AMiRo-OS

#define IR_SDA_PIN          GPIO_Pin_11

#define IR_INT_GPIO         GPIOB

#define IR_INT_PIN          GPIO_Pin_12

#define GYRO_DRDY_PIN       GPIO_Pin_13

#define SYS_UART_UP_GPIO    GPIOB

#define SYS_UART_UP_PIN     GPIO_Pin_14

const blCallbackTable_t cbtable __attribute__ ((section ("_callback_table"))) = {

  .magicNumber = BL_MAGIC_NUMBER,

  .vSSSP = {BL_VERSION_ID_SSSP, BL_SSSP_VERSION_MAJOR, BL_SSSP_VERSION_MINOR, 0},

  .vCompiler = {BL_VERSION_ID_GCC, __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__},  // currently only GCC is supported

  .cbShutdownHibernate = blCallbackShutdownHibernate,

  .cb11 = (void*)0

};

/************************************************************************************//**

** \brief     This is the entry point for the bootloader application and is called

**            by the reset interrupt vector after the C-startup routines executed.

    status = handleColdReset();

  }

  if (status != SUCCESS) {

    blinkSOSinf();

  }

  GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource15); // ACCEL_INT_N

  return;

/*

 * Signals, which type of low-power mode the system shall enter after the shutdown sequence.

} /*** end of shutdownToTransportation ***/

/*

 */

void shutdownToDeepsleep(const blt_bool exec_disambiguation) {

  /* configure some criticpal GPIOs as input

/** \brief Configure legacy device ID. */

#define BOOT_COM_DEVICE_LEGACY_ID       (0x3)

/* The UART communication interface is selected by setting the BOOT_COM_UART_ENABLE

 * configurable to 1. Configurable BOOT_COM_UART_BAUDRATE selects the communication speed

 * in bits/second. The maximum amount of data bytes in a message for data transmission

const blCallbackTable_t cbtable __attribute__ ((section ("_callback_table"))) = {

  .magicNumber = BL_MAGIC_NUMBER,

  .vSSSP = {BL_VERSION_ID_SSSP, BL_SSSP_VERSION_MAJOR, BL_SSSP_VERSION_MINOR, 0},

  .vCompiler = {BL_VERSION_ID_GCC, __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__},  // currently only GCC is supported

  .cbShutdownHibernate = blCallbackShutdownHibernate,

  /* initialize the microcontroller */

  Init();

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE);

  setLed(BLT_FALSE);

  ErrorStatus status = ERROR;

  if (backup_reg.wakeup_pri_reason & BL_WAKEUP_PRI_RSN_PINRST) {

    /* system was woken via NRST pin */

   */

  return;

/*

 * Configures some GPIO pins as inputs for safety reasons.

const blCallbackTable_t cbtable __attribute__ ((section ("_callback_table"))) = {

  .magicNumber = BL_MAGIC_NUMBER,

  .vSSSP = {BL_VERSION_ID_SSSP, BL_SSSP_VERSION_MAJOR, BL_SSSP_VERSION_MINOR, 0},

  .vCompiler = {BL_VERSION_ID_GCC, __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__},  // currently only GCC is supported

  .cbShutdownHibernate = blCallbackShutdownHibernate,

DiWheelDrive_1-1_ID_HEX = 0x01000101

DiWheelDrive_1-1_ID_DEC = 16777473

# LightRing v1.0 (01:7F:01:00)

LightRing_1-0_ID_HEX = 0x017F0100

LightRing_1-0_ID_DEC = 25100544

/**

 * @brief   The minor version number of the bootloader.

 */

/**

 * @brief   The major version number of the implemented SSSP (Startup & Shutdown Synchronization Protocol).

  BL_WAKEUP_SEC_RSN_ACCEL      = 0x20u,

  /**

   * @brief Reserved value that must not be used right now, but might become valid in a future version.

   */

  BL_WAKEUP_SEC_RSN_RSVD       = 0xC0u,

                              (((blt_int32u)canData[1]) <<  8) | \

                              (((blt_int32u)canData[0]));

#if (BOOT_GATE_ENABLE > 0)

        if ((commandSend == BLT_TRUE && deviceID == 0) ||

#else

        if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID ||

            deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID) {

#endif

          /* store length of the packet */

          toReceive = canData[4];

                              (((blt_int32u)canData[1]) <<  8) | \

                              (((blt_int32u)canData[0]));

#if (BOOT_GATE_ENABLE > 0)

        if ((commandSend == BLT_TRUE && deviceID == 0) ||

#else

        if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID) {

#endif

  }

  /* indicate that the connection is established */

#if (BOOT_GATE_ENABLE > 0)

  if (deviceID == 0 ||

      deviceID == (blt_int32u)BOOT_COM_DEVICE_ID ||

      deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID) {

#endif

    xcpInfo.connected = 1;

    setLed(1);