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131 lines
5.2 KiB
C
131 lines
5.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 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 boot_config.h
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*
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* bootloader definitions that configures the behavior and options
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* of the Boot loader
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* This file is relies on the parent folder's boot_config.h file and defines
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* different usages of the hardware for bootloading
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*/
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#pragma once
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/************************************************************************************
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* Included Files
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************************************************************************************/
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/* Bring in the board_config.h definitions
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* todo:make this be pulled in from a targed's build
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* files in nuttx*/
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#include "board_config.h"
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#include "uavcan.h"
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_flash.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
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//todo:wrap OPT_x in in ifdefs for command line definitions
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#define OPT_TBOOT_MS 3000
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#define OPT_NODE_STATUS_RATE_MS 800
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#define OPT_NODE_INFO_RATE_MS 50
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#define OPT_BL_NUMBER_TIMERS 7
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/*
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* This Option set is set to 1 ensure a provider of firmware has an
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* opportunity update the node's firmware.
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* This Option is the default policy and can be overridden by
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* a jumper
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* When this Policy is set, the node will ignore tboot and
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* wait indefinitely for a GetNodeInfo request before booting.
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*
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* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
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* the polarity of the jumper to be True Active
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*
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* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
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* Jumper
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* yes 1 0 x
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* yes 1 1 Active
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* no 1 1 Not Active
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* no 0 0 X
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* yes 0 1 Active
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* no 0 1 Not Active
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*
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*/
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#define OPT_WAIT_FOR_GETNODEINFO 0
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#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
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#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
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#define OPT_ENABLE_WD 1
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#define OPT_RESTART_TIMEOUT_MS 20000
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/* Reserved for the Booloader */
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#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
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/* Reserved for the application out of the total
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* system flash minus the BOOTLOADER_SIZE_IN_K
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*/
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#define OPT_APPLICATION_RESERVER_IN_K 0
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#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
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#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
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#define FLASH_BASE STM32_FLASH_BASE
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#define FLASH_SIZE STM32_FLASH_SIZE
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#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
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#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
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#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
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#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
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#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
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/* If this board uses big flash that have large sectors */
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#define OPT_USE_YIELD
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/* Bootloader Option*****************************************************************
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*
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*/
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#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
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