < uint32_per_sector; i++) {
|
||||
if (address[i] != 0xffffffff) {
|
||||
blank = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct flexspi_nor_config_s *pConfig = &g_bootConfig;
|
||||
|
||||
/* erase the sector if it failed the blank check */
|
||||
if (!blank) {
|
||||
uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
|
||||
irqstate_t flags;
|
||||
flags = enter_critical_section();
|
||||
volatile uint32_t status = ROM_FLEXSPI_NorFlash_Erase(1, pConfig, (uintptr_t) offset, bytes_per_sector);
|
||||
leave_critical_section(flags);
|
||||
UNUSED(status);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
flash_func_write_word(uintptr_t address, uint32_t word)
|
||||
{
|
||||
address += APP_LOAD_ADDRESS;
|
||||
fc_write(address, word);
|
||||
}
|
||||
|
||||
uint32_t flash_func_read_word(uintptr_t address)
|
||||
{
|
||||
|
||||
if (address & 3) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return fc_read(address + APP_LOAD_ADDRESS);
|
||||
|
||||
}
|
||||
|
||||
|
||||
uint32_t
|
||||
flash_func_read_otp(uintptr_t address)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t get_mcu_id(void)
|
||||
{
|
||||
// ??? is DEBUGMCU get able
|
||||
return *(uint32_t *) IMXRT_ANADIG_MISC_MISC_DIFPROG;
|
||||
}
|
||||
|
||||
int get_mcu_desc(int max, uint8_t *revstr)
|
||||
{
|
||||
uint32_t info = getreg32(IMXRT_ANADIG_MISC_MISC_DIFPROG);
|
||||
// CHIP_TAG "i.MX RT11?0,r??"
|
||||
static uint8_t chip[sizeof(CHIP_TAG) + 1] = CHIP_TAG;
|
||||
chip[CHIP_TAG_LEN - 6] = '0' + DIFPROG_TYPE(info);
|
||||
chip[CHIP_TAG_LEN - 2] = 'A' + (DIFPROG_REV_MAJOR(info) - 10);
|
||||
chip[CHIP_TAG_LEN - 1] = '0' + DIFPROG_REV_MINOR(info);
|
||||
|
||||
uint8_t *endp = &revstr[max - 1];
|
||||
uint8_t *strp = revstr;
|
||||
uint8_t *des = chip;
|
||||
|
||||
while (strp < endp && *des) {
|
||||
*strp++ = *des++;
|
||||
}
|
||||
|
||||
return strp - revstr;
|
||||
}
|
||||
|
||||
|
||||
int check_silicon(void)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t
|
||||
flash_func_read_sn(uintptr_t address)
|
||||
{
|
||||
// Bootload has to uses 12 byte ID (3 Words)
|
||||
// but this IC has only 2 words
|
||||
// Address will be 0 4 8 - 3 words
|
||||
// so dummy up the last word....
|
||||
if (address > 4) {
|
||||
return 0x31313630;
|
||||
}
|
||||
|
||||
return *(uint32_t *)((address * 4) + IMXRT_OCOTP_UNIQUE_ID_MSB);
|
||||
}
|
||||
|
||||
void
|
||||
led_on(unsigned led)
|
||||
{
|
||||
switch (led) {
|
||||
case LED_ACTIVITY:
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, BOARD_LED_ON);
|
||||
#endif
|
||||
break;
|
||||
|
||||
case LED_BOOTLOADER:
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, BOARD_LED_ON);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
led_off(unsigned led)
|
||||
{
|
||||
switch (led) {
|
||||
case LED_ACTIVITY:
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, BOARD_LED_OFF);
|
||||
#endif
|
||||
break;
|
||||
|
||||
case LED_BOOTLOADER:
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, BOARD_LED_OFF);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
led_toggle(unsigned led)
|
||||
{
|
||||
switch (led) {
|
||||
case LED_ACTIVITY:
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, px4_arch_gpioread(BOARD_PIN_LED_ACTIVITY) ^ 1);
|
||||
#endif
|
||||
break;
|
||||
|
||||
case LED_BOOTLOADER:
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, px4_arch_gpioread(BOARD_PIN_LED_BOOTLOADER) ^ 1);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* we should know this, but we don't */
|
||||
#ifndef SCB_CPACR
|
||||
# define SCB_CPACR (*((volatile uint32_t *) (((0xE000E000UL) + 0x0D00UL) + 0x088)))
|
||||
#endif
|
||||
|
||||
/* Make the actual jump to app */
|
||||
void
|
||||
arch_do_jump(const uint32_t *app_base)
|
||||
{
|
||||
|
||||
/* extract the stack and entrypoint from the app vector table and go */
|
||||
uint32_t stacktop = app_base[APP_VECTOR_OFFSET_WORDS];
|
||||
uint32_t entrypoint = app_base[APP_VECTOR_OFFSET_WORDS + 1];
|
||||
|
||||
asm volatile(
|
||||
"msr msp, %0 \n"
|
||||
"bx %1 \n"
|
||||
: : "r"(stacktop), "r"(entrypoint) :);
|
||||
|
||||
// just to keep noreturn happy
|
||||
for (;;) ;
|
||||
}
|
||||
|
||||
int
|
||||
bootloader_main(void)
|
||||
{
|
||||
bool try_boot = true; /* try booting before we drop to the bootloader */
|
||||
unsigned timeout = BOOTLOADER_DELAY; /* if nonzero, drop out of the bootloader after this time */
|
||||
|
||||
/* Enable the FPU before we hit any FP instructions */
|
||||
SCB_CPACR |= ((3UL << 10 * 2) | (3UL << 11 * 2)); /* set CP10 Full Access and set CP11 Full Access */
|
||||
|
||||
#if defined(BOARD_POWER_PIN_OUT)
|
||||
|
||||
/* Here we check for the app setting the POWER_DOWN_RTC_SIGNATURE
|
||||
* in this case, we reset the signature and wait to die
|
||||
*/
|
||||
if (board_get_rtc_signature() == POWER_DOWN_RTC_SIGNATURE) {
|
||||
board_set_rtc_signature(0);
|
||||
|
||||
while (1);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* do board-specific initialisation */
|
||||
board_init();
|
||||
|
||||
/* configure the clock for bootloader activity */
|
||||
clock_init();
|
||||
|
||||
/*
|
||||
* Check the force-bootloader register; if we find the signature there, don't
|
||||
* try booting.
|
||||
*/
|
||||
if (board_get_rtc_signature() == BOOT_RTC_SIGNATURE) {
|
||||
|
||||
/*
|
||||
* Don't even try to boot before dropping to the bootloader.
|
||||
*/
|
||||
try_boot = false;
|
||||
|
||||
/*
|
||||
* Don't drop out of the bootloader until something has been uploaded.
|
||||
*/
|
||||
timeout = 0;
|
||||
|
||||
/*
|
||||
* Clear the signature so that if someone resets us while we're
|
||||
* in the bootloader we'll try to boot next time.
|
||||
*/
|
||||
board_set_rtc_signature(0);
|
||||
}
|
||||
|
||||
#ifdef BOOT_DELAY_ADDRESS
|
||||
{
|
||||
/*
|
||||
if a boot delay signature is present then delay the boot
|
||||
by at least that amount of time in seconds. This allows
|
||||
for an opportunity for a companion computer to load a
|
||||
new firmware, while still booting fast by sending a BOOT
|
||||
command
|
||||
*/
|
||||
uint32_t sig1 = flash_func_read_word(BOOT_DELAY_ADDRESS);
|
||||
uint32_t sig2 = flash_func_read_word(BOOT_DELAY_ADDRESS + 4);
|
||||
|
||||
if (sig2 == BOOT_DELAY_SIGNATURE2 &&
|
||||
(sig1 & 0xFFFFFF00) == (BOOT_DELAY_SIGNATURE1 & 0xFFFFFF00)) {
|
||||
unsigned boot_delay = sig1 & 0xFF;
|
||||
|
||||
if (boot_delay <= BOOT_DELAY_MAX) {
|
||||
try_boot = false;
|
||||
|
||||
if (timeout < boot_delay * 1000) {
|
||||
timeout = boot_delay * 1000;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Check if the force-bootloader pins are strapped; if strapped,
|
||||
* don't try booting.
|
||||
*/
|
||||
if (board_test_force_pin()) {
|
||||
try_boot = false;
|
||||
}
|
||||
|
||||
#if INTERFACE_USB
|
||||
|
||||
/*
|
||||
* Check for USB connection - if present, don't try to boot, but set a timeout after
|
||||
* which we will fall out of the bootloader.
|
||||
*
|
||||
* If the force-bootloader pins are tied, we will stay here until they are removed and
|
||||
* we then time out.
|
||||
*/
|
||||
/************************************************************************************
|
||||
* Name: board_read_VBUS_state
|
||||
*
|
||||
* Description:
|
||||
* All boards must provide a way to read the state of VBUS, this my be simple
|
||||
* digital input on a GPIO. Or something more complicated like a Analong input
|
||||
* or reading a bit from a USB controller register.
|
||||
*
|
||||
* Returns - 0 if connected.
|
||||
*
|
||||
************************************************************************************/
|
||||
#undef IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT
|
||||
#define USB1_VBUS_DET_STAT_OFFSET 0xd0
|
||||
#define IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT (IMXRT_USBPHY1_BASE + USB1_VBUS_DET_STAT_OFFSET)
|
||||
|
||||
if ((getreg32(IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_3V_VALID) != 0) {
|
||||
usb_connected = true;
|
||||
/* don't try booting before we set up the bootloader */
|
||||
try_boot = false;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if INTERFACE_USART
|
||||
|
||||
/*
|
||||
* Check for if the USART port RX line is receiving a break command, or is being held low. If yes,
|
||||
* don't try to boot, but set a timeout after
|
||||
* which we will fall out of the bootloader.
|
||||
*
|
||||
* If the force-bootloader pins are tied, we will stay here until they are removed and
|
||||
* we then time out.
|
||||
*/
|
||||
if (board_test_usart_receiving_break()) {
|
||||
try_boot = false;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Try to boot the app if we think we should just go straight there */
|
||||
if (try_boot) {
|
||||
|
||||
/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
|
||||
#ifdef BOARD_BOOT_FAIL_DETECT
|
||||
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
|
||||
#endif
|
||||
|
||||
/* try to boot immediately */
|
||||
jump_to_app();
|
||||
|
||||
// If it failed to boot, reset the boot signature and stay in bootloader
|
||||
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
|
||||
|
||||
/* booting failed, stay in the bootloader forever */
|
||||
timeout = 0;
|
||||
}
|
||||
|
||||
|
||||
/* start the interface */
|
||||
#if INTERFACE_USART
|
||||
cinit(BOARD_INTERFACE_CONFIG_USART, USART);
|
||||
#endif
|
||||
#if INTERFACE_USB
|
||||
cinit(BOARD_INTERFACE_CONFIG_USB, USB);
|
||||
#endif
|
||||
|
||||
|
||||
#if 0
|
||||
// MCO1/02
|
||||
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
|
||||
gpio_set_output_options(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, GPIO8);
|
||||
gpio_set_af(GPIOA, GPIO_AF0, GPIO8);
|
||||
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
|
||||
gpio_set_af(GPIOC, GPIO_AF0, GPIO9);
|
||||
#endif
|
||||
|
||||
|
||||
while (1) {
|
||||
/* run the bootloader, come back after an app is uploaded or we time out */
|
||||
bootloader(timeout);
|
||||
|
||||
/* if the force-bootloader pins are strapped, just loop back */
|
||||
if (board_test_force_pin()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
#if INTERFACE_USART
|
||||
|
||||
/* if the USART port RX line is still receiving a break, just loop back */
|
||||
if (board_test_usart_receiving_break()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
|
||||
#ifdef BOARD_BOOT_FAIL_DETECT
|
||||
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
|
||||
#endif
|
||||
|
||||
/* look to see if we can boot the app */
|
||||
jump_to_app();
|
||||
|
||||
/* launching the app failed - stay in the bootloader forever */
|
||||
timeout = 0;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,76 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "arm_internal.h"
|
||||
#include "lib/systick.h"
|
||||
#include <nvic.h>
|
||||
|
||||
uint8_t systick_get_countflag(void)
|
||||
{
|
||||
return (getreg32(NVIC_SYSTICK_CTRL) & NVIC_SYSTICK_CTRL_COUNTFLAG) ? 1 : 0;
|
||||
}
|
||||
|
||||
// See 2.2.3 SysTick external clock is not HCLK/8
|
||||
uint32_t g_divisor = 1;
|
||||
void systick_set_reload(uint32_t value)
|
||||
{
|
||||
putreg32((((value * g_divisor) << NVIC_SYSTICK_RELOAD_SHIFT) & NVIC_SYSTICK_RELOAD_MASK), NVIC_SYSTICK_RELOAD);
|
||||
}
|
||||
|
||||
|
||||
void systick_set_clocksource(uint8_t clocksource)
|
||||
{
|
||||
g_divisor = (clocksource == CLKSOURCE_EXTERNAL) ? 8 : 1;
|
||||
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_CLKSOURCE, clocksource & NVIC_SYSTICK_CTRL_CLKSOURCE);
|
||||
}
|
||||
|
||||
void systick_counter_enable(void)
|
||||
{
|
||||
modifyreg32(NVIC_SYSTICK_CTRL, 0, NVIC_SYSTICK_CTRL_ENABLE);
|
||||
}
|
||||
|
||||
void systick_counter_disable(void)
|
||||
{
|
||||
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_ENABLE, 0);
|
||||
putreg32(0, NVIC_SYSTICK_CURRENT);
|
||||
}
|
||||
|
||||
void systick_interrupt_enable(void)
|
||||
{
|
||||
modifyreg32(NVIC_SYSTICK_CTRL, 0, NVIC_SYSTICK_CTRL_TICKINT);
|
||||
}
|
||||
|
||||
void systick_interrupt_disable(void)
|
||||
{
|
||||
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_TICKINT, 0);
|
||||
}
|
||||
@@ -0,0 +1,34 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(../imxrt_common arch_bootloader)
|
||||
Reference in New Issue
Block a user