mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 08:30:35 +08:00
David Sidrane
131 lines
4.2 KiB
C
131 lines
4.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2014 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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/**
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* @file bl.h
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*
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* Common bootloader definitions.
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*/
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#pragma once
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/*****************************************************************************
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* Generic bootloader functions.
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*/
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/* enum for whether bootloading via USB or USART */
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enum {
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NONE,
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USART,
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USB
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};
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/* board info forwarded from board-specific code to booloader */
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struct boardinfo {
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uint32_t board_type;
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uint32_t board_rev;
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uint32_t fw_size;
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uint32_t systick_mhz; /* systick input clock */
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} __attribute__((packed));
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extern struct boardinfo board_info;
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extern void jump_to_app(void);
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extern void bootloader(unsigned timeout);
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extern void delay(unsigned msec);
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#define BL_WAIT_MAGIC 0x19710317 /* magic number in PWR regs to wait in bootloader */
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/* generic timers */
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#define NTIMERS 4
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#define TIMER_BL_WAIT 0
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#define TIMER_CIN 1
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#define TIMER_LED 2
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#define TIMER_DELAY 3
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extern volatile unsigned timer[NTIMERS]; /* each timer decrements every millisecond if > 0 */
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/* generic receive buffer for async reads */
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extern void buf_put(uint8_t b);
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extern int buf_get(void);
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/*****************************************************************************
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* Chip/board functions.
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*/
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/* LEDs */
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#define LED_ACTIVITY 1
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#define LED_BOOTLOADER 2
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#ifdef BOOT_DELAY_ADDRESS
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# define BOOT_DELAY_SIGNATURE1 0x92c2ecff
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# define BOOT_DELAY_SIGNATURE2 0xc5057d5d
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# define BOOT_DELAY_MAX 30
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#endif
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#define MAX_DES_LENGTH 20
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#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
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extern void led_on(unsigned led);
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extern void led_off(unsigned led);
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extern void led_toggle(unsigned led);
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/* flash helpers from main_*.c */
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extern void board_deinit(void);
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extern uint32_t board_get_devices(void);
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extern void clock_deinit(void);
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extern uint32_t flash_func_sector_size(unsigned sector);
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extern void flash_func_erase_sector(unsigned sector);
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extern void flash_func_write_word(uint32_t address, uint32_t word);
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extern uint32_t flash_func_read_word(uint32_t address);
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extern uint32_t flash_func_read_otp(uint32_t address);
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extern uint32_t flash_func_read_sn(uint32_t address);
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extern void arch_flash_lock(void);
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extern void arch_flash_unlock(void);
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extern void arch_setvtor(uint32_t address);
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void arch_systic_init(void);
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void arch_systic_deinit(void);
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extern uint32_t get_mcu_id(void);
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int get_mcu_desc(int max, uint8_t *revstr);
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extern int check_silicon(void);
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/*****************************************************************************
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* Interface in/output.
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*/
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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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