amiro-blt / Target / Demo / ARMCM3_STM32F103_DiWheelDrive_GCC / Boot / main.c @ 69661903
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/************************************************************************************//** |
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* \file Demo\ARMCM3_STM32_Olimex_STM32P103_GCC\Boot\main.c
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* \brief Bootloader application source file.
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* \ingroup Boot_ARMCM3_STM32_Olimex_STM32P103_GCC
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* \internal
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*----------------------------------------------------------------------------------------
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* C O P Y R I G H T
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*----------------------------------------------------------------------------------------
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* Copyright (c) 2012 by Feaser http://www.feaser.com All rights reserved
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*
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*----------------------------------------------------------------------------------------
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* L I C E N S E
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*----------------------------------------------------------------------------------------
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* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by the Free
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* Software Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with OpenBLT.
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* If not, see <http://www.gnu.org/licenses/>.
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*
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* A special exception to the GPL is included to allow you to distribute a combined work
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* that includes OpenBLT without being obliged to provide the source code for any
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* proprietary components. The exception text is included at the bottom of the license
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* file <license.html>.
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*
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* \endinternal
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****************************************************************************************/
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/****************************************************************************************
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* Include files
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****************************************************************************************/
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#include "boot.h" /* bootloader generic header */ |
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#include "stm32f10x.h" /* microcontroller registers */ |
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#include "stm32f10x_conf.h" /* STM32 peripheral drivers */ |
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#include "timer.h" |
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#include "ARMCM3_STM32/types.h" |
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#include "AMiRo/interfaces.h" |
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#include "AMiRo/helper.h" |
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/****************************************************************************************
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* Defines
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****************************************************************************************/
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#define WKUP_GPIO GPIOA
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#define WKUP_PIN GPIO_Pin_0
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#define LED_GPIO GPIOA
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#define LED_PIN GPIO_Pin_1
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#define DRIVE_PWM1A_GPIO GPIOA
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#define DRIVE_PWM1A_PIN GPIO_Pin_2
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#define DRIVE_PWM1B_GPIO GPIOA
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#define DRIVE_PWM1B_PIN GPIO_Pin_3
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#define MOTION_SCLK_GPIO GPIOA
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#define MOTION_SCLK_PIN GPIO_Pin_5
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#define MOTION_MISO_GPIO GPIOA
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#define MOTION_MISO_PIN GPIO_Pin_6
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#define MOTION_MOSI_GPIO GPIOA
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#define MOTION_MOSI_PIN GPIO_Pin_7
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#define PROG_RX_GPIO GPIOA
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#define PROG_RX_PIN GPIO_Pin_9
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#define PROG_TX_GPIO GPIOA
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#define PROG_TX_PIN GPIO_Pin_10
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#define CAN_RX_GPIO GPIOA
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#define CAN_RX_PIN GPIO_Pin_11
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#define CAN_TX_GPIO GPIOA
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#define CAN_TX_PIN GPIO_Pin_12
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#define SWDIO_GPIO GPIOA
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#define SWDIO_PIN GPIO_Pin_13
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#define SWCLK_GPIO GPIOA
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#define SWCLK_PIN GPIO_Pin_14
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#define DRIVE_PWM2B_GPIO GPIOA
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#define DRIVE_PWM2B_PIN GPIO_Pin_15
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#define DRIVE_SENSE2_GPIO GPIOB
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#define DRIVE_SENSE2_PIN GPIO_Pin_1
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#define POWER_EN_GPIO GPIOB
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#define POWER_EN_PIN GPIO_Pin_2
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#define DRIVE_PWM2A_GPIO GPIOB
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#define DRIVE_PWM2A_PIN GPIO_Pin_3
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#define COMPASS_DRDY_GPIO GPIOB
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#define COMPASS_DRDY_PIN GPIO_Pin_5
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#define DRIVE_ENC1A_GPIO GPIOB
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#define DRIVE_ENC1A_PIN GPIO_Pin_6
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#define DRIVE_ENC1B_GPIO GPIOB
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#define DRIVE_ENC1B_PIN GPIO_Pin_7
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#define COMPASS_SCL_GPIO GPIOB
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#define COMPASS_SCL_PIN GPIO_Pin_8
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#define COMPASS_SDA_GPIO GPIOB
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#define COMPASS_SDA_PIN GPIO_Pin_9
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#define IR_SCL_GPIO GPIOB
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#define IR_SCL_PIN GPIO_Pin_10
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#define IR_SDA_GPIO GPIOB
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#define IR_SDA_PIN GPIO_Pin_11
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#define IR_INT_GPIO GPIOB
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#define IR_INT_PIN GPIO_Pin_12
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#define GYRP_DRDY_GPIO GPIOB
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#define GYRO_DRDY_PIN GPIO_Pin_13
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#define SYS_UART_UP_GPIO GPIOB
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#define SYS_UART_UP_PIN GPIO_Pin_14
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#define ACCEL_INT_N_GPIO GPIOB
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#define ACCEL_INT_N_PIN GPIO_Pin_15
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#define DRIVE_SENSE1_GPIO GPIOC
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#define DRIVE_SENSE1_PIN GPIO_Pin_0
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#define SYS_SYNC_N_GPIO GPIOC
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#define SYS_SYNC_N_PIN GPIO_Pin_1
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#define PATH_DCSTAT_GPIO GPIOC
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#define PATH_DCSTAT_PIN GPIO_Pin_3
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#define PATH_DCEN_GPIO GPIOC
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#define PATH_DCEN_PIN GPIO_Pin_5
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#define DRIVE_ENC2B_GPIO GPIOC
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#define DRIVE_ENC2B_PIN GPIO_Pin_6
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#define DRIVE_ENC2A_GPIO GPIOC
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#define DRIVE_ENC2A_PIN GPIO_Pin_7
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#define SYS_PD_N_GPIO GPIOC
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#define SYS_PD_N_PIN GPIO_Pin_8
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#define SYS_REG_EN_GPIO GPIOC
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#define SYS_REG_EN_PIN GPIO_Pin_9
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#define SYS_UART_RX_GPIO GPIOC
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#define SYS_UART_RX_PIN GPIO_Pin_10
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#define SYS_UART_TX_GPIO GPIOC
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#define SYS_UART_TX_PIN GPIO_Pin_11
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#define ACCEL_SS_N_GPIO GPIOC
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#define ACCEL_SS_N_PIN GPIO_Pin_13
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#define GYRO_SS_N_GPIO GPIOC
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#define GYRO_SS_N_PIN GPIO_Pin_14
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#define OSC_IN_GPIO GPIOD
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#define OSC_IN_PIN GPIO_Pin_0
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#define OSC_OUT_GPIO GPIOD
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#define OSC_OUT_PIN GPIO_Pin_1
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#define SYS_WARMRST_N_GPIO GPIOD
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#define SYS_WARMRST_N_PIN GPIO_Pin_2
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#define RESET_TIMEOUT_MS 100 |
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/****************************************************************************************
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* Function prototypes
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****************************************************************************************/
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static void Init(void); |
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static void initGpio(); |
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static void initExti(); |
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void configGpioForShutdown();
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ErrorStatus handleColdReset(); |
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ErrorStatus handleUartWakeup(); |
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ErrorStatus handleAccelWakeup(); |
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ErrorStatus shutdownDisambiguationProcedure(const uint8_t type);
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void shutdownToTransportation(const blt_bool exec_disambiguation); |
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void shutdownToDeepsleep(const blt_bool exec_disambiguation); |
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void shutdownToHibernate(const blt_bool exec_disambiguation); |
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void shutdownAndRestart(const blt_bool exec_disambiguation); |
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volatile BlBackupRegister backup_reg;
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/****************************************************************************************
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* Callback configuration
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****************************************************************************************/
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void blCallbackShutdownTransportation(void); |
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void blCallbackShutdownDeepsleep(void); |
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void blCallbackShutdownHibernate(void); |
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void blCallbackShutdownRestart(void); |
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void blCallbackHandleShutdownRequest(void); |
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const BlCallbackTable cbtable __attribute ((section ("_callback_table"))) = { |
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.magicNumber = BL_MAGIC_NUMBER, |
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.versionMajor = BL_VERSION_MAJOR, |
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.versionMinor = BL_VERSION_MINOR, |
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.versionHotfix = 0,
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.cbShutdownHibernate = blCallbackShutdownHibernate, |
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.cbShutdownDeepsleep = blCallbackShutdownDeepsleep, |
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.cbShutdownTransportation = blCallbackShutdownTransportation, |
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.cbShutdownRestart = blCallbackShutdownRestart, |
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.cbHandleShutdownRequest = blCallbackHandleShutdownRequest, |
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.cb5 = (void*)0, |
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.cb6 = (void*)0, |
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.cb7 = (void*)0, |
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.cb8 = (void*)0, |
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.cb9 = (void*)0, |
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.cb10 = (void*)0, |
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.cb11 = (void*)0 |
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}; |
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/************************************************************************************//** |
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** \brief This is the entry point for the bootloader application and is called
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** by the reset interrupt vector after the C-startup routines executed.
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** \return Program return code.
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**
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****************************************************************************************/
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int main(void) |
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{
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/* initialize the microcontroller */
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Init(); |
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/* activate some required clocks */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
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/* initialize GPIOs and EXTI lines */
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initGpio(); |
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setLed(BLT_TRUE); |
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initExti(); |
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/* initialize the timer */
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TimerInit(); |
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/* detect the primary reason for this wakeup/restart */
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backup_reg.wakeup_pri_reason = |
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((RCC_GetFlagStatus(RCC_FLAG_LPWRRST) == SET) ? BL_WAKEUP_PRI_RSN_LPWRRST : 0) |
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((RCC_GetFlagStatus(RCC_FLAG_WWDGRST) == SET) ? BL_WAKEUP_PRI_RSN_WWDGRST : 0) |
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((RCC_GetFlagStatus(RCC_FLAG_IWDGRST) == SET) ? BL_WAKEUP_PRI_RSN_IWDGRST : 0) |
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((RCC_GetFlagStatus(RCC_FLAG_SFTRST) == SET) ? BL_WAKEUP_PRI_RSN_SFTRST : 0) |
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((RCC_GetFlagStatus(RCC_FLAG_PORRST) == SET) ? BL_WAKEUP_PRI_RSN_PORRST : 0) |
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((RCC_GetFlagStatus(RCC_FLAG_PINRST) == SET) ? BL_WAKEUP_PRI_RSN_PINRST : 0) |
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((PWR_GetFlagStatus(PWR_FLAG_WU) == SET) ? BL_WAKEUP_PRI_RSN_WKUP : 0);
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/* when woken from standby mode, detect the secondary reason for thiswakeup/reset */
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if ( (backup_reg.wakeup_pri_reason & BL_WAKEUP_PRI_RSN_WKUP) && (PWR_GetFlagStatus(PWR_FLAG_SB) == SET) ) {
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if (GPIO_ReadInputDataBit(SYS_UART_UP_GPIO, SYS_UART_UP_PIN) == Bit_SET) {
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backup_reg.wakeup_sec_reason = BL_WAKEUP_SEC_RSN_UART; |
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} else {
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backup_reg.wakeup_sec_reason = BL_WAKEUP_SEC_RSN_ACCEL; |
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} |
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} else {
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backup_reg.wakeup_sec_reason = BL_WAKEUP_SEC_RSN_UNKNOWN; |
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} |
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/* clear the flags */
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RCC_ClearFlag(); |
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PWR_ClearFlag(PWR_FLAG_WU); |
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setLed(BLT_FALSE); |
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/* wait 1ms for all signals to become stable */
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msleep(1);
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/* handle different wakeup/reset reasons */
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ErrorStatus status = ERROR; |
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if (backup_reg.wakeup_pri_reason & BL_WAKEUP_PRI_RSN_WKUP) {
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/* the system was woken via WKUP pin */
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/* differenciate between two wakeup types */
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switch (backup_reg.wakeup_sec_reason) {
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case BL_WAKEUP_SEC_RSN_UART:
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status = handleUartWakeup(); |
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break;
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case BL_WAKEUP_SEC_RSN_ACCEL:
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status = handleAccelWakeup(); |
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break;
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default:
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status = ERROR; |
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break;
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} |
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} else if (backup_reg.wakeup_pri_reason & BL_WAKEUP_PRI_RSN_PINRST) { |
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/* system was woken via NRST pin */
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status = handleColdReset(); |
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} else {
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/* system was woken/reset for an unexpected reason */
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blinkSOS(1);
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status = handleColdReset(); |
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} |
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/* if something wehnt wrong, signal this failure */
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if (status != SUCCESS) {
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blinkSOSinf(); |
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} |
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return 0; |
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} /*** end of main ***/
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/************************************************************************************//** |
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** \brief Initializes the microcontroller.
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** \return none.
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**
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****************************************************************************************/
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static void Init(void) |
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{
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volatile blt_int32u StartUpCounter = 0, HSEStatus = 0; |
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blt_int32u pll_multiplier; |
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#if (BOOT_FILE_LOGGING_ENABLE > 0) && (BOOT_COM_UART_ENABLE == 0) |
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GPIO_InitTypeDef GPIO_InitStruct; |
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USART_InitTypeDef USART_InitStruct; |
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#endif
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/* reset the RCC clock configuration to the default reset state (for debug purpose) */
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/* set HSION bit */
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RCC->CR |= (blt_int32u)0x00000001;
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/* reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */
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RCC->CFGR &= (blt_int32u)0xF8FF0000;
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/* reset HSEON, CSSON and PLLON bits */
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RCC->CR &= (blt_int32u)0xFEF6FFFF;
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/* reset HSEBYP bit */
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RCC->CR &= (blt_int32u)0xFFFBFFFF;
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/* reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */
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RCC->CFGR &= (blt_int32u)0xFF80FFFF;
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/* disable all interrupts and clear pending bits */
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RCC->CIR = 0x009F0000;
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/* enable HSE */
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RCC->CR |= ((blt_int32u)RCC_CR_HSEON); |
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/* wait till HSE is ready and if Time out is reached exit */
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do
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{
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HSEStatus = RCC->CR & RCC_CR_HSERDY; |
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StartUpCounter++; |
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} |
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while((HSEStatus == 0) && (StartUpCounter != 1500)); |
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/* check if time out was reached */
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if ((RCC->CR & RCC_CR_HSERDY) == RESET)
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{
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/* cannot continue when HSE is not ready */
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ASSERT_RT(BLT_FALSE); |
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} |
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/* enable flash prefetch buffer */
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FLASH->ACR |= FLASH_ACR_PRFTBE; |
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/* reset flash wait state configuration to default 0 wait states */
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FLASH->ACR &= (blt_int32u)((blt_int32u)~FLASH_ACR_LATENCY); |
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#if (BOOT_CPU_SYSTEM_SPEED_KHZ > 48000) |
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/* configure 2 flash wait states */
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FLASH->ACR |= (blt_int32u)FLASH_ACR_LATENCY_2; |
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#elif (BOOT_CPU_SYSTEM_SPEED_KHZ > 24000) |
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/* configure 1 flash wait states */
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FLASH->ACR |= (blt_int32u)FLASH_ACR_LATENCY_1; |
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#endif
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/* HCLK = SYSCLK */
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RCC->CFGR |= (blt_int32u)RCC_CFGR_HPRE_DIV1; |
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/* PCLK2 = HCLK/2 */
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RCC->CFGR |= (blt_int32u)RCC_CFGR_PPRE2_DIV2; |
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/* PCLK1 = HCLK/2 */
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RCC->CFGR |= (blt_int32u)RCC_CFGR_PPRE1_DIV2; |
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/* reset PLL configuration */
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RCC->CFGR &= (blt_int32u)((blt_int32u)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | \ |
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RCC_CFGR_PLLMULL)); |
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/* assert that the pll_multiplier is between 2 and 16 */
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ASSERT_CT((BOOT_CPU_SYSTEM_SPEED_KHZ/BOOT_CPU_XTAL_SPEED_KHZ) >= 2);
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ASSERT_CT((BOOT_CPU_SYSTEM_SPEED_KHZ/BOOT_CPU_XTAL_SPEED_KHZ) <= 16);
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/* calculate multiplier value */
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pll_multiplier = BOOT_CPU_SYSTEM_SPEED_KHZ/BOOT_CPU_XTAL_SPEED_KHZ; |
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/* convert to register value */
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pll_multiplier = (blt_int32u)((pll_multiplier - 2) << 18); |
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/* set the PLL multiplier and clock source */
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RCC->CFGR |= (blt_int32u)(RCC_CFGR_PLLSRC_HSE | pll_multiplier); |
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/* enable PLL */
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RCC->CR |= RCC_CR_PLLON; |
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/* wait till PLL is ready */
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while((RCC->CR & RCC_CR_PLLRDY) == 0) |
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{
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} |
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/* select PLL as system clock source */
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RCC->CFGR &= (blt_int32u)((blt_int32u)~(RCC_CFGR_SW)); |
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RCC->CFGR |= (blt_int32u)RCC_CFGR_SW_PLL; |
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/* wait till PLL is used as system clock source */
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while ((RCC->CFGR & (blt_int32u)RCC_CFGR_SWS) != (blt_int32u)0x08) |
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{
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} |
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/* remap JTAG pins */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); |
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AFIO->MAPR &= ~(blt_int32u)((blt_int32u)0x7 << 24); |
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AFIO->MAPR |= (blt_int32u)((blt_int32u)0x2 << 24); |
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/* all input */
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#if (BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0) |
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/* enable clocks for CAN transmitter and receiver pins (GPIOB and AFIO) */
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RCC->APB2ENR |= (blt_int32u)(0x00000004 | 0x00000001); |
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/* configure CAN Rx (GPIOA11) as alternate function input */
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/* first reset the configuration */
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GPIOA->CRH &= ~(blt_int32u)((blt_int32u)0xf << 12); |
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/* CNF8[1:0] = %01 and MODE8[1:0] = %00 */
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GPIOA->CRH |= (blt_int32u)((blt_int32u)0x4 << 12); |
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/* configure CAN Tx (GPIOA12) as alternate function push-pull */
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/* first reset the configuration */
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GPIOA->CRH &= ~(blt_int32u)((blt_int32u)0xf << 16); |
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/* CNF9[1:0] = %11 and MODE9[1:0] = %11 */
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GPIOA->CRH |= (blt_int32u)((blt_int32u)0xb << 16); |
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/* remap CAN1 pins to PortA */
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AFIO->MAPR &= ~(blt_int32u)((blt_int32u)0x3 << 13); |
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AFIO->MAPR |= (blt_int32u)((blt_int32u)0x0 << 13); |
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#endif
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|
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#if (BOOT_COM_UART_ENABLE > 0 || BOOT_GATE_UART_ENABLE > 0) |
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/* enable clocks for USART1 peripheral, transmitter and receiver pins (GPIOA and AFIO) */
|
| 390 |
RCC->APB2ENR |= (blt_int32u)(0x00004000 | 0x00000004 | 0x00000001); |
| 391 |
/* configure USART1 Tx (GPIOA9) as alternate function push-pull */
|
| 392 |
/* first reset the configuration */
|
| 393 |
GPIOA->CRH &= ~(blt_int32u)((blt_int32u)0xf << 4); |
| 394 |
/* CNF2[1:0] = %10 and MODE2[1:0] = %11 */
|
| 395 |
GPIOA->CRH |= (blt_int32u)((blt_int32u)0xb << 4); |
| 396 |
/* configure USART1 Rx (GPIOA10) as alternate function input floating */
|
| 397 |
/* first reset the configuration */
|
| 398 |
GPIOA->CRH &= ~(blt_int32u)((blt_int32u)0xf << 8); |
| 399 |
/* CNF2[1:0] = %01 and MODE2[1:0] = %00 */
|
| 400 |
GPIOA->CRH |= (blt_int32u)((blt_int32u)0x4 << 8); |
| 401 |
#endif
|
| 402 |
|
| 403 |
} /*** end of Init ***/
|
| 404 |
|
| 405 |
/*
|
| 406 |
* Initializes all GPIO used by the bootloader
|
| 407 |
*/
|
| 408 |
static void initGpio() { |
| 409 |
GPIO_InitTypeDef gpio_init; |
| 410 |
|
| 411 |
/*
|
| 412 |
* OUTPUTS
|
| 413 |
*/
|
| 414 |
|
| 415 |
/* initialize LED and push it up (inactive) */
|
| 416 |
GPIO_SetBits(LED_GPIO, LED_PIN); |
| 417 |
gpio_init.GPIO_Pin = LED_PIN; |
| 418 |
gpio_init.GPIO_Mode = GPIO_Mode_Out_PP; |
| 419 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 420 |
GPIO_Init(LED_GPIO, &gpio_init); |
| 421 |
|
| 422 |
/* initialize SYS_PD_N and let it go (inactive) */
|
| 423 |
GPIO_SetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 424 |
gpio_init.GPIO_Pin = SYS_PD_N_PIN; |
| 425 |
gpio_init.GPIO_Mode = GPIO_Mode_Out_OD; |
| 426 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 427 |
GPIO_Init(SYS_PD_N_GPIO, &gpio_init); |
| 428 |
|
| 429 |
/* initialize SYS_SYNC_N and pull it down (active) */
|
| 430 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 431 |
gpio_init.GPIO_Pin = SYS_SYNC_N_PIN; |
| 432 |
gpio_init.GPIO_Mode = GPIO_Mode_Out_OD; |
| 433 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 434 |
GPIO_Init(SYS_SYNC_N_GPIO, &gpio_init); |
| 435 |
|
| 436 |
/* initialize SYS_WARMST_N and let it go (active) */
|
| 437 |
GPIO_SetBits(SYS_WARMRST_N_GPIO, SYS_WARMRST_N_PIN); |
| 438 |
gpio_init.GPIO_Pin = SYS_WARMRST_N_PIN; |
| 439 |
gpio_init.GPIO_Mode = GPIO_Mode_Out_OD; |
| 440 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 441 |
GPIO_Init(SYS_WARMRST_N_GPIO, &gpio_init); |
| 442 |
|
| 443 |
/* initialize SYS_UART_UP and let it go (inactive) */
|
| 444 |
GPIO_SetBits(SYS_UART_UP_GPIO, SYS_UART_UP_PIN); |
| 445 |
gpio_init.GPIO_Pin = SYS_UART_UP_PIN; |
| 446 |
gpio_init.GPIO_Mode = GPIO_Mode_Out_OD; |
| 447 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 448 |
GPIO_Init(SYS_UART_UP_GPIO, &gpio_init); |
| 449 |
|
| 450 |
/* initialize PATH_DCEN and pull it down (inactive) */
|
| 451 |
GPIO_ResetBits(PATH_DCEN_GPIO, PATH_DCEN_PIN); |
| 452 |
gpio_init.GPIO_Pin = PATH_DCEN_PIN; |
| 453 |
gpio_init.GPIO_Mode = GPIO_Mode_Out_PP; |
| 454 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 455 |
GPIO_Init(PATH_DCEN_GPIO, &gpio_init); |
| 456 |
|
| 457 |
/*
|
| 458 |
* INPUTS
|
| 459 |
*/
|
| 460 |
|
| 461 |
/* initialize the input ACCEL_INT_N */
|
| 462 |
gpio_init.GPIO_Pin = ACCEL_INT_N_PIN; |
| 463 |
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING; |
| 464 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 465 |
GPIO_Init(ACCEL_INT_N_GPIO, &gpio_init); |
| 466 |
|
| 467 |
return;
|
| 468 |
} /*** end of initGpio ***/
|
| 469 |
|
| 470 |
/*
|
| 471 |
* Initialize all EXTI lines
|
| 472 |
*/
|
| 473 |
static void initExti() { |
| 474 |
/* configure EXTI lines */
|
| 475 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource1); // SYS_SYNC_N
|
| 476 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource2); // SYS_WARMRST_N
|
| 477 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource3); // PATH_DCSTAT
|
| 478 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource5); // COMPASS_DRDY
|
| 479 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource8); // SYS_PD_N
|
| 480 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource9); // SYS_REG_EN
|
| 481 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource12); // IR_INT
|
| 482 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource13); // GYRO_DRDY
|
| 483 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource14); // SYS_UART_UP
|
| 484 |
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource15); // ACCEL_INT_N
|
| 485 |
|
| 486 |
return;
|
| 487 |
} |
| 488 |
|
| 489 |
/*
|
| 490 |
* Signals, which type of low-power mode the system shall enter after the shutdown sequence.
|
| 491 |
*/
|
| 492 |
ErrorStatus shutdownDisambiguationProcedure(const uint8_t type) {
|
| 493 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 494 |
ErrorStatus ret_val = ERROR; |
| 495 |
|
| 496 |
switch (type) {
|
| 497 |
case BL_SHUTDOWN_PRI_RSN_UNKNOWN:
|
| 498 |
case BL_SHUTDOWN_PRI_RSN_HIBERNATE:
|
| 499 |
case BL_SHUTDOWN_PRI_RSN_DEEPSLEEP:
|
| 500 |
case BL_SHUTDOWN_PRI_RSN_TRANSPORT:
|
| 501 |
{
|
| 502 |
// broadcast a number of pulses, depending on the argument
|
| 503 |
uint8_t pulse_counter = 0;
|
| 504 |
for (pulse_counter = 0; pulse_counter < type; ++pulse_counter) { |
| 505 |
msleep(1);
|
| 506 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 507 |
msleep(1);
|
| 508 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 509 |
} |
| 510 |
// wait for timeout
|
| 511 |
msleep(10);
|
| 512 |
ret_val = SUCCESS; |
| 513 |
break;
|
| 514 |
} |
| 515 |
case BL_SHUTDOWN_PRI_RSN_RESTART:
|
| 516 |
{
|
| 517 |
// since there is no ambiguity for restart requests, no pulses are generated
|
| 518 |
msleep(10);
|
| 519 |
ret_val = SUCCESS; |
| 520 |
break;
|
| 521 |
} |
| 522 |
default:
|
| 523 |
ret_val = ERROR; |
| 524 |
break;
|
| 525 |
} |
| 526 |
|
| 527 |
return ret_val;
|
| 528 |
} /*** end of shutdownDisambiguationProcedure ***/
|
| 529 |
|
| 530 |
/*
|
| 531 |
* Final shutdown of the system to enter transportation mode.
|
| 532 |
*/
|
| 533 |
void shutdownToTransportation(const blt_bool exec_disambiguation) { |
| 534 |
/* configure some criticpal GPIOs as input
|
| 535 |
* This is required, because otherwise some hardware might be powered through these signals */
|
| 536 |
configGpioForShutdown(); |
| 537 |
|
| 538 |
/* turn off the motors */
|
| 539 |
GPIO_ResetBits(POWER_EN_GPIO, POWER_EN_PIN); |
| 540 |
|
| 541 |
/* deactivate the WKUP pin */
|
| 542 |
PWR_WakeUpPinCmd(DISABLE); |
| 543 |
|
| 544 |
/* deactivate any RTC related events */
|
| 545 |
RTC_ITConfig(RTC_IT_ALR | RTC_IT_OW | RTC_IT_SEC, DISABLE); |
| 546 |
RTC_ClearFlag(~0);
|
| 547 |
|
| 548 |
/* disable the IWDG */
|
| 549 |
IWDG_ReloadCounter(); |
| 550 |
|
| 551 |
/* wait for all boards to be ready for shutdown */
|
| 552 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 553 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
|
| 554 |
// this must skipped if the pullup voltage (VIO3.3) is not active
|
| 555 |
setLed(BLT_TRUE); |
| 556 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 557 |
setLed(BLT_FALSE); |
| 558 |
} |
| 559 |
|
| 560 |
if (exec_disambiguation == BLT_TRUE) {
|
| 561 |
/* execute disambiguation procedure and signal all modules to enter transportation mode */
|
| 562 |
if (shutdownDisambiguationProcedure(BL_SHUTDOWN_PRI_RSN_TRANSPORT) != SUCCESS) {
|
| 563 |
blinkSOS(1);
|
| 564 |
msleep(10);
|
| 565 |
} |
| 566 |
} |
| 567 |
|
| 568 |
/* morse 'OK' via the LED to signal that shutdown was successful */
|
| 569 |
blinkOK(1);
|
| 570 |
|
| 571 |
/* enter standby mode */
|
| 572 |
PWR_EnterSTANDBYMode(); |
| 573 |
|
| 574 |
return;
|
| 575 |
} /*** end of shutdownToTransportation ***/
|
| 576 |
|
| 577 |
/*
|
| 578 |
* Final shutdown of the system to enter deepseleep mode.
|
| 579 |
*/
|
| 580 |
void shutdownToDeepsleep(const blt_bool exec_disambiguation) { |
| 581 |
/* configure some criticpal GPIOs as input
|
| 582 |
* This is required, because otherwise some hardware might be powered through these signals */
|
| 583 |
configGpioForShutdown(); |
| 584 |
|
| 585 |
/* turn off the motors */
|
| 586 |
GPIO_ResetBits(POWER_EN_GPIO, POWER_EN_PIN); |
| 587 |
|
| 588 |
/* deactivate the WKUP pin */
|
| 589 |
PWR_WakeUpPinCmd(ENABLE); |
| 590 |
|
| 591 |
/*
|
| 592 |
* Configuration of RTC and IWDG belongs to the OS.
|
| 593 |
*/
|
| 594 |
|
| 595 |
/* wait for all boards to be ready for shutdown */
|
| 596 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 597 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
|
| 598 |
// this must skipped if the pullup voltage (VIO3.3) is not active
|
| 599 |
setLed(BLT_TRUE); |
| 600 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 601 |
setLed(BLT_FALSE); |
| 602 |
} |
| 603 |
|
| 604 |
if (exec_disambiguation == BLT_TRUE) {
|
| 605 |
/* execute disambiguation procedure and signal all modules to enter deepsleep mode */
|
| 606 |
if (shutdownDisambiguationProcedure(BL_SHUTDOWN_PRI_RSN_DEEPSLEEP) != SUCCESS) {
|
| 607 |
blinkSOS(1);
|
| 608 |
msleep(10);
|
| 609 |
} |
| 610 |
} |
| 611 |
|
| 612 |
/* morse 'OK' via the LED to signal that shutdown was successful */
|
| 613 |
blinkOK(1);
|
| 614 |
|
| 615 |
/* enter standby mode */
|
| 616 |
PWR_EnterSTANDBYMode(); |
| 617 |
|
| 618 |
return;
|
| 619 |
} /*** end of shutdownToDeepsleep ***/
|
| 620 |
|
| 621 |
/*
|
| 622 |
* Final shutdown of the system to enter hibernate mode.
|
| 623 |
*/
|
| 624 |
void shutdownToHibernate(const blt_bool exec_disambiguation) { |
| 625 |
/* configure some criticpal GPIOs as input
|
| 626 |
* This is required, because otherwise some hardware might be powered through these signals */
|
| 627 |
configGpioForShutdown(); |
| 628 |
|
| 629 |
/* turn off the motors */
|
| 630 |
GPIO_ResetBits(POWER_EN_GPIO, POWER_EN_PIN); |
| 631 |
|
| 632 |
/* deactivate the WKUP pin */
|
| 633 |
PWR_WakeUpPinCmd(ENABLE); |
| 634 |
|
| 635 |
/*
|
| 636 |
* Configuration of RTC and IWDG belongs to the OS.
|
| 637 |
*/
|
| 638 |
|
| 639 |
/* wait for all boards to be ready for shutdown */
|
| 640 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 641 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
|
| 642 |
// this must skipped if the pullup voltage (VIO3.3) is not active
|
| 643 |
setLed(BLT_TRUE); |
| 644 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 645 |
setLed(BLT_FALSE); |
| 646 |
} |
| 647 |
|
| 648 |
if (exec_disambiguation == BLT_TRUE) {
|
| 649 |
/* execute disambiguation procedure and signal all modules to enter deepsleep mode */
|
| 650 |
if (shutdownDisambiguationProcedure(BL_SHUTDOWN_PRI_RSN_HIBERNATE) != SUCCESS) {
|
| 651 |
blinkSOS(1);
|
| 652 |
msleep(10);
|
| 653 |
} |
| 654 |
} |
| 655 |
|
| 656 |
/* morse 'OK' via the LED to signal that shutdown was successful */
|
| 657 |
blinkOK(1);
|
| 658 |
|
| 659 |
/* enter standby mode */
|
| 660 |
PWR_EnterSTANDBYMode(); |
| 661 |
|
| 662 |
return;
|
| 663 |
} /* end of shutdownToHibernate ***/
|
| 664 |
|
| 665 |
/*
|
| 666 |
* Final shutdown of the system and restart.
|
| 667 |
*/
|
| 668 |
void shutdownAndRestart(const blt_bool exec_disambiguation) { |
| 669 |
/* configure some criticpal GPIOs as input
|
| 670 |
* This is required, because otherwise some hardware might be powered through these signals */
|
| 671 |
configGpioForShutdown(); |
| 672 |
|
| 673 |
/* turn off the motors */
|
| 674 |
GPIO_ResetBits(POWER_EN_GPIO, POWER_EN_PIN); |
| 675 |
|
| 676 |
/* prepare for low-power mode */
|
| 677 |
PWR_WakeUpPinCmd(DISABLE); // disable WKUP pin
|
| 678 |
RTC_ITConfig(RTC_IT_ALR | RTC_IT_OW | RTC_IT_SEC, DISABLE); // unset RTC events
|
| 679 |
RTC_ClearFlag(~0); // clear pending RTC events |
| 680 |
IWDG_ReloadCounter(); // disable IWDG
|
| 681 |
|
| 682 |
/* wait for all boards to be ready for shutdown */
|
| 683 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 684 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
|
| 685 |
// this must skipped if the pullup voltage (VIO3.3) is not active
|
| 686 |
setLed(BLT_TRUE); |
| 687 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 688 |
setLed(BLT_FALSE); |
| 689 |
} |
| 690 |
|
| 691 |
if (exec_disambiguation == BLT_TRUE) {
|
| 692 |
/* execute disambiguation procedure and signal all modules to restart in default mode */
|
| 693 |
if (shutdownDisambiguationProcedure(BL_SHUTDOWN_PRI_RSN_RESTART) != SUCCESS) {
|
| 694 |
blinkSOS(1);
|
| 695 |
msleep(10);
|
| 696 |
} |
| 697 |
} |
| 698 |
|
| 699 |
/* morse 'OK' via the LED to signal that shutdown was successful */
|
| 700 |
blinkOK(1);
|
| 701 |
|
| 702 |
/* enter standby mode */
|
| 703 |
PWR_EnterSTANDBYMode(); |
| 704 |
|
| 705 |
/*
|
| 706 |
* Even though this module will not restart the system by its own, the PowerManagement will reset the system.
|
| 707 |
*/
|
| 708 |
|
| 709 |
return;
|
| 710 |
} /*** end of shutdownAndRestart***/
|
| 711 |
|
| 712 |
/*
|
| 713 |
* Configures some GPIO pins as inputs for safety reasons.
|
| 714 |
* Under certain circumstances, these pins might power hardware that is supposed to be shut down.
|
| 715 |
*/
|
| 716 |
void configGpioForShutdown() {
|
| 717 |
/* setup the configuration */
|
| 718 |
GPIO_InitTypeDef gpio_init; |
| 719 |
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING; |
| 720 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 721 |
|
| 722 |
/* configure SYS_UART_TX */
|
| 723 |
gpio_init.GPIO_Pin = SYS_UART_TX_PIN; |
| 724 |
GPIO_Init(SYS_UART_TX_GPIO, &gpio_init); |
| 725 |
|
| 726 |
/* configure CAN_TX */
|
| 727 |
gpio_init.GPIO_Pin = CAN_TX_PIN; |
| 728 |
GPIO_Init(CAN_TX_GPIO, &gpio_init); |
| 729 |
|
| 730 |
/* configure all MOTION (SPI) signals */
|
| 731 |
gpio_init.GPIO_Pin = MOTION_SCLK_PIN; |
| 732 |
GPIO_Init(MOTION_SCLK_GPIO, &gpio_init); |
| 733 |
gpio_init.GPIO_Pin = MOTION_MISO_PIN; |
| 734 |
GPIO_Init(MOTION_MISO_GPIO, &gpio_init); |
| 735 |
gpio_init.GPIO_Pin = MOTION_MOSI_PIN; |
| 736 |
GPIO_Init(MOTION_MOSI_GPIO, &gpio_init); |
| 737 |
gpio_init.GPIO_Pin = ACCEL_SS_N_PIN; |
| 738 |
GPIO_Init(ACCEL_SS_N_GPIO, &gpio_init); |
| 739 |
gpio_init.GPIO_Pin = GYRO_SS_N_PIN; |
| 740 |
GPIO_Init(GYRO_SS_N_GPIO, &gpio_init); |
| 741 |
|
| 742 |
return;
|
| 743 |
} /*** end of configGpioForShutdown ***/
|
| 744 |
|
| 745 |
/*
|
| 746 |
* System was reset via the NRST pin or the reason could not be detected.
|
| 747 |
* In this case, there are three possibilities how to act:
|
| 748 |
* 1) When the SYS_WARMRST_N signal becomes inactive, flashing mode is entered and the system will try to load the OS.
|
| 749 |
* 2) When the SYS_UART_UP signal becomes active (low), the system will enter hibernate mode to enable charging via the pins.
|
| 750 |
* 3) If none of both happens and a timeout occurs, the system enters deepsleep mode.
|
| 751 |
*/
|
| 752 |
ErrorStatus handleColdReset() {
|
| 753 |
/* wait until either the SYS_WARMRST_N signal goes up, or SYS_UART_UP goes down */
|
| 754 |
enum CRST_SIG {CRST_SIG_SYS_WARMRST_N,
|
| 755 |
CRST_SIG_SYS_UART_UP, |
| 756 |
CRST_SIG_TIMEOUT |
| 757 |
} sig; |
| 758 |
uint32_t loopStartTime = 0;
|
| 759 |
saTimerUpdate(&loopStartTime); |
| 760 |
uint32_t currentTime = loopStartTime; |
| 761 |
setLed(BLT_TRUE); |
| 762 |
while (1) { |
| 763 |
/* read the input signals */
|
| 764 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET &&
|
| 765 |
GPIO_ReadInputDataBit(SYS_WARMRST_N_GPIO, SYS_WARMRST_N_PIN) == Bit_SET) {
|
| 766 |
sig = CRST_SIG_SYS_WARMRST_N; |
| 767 |
break;
|
| 768 |
} |
| 769 |
if (GPIO_ReadInputDataBit(SYS_UART_UP_GPIO, SYS_UART_UP_PIN) == Bit_RESET) {
|
| 770 |
sig = CRST_SIG_SYS_UART_UP; |
| 771 |
break;
|
| 772 |
} |
| 773 |
|
| 774 |
/* check for a timeout */
|
| 775 |
saTimerUpdate(¤tTime); |
| 776 |
if (currentTime > loopStartTime + RESET_TIMEOUT_MS) {
|
| 777 |
sig = CRST_SIG_TIMEOUT; |
| 778 |
break;
|
| 779 |
} |
| 780 |
} |
| 781 |
setLed(BLT_FALSE); |
| 782 |
|
| 783 |
/* depending on the signal, react accordingly */
|
| 784 |
switch (sig) {
|
| 785 |
/* activation of the slave modules signales to boot the OS */
|
| 786 |
case CRST_SIG_SYS_WARMRST_N:
|
| 787 |
{
|
| 788 |
/* enable CAN clock */
|
| 789 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); |
| 790 |
|
| 791 |
/* initialize the bootloader */
|
| 792 |
BootInit(); |
| 793 |
|
| 794 |
/* start the infinite program loop */
|
| 795 |
uint32_t loopStartTime = 0;
|
| 796 |
saTimerUpdate(&loopStartTime); |
| 797 |
uint32_t currentTime = loopStartTime; |
| 798 |
while (1) |
| 799 |
{
|
| 800 |
/* make the LED "double-blink" */
|
| 801 |
saTimerUpdate(¤tTime); |
| 802 |
if (currentTime < loopStartTime + 50) { |
| 803 |
setLed(BLT_TRUE); |
| 804 |
} else if (currentTime < loopStartTime + 50+100) { |
| 805 |
setLed(BLT_FALSE); |
| 806 |
} else if (currentTime < loopStartTime + 50+100+50) { |
| 807 |
setLed(BLT_TRUE); |
| 808 |
} else if ( currentTime < loopStartTime + 50+100+50+300) { |
| 809 |
setLed(BLT_FALSE); |
| 810 |
} else {
|
| 811 |
loopStartTime = currentTime; |
| 812 |
} |
| 813 |
|
| 814 |
/* run the bootloader task */
|
| 815 |
BootTask(); |
| 816 |
|
| 817 |
/* check the SYS_PD_N signal */
|
| 818 |
if (GPIO_ReadInputDataBit(SYS_PD_N_GPIO, SYS_PD_N_PIN) == Bit_RESET) {
|
| 819 |
blCallbackHandleShutdownRequest(); |
| 820 |
return SUCCESS;
|
| 821 |
} |
| 822 |
} |
| 823 |
|
| 824 |
break;
|
| 825 |
} |
| 826 |
/* activation of the UART_UP signal indicates that this module shall enter hibernate mode */
|
| 827 |
case CRST_SIG_SYS_UART_UP:
|
| 828 |
{
|
| 829 |
/* indicate that the MCU is busy */
|
| 830 |
GPIO_ResetBits(SYS_UART_UP_GPIO, SYS_UART_UP_PIN); |
| 831 |
|
| 832 |
/* enable the charging pins */
|
| 833 |
GPIO_SetBits(PATH_DCEN_GPIO, PATH_DCEN_PIN); |
| 834 |
|
| 835 |
/* wait some time so the systen voltage (VSYS) is stable if it is supplied via the pins */
|
| 836 |
msleep(10);
|
| 837 |
|
| 838 |
/* indicate that the MCU is not busy anymore */
|
| 839 |
GPIO_SetBits(SYS_UART_UP_GPIO, SYS_UART_UP_PIN); |
| 840 |
|
| 841 |
/* configure the accelerometer external interrupt as event */
|
| 842 |
EXTI_InitTypeDef exti; |
| 843 |
exti.EXTI_Line = EXTI_Line15; |
| 844 |
exti.EXTI_Mode = EXTI_Mode_Event; |
| 845 |
exti.EXTI_Trigger = EXTI_Trigger_Falling; |
| 846 |
exti.EXTI_LineCmd = ENABLE; |
| 847 |
EXTI_Init(&exti); |
| 848 |
|
| 849 |
/* sleep until something happens */
|
| 850 |
__WFE(); |
| 851 |
|
| 852 |
/* clear all pending EXTI events */
|
| 853 |
EXTI_DeInit(); |
| 854 |
EXTI_ClearFlag(EXTI_Line15); |
| 855 |
|
| 856 |
/* handle accelerometer wakeup
|
| 857 |
* note: In fact, the only events that will occur at this point are an interrupt event from the accelerometer, or a
|
| 858 |
* system reset from the PowerManagement via the NRST pin. Thus, if the following code is reached, it must have
|
| 859 |
* been the accelerometer.
|
| 860 |
*/
|
| 861 |
|
| 862 |
/* as as after a normal wakeup from the accelerometer */
|
| 863 |
return handleAccelWakeup();
|
| 864 |
|
| 865 |
break;
|
| 866 |
} |
| 867 |
/* if a timeout occurred, the system enters deepsleep mode */
|
| 868 |
case CRST_SIG_TIMEOUT:
|
| 869 |
{
|
| 870 |
/* reconfigure the LED_GPIO as input so it will not light up (and thus save energy) */
|
| 871 |
GPIO_InitTypeDef gpio_init; |
| 872 |
gpio_init.GPIO_Pin = LED_PIN; |
| 873 |
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING; |
| 874 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 875 |
GPIO_Init(LED_GPIO, &gpio_init); |
| 876 |
|
| 877 |
/* reconfigure SYS_PD_N as input so the callback will not indicate a shutdown */
|
| 878 |
gpio_init.GPIO_Pin = SYS_PD_N_PIN; |
| 879 |
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING; |
| 880 |
gpio_init.GPIO_Speed = GPIO_Speed_50MHz; |
| 881 |
GPIO_Init(SYS_PD_N_GPIO, &gpio_init); |
| 882 |
|
| 883 |
blCallbackShutdownDeepsleep(); |
| 884 |
break;
|
| 885 |
} |
| 886 |
default:
|
| 887 |
break;
|
| 888 |
} |
| 889 |
|
| 890 |
return ERROR;
|
| 891 |
} /*** end of handleColdReset ***/
|
| 892 |
|
| 893 |
/*
|
| 894 |
* System was woken up via the WKUP pin and the SYS_UART_UP signal was found to be responsible.
|
| 895 |
* In this case, the system starts as after a cold reset.
|
| 896 |
*/
|
| 897 |
ErrorStatus handleUartWakeup() {
|
| 898 |
return handleColdReset();
|
| 899 |
} /*** end of handleUartWakeup ***/
|
| 900 |
|
| 901 |
/*
|
| 902 |
* System was woken up via the WKUP pin and the ACCEL_INT_N signal was found to be responsible.
|
| 903 |
* The SYS_UART_UP signal is used to wake the PowerManagement before a normal cold reset is performed.
|
| 904 |
*/
|
| 905 |
ErrorStatus handleAccelWakeup() {
|
| 906 |
/* wakeup the PowerManegement (ensure that the pulse is detected) */
|
| 907 |
GPIO_ResetBits(SYS_UART_UP_GPIO, SYS_UART_UP_PIN); |
| 908 |
msleep(1);
|
| 909 |
GPIO_SetBits(SYS_UART_UP_GPIO, SYS_UART_UP_PIN); |
| 910 |
|
| 911 |
return handleColdReset();
|
| 912 |
} /*** end of handleAccelWakeu ***/
|
| 913 |
|
| 914 |
/*
|
| 915 |
* Callback function that handles the system shutdown and enters transportation mode.
|
| 916 |
* When called from a multithreaded environment, it must be ensured that no other thread will preempt this function.
|
| 917 |
* In transportation low-power mode the system can only be woken up by pulling down the NRST signal.
|
| 918 |
* Furthermore, the system can not be charged when in transportation mode.
|
| 919 |
*/
|
| 920 |
void blCallbackShutdownTransportation(void) { |
| 921 |
/* make sure that the required clocks are activated */
|
| 922 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 923 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 924 |
|
| 925 |
/* set/keep the SYS_SYNC and SYS_PD signals active */
|
| 926 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 927 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 928 |
|
| 929 |
setLed(BLT_TRUE); |
| 930 |
saTimerInit(); |
| 931 |
|
| 932 |
shutdownToTransportation(BLT_TRUE); |
| 933 |
|
| 934 |
return;
|
| 935 |
} /*** end of blCallbackShutdownTransportation ***/
|
| 936 |
|
| 937 |
/*
|
| 938 |
* Callback function that handles the system shutdown and enters deepsleep mode.
|
| 939 |
* When called from a multithreaded environment, it must be ensured that no other thread will preempt this function.
|
| 940 |
* In deepsleep low-power mode the system can only be woken up via the NRST or the WKUP signal, or the RTC or IWDG, if configured.
|
| 941 |
*/
|
| 942 |
void blCallbackShutdownDeepsleep(void) { |
| 943 |
/* make sure that the required clocks are activated */
|
| 944 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 945 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 946 |
|
| 947 |
/* set/keep the SYS_SYNC and SYS_PD signals active */
|
| 948 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 949 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 950 |
|
| 951 |
saTimerInit(); |
| 952 |
|
| 953 |
shutdownToDeepsleep(BLT_TRUE); |
| 954 |
|
| 955 |
return;
|
| 956 |
} /*** end of blCallbackShutdownDeepsleep ***/
|
| 957 |
|
| 958 |
/*
|
| 959 |
* Callback function that handles the system shutdown and enters hibernate mode.
|
| 960 |
* When called from a multithreaded environment, it must be ensured that no other thread will preempt this function.
|
| 961 |
*/
|
| 962 |
void blCallbackShutdownHibernate(void) { |
| 963 |
/* make sure that the required clocks are activated */
|
| 964 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 965 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 966 |
|
| 967 |
/* set/keep the SYS_SYNC and SYS_PD signals active */
|
| 968 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 969 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 970 |
|
| 971 |
saTimerInit(); |
| 972 |
|
| 973 |
shutdownToHibernate(BLT_TRUE); |
| 974 |
|
| 975 |
return;
|
| 976 |
} /*** end of blCallbackShutdownHibernate ***/
|
| 977 |
|
| 978 |
/*
|
| 979 |
* Callback function that handles the system shutdown and initializes a restart.
|
| 980 |
* When called from a multithreaded environment, it must be ensured that no other thread will preempt this function.
|
| 981 |
*/
|
| 982 |
void blCallbackShutdownRestart(void) { |
| 983 |
/* make sure that the required clocks are activated */
|
| 984 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 985 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 986 |
|
| 987 |
/* set/keep the SYS_SYNC and SYS_PD signal active */
|
| 988 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 989 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 990 |
|
| 991 |
/* ensure that all modules had a chance to detect the pulse on SYS_PD_N */
|
| 992 |
saTimerInit(); |
| 993 |
msleep(1);
|
| 994 |
GPIO_SetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 995 |
msleep(1);
|
| 996 |
|
| 997 |
shutdownAndRestart(BLT_TRUE); |
| 998 |
|
| 999 |
return;
|
| 1000 |
} /*** end of blCallbackRestart ***/
|
| 1001 |
|
| 1002 |
/*
|
| 1003 |
* Callback function that handles a system shutdown/restart request from another module.
|
| 1004 |
* Depending on the result of the disambiguation procedure, the module will enter the according low-power mode or restart.
|
| 1005 |
* When called from a multithreaded environment, it must be ensured that no other thread will preempt this function.
|
| 1006 |
*/
|
| 1007 |
void blCallbackHandleShutdownRequest(void) { |
| 1008 |
/* make sure that the required clocks are activated */
|
| 1009 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 1010 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 1011 |
|
| 1012 |
/* set/keep the SYS_SYNC and SYS_PD signal active */
|
| 1013 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 1014 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 1015 |
|
| 1016 |
/* initialized the standalone timer */
|
| 1017 |
saTimerInit(); |
| 1018 |
|
| 1019 |
setLed(BLT_TRUE); |
| 1020 |
|
| 1021 |
/* deactivate SYS_PD_N and ensure that all modules had a chance to detect the falling edge */
|
| 1022 |
msleep(1);
|
| 1023 |
GPIO_SetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 1024 |
msleep(1);
|
| 1025 |
|
| 1026 |
/* wait for all boards to be ready for shutdown */
|
| 1027 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 1028 |
if (GPIO_ReadOutputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
|
| 1029 |
// this must skipped if the pullup voltage (VIO3.3) is not active
|
| 1030 |
setLed(BLT_TRUE); |
| 1031 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 1032 |
setLed(BLT_FALSE); |
| 1033 |
} |
| 1034 |
|
| 1035 |
/* check ths SYS_PD_N signal, whether the system shall shutdown or restart */
|
| 1036 |
blt_bool shutdown_nrestart = (GPIO_ReadInputDataBit(SYS_PD_N_GPIO, SYS_PD_N_PIN) == Bit_RESET) ? BLT_TRUE : BLT_FALSE; |
| 1037 |
|
| 1038 |
/* disambiguation procedure (passive) */
|
| 1039 |
uint32_t pulse_counter = 0;
|
| 1040 |
while (waitForSignalTimeout(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_RESET, 10)) { |
| 1041 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 1042 |
++pulse_counter; |
| 1043 |
} |
| 1044 |
|
| 1045 |
/* evaluate and hanlde disambiguation result */
|
| 1046 |
if (shutdown_nrestart == BLT_TRUE) {
|
| 1047 |
/* shutdown request */
|
| 1048 |
|
| 1049 |
/* handle special cases */
|
| 1050 |
if (pulse_counter == BL_SHUTDOWN_PRI_RSN_UNKNOWN) {
|
| 1051 |
/* no pulse at all was received */
|
| 1052 |
pulse_counter = BL_SHUTDOWN_PRI_RSN_DEFAULT; |
| 1053 |
} else if (pulse_counter != BL_SHUTDOWN_PRI_RSN_HIBERNATE && |
| 1054 |
pulse_counter != BL_SHUTDOWN_PRI_RSN_DEEPSLEEP && |
| 1055 |
pulse_counter != BL_SHUTDOWN_PRI_RSN_TRANSPORT) {
|
| 1056 |
/* invalid number of pulses received */
|
| 1057 |
blinkSOS(1);
|
| 1058 |
pulse_counter = BL_SHUTDOWN_PRI_RSN_DEFAULT; |
| 1059 |
} |
| 1060 |
|
| 1061 |
switch (pulse_counter) {
|
| 1062 |
case BL_SHUTDOWN_PRI_RSN_HIBERNATE:
|
| 1063 |
shutdownToHibernate(BLT_FALSE); |
| 1064 |
break;
|
| 1065 |
case BL_SHUTDOWN_PRI_RSN_DEEPSLEEP:
|
| 1066 |
shutdownToDeepsleep(BLT_FALSE); |
| 1067 |
break;
|
| 1068 |
case BL_SHUTDOWN_PRI_RSN_TRANSPORT:
|
| 1069 |
shutdownToTransportation(BLT_FALSE); |
| 1070 |
break;
|
| 1071 |
} |
| 1072 |
} else {
|
| 1073 |
/* restart request */
|
| 1074 |
|
| 1075 |
/* there is no ambiguity for restart, so it is ignored */
|
| 1076 |
shutdownAndRestart(BLT_FALSE); |
| 1077 |
} |
| 1078 |
|
| 1079 |
/* if this code is reached, the system did neither shut down, nor restart.
|
| 1080 |
* This must never be the case!
|
| 1081 |
*/
|
| 1082 |
blinkSOSinf(); |
| 1083 |
return;
|
| 1084 |
} /*** end of blCallbackHandleShutdownRequest ***/
|
| 1085 |
|
| 1086 |
/*********************************** end of main.c *************************************/
|