Revision fc7151bb Target/Modules/DiWheelDrive_1-2/Boot/main.c
| Target/Modules/DiWheelDrive_1-2/Boot/main.c | ||
|---|---|---|
| 47 | 47 |
#define RESET_TIMEOUT_MS 100 |
| 48 | 48 |
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| 49 | 49 |
/**************************************************************************************** |
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* Function prototypes |
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| 50 |
* Function prototypes and static variables
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****************************************************************************************/ |
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static void Init(void); |
| 53 | 53 |
|
| ... | ... | |
| 78 | 78 |
|
| 79 | 79 |
const blCallbackTable_t cbtable __attribute__ ((section ("_callback_table"))) = {
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| 80 | 80 |
.magicNumber = BL_MAGIC_NUMBER, |
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.vBootloader = {BL_VERSION_ID_AMiRoBLT_Beta, BL_VERSION_MAJOR, BL_VERSION_MINOR, 0},
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.vBootloader = {BL_VERSION_ID_AMiRoBLT_Beta, BL_VERSION_MAJOR, BL_VERSION_MINOR, 3},
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| 82 | 82 |
.vSSSP = {BL_VERSION_ID_SSSP, BL_SSSP_VERSION_MAJOR, BL_SSSP_VERSION_MINOR, 0},
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| 83 | 83 |
.vCompiler = {BL_VERSION_ID_GCC, __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__}, // currently only GCC is supported
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| 84 | 84 |
.cbShutdownHibernate = blCallbackShutdownHibernate, |
| ... | ... | |
| 306 | 306 |
/* CNF2[1:0] = %01 and MODE2[1:0] = %00 */ |
| 307 | 307 |
GPIOA->CRH |= (blt_int32u)((blt_int32u)0x4 << 8); |
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#endif |
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|
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} /*** end of Init ***/ |
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|
| 312 | 311 |
/* |
| ... | ... | |
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/* wait for all boards to be ready for shutdown */ |
| 457 | 456 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 458 | 457 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
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| 459 |
// this must skipped if the pullup voltage (VIO3.3) is not active |
|
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// this must be skipped if the pullup voltage (VIO3.3) is not active
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|
| 460 | 459 |
setLed(BLT_TRUE); |
| 461 | 460 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 462 | 461 |
setLed(BLT_FALSE); |
| ... | ... | |
| 500 | 499 |
/* wait for all boards to be ready for shutdown */ |
| 501 | 500 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 502 | 501 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
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// this must skipped if the pullup voltage (VIO3.3) is not active |
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// this must be skipped if the pullup voltage (VIO3.3) is not active
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|
| 504 | 503 |
setLed(BLT_TRUE); |
| 505 | 504 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 506 | 505 |
setLed(BLT_FALSE); |
| ... | ... | |
| 544 | 543 |
/* wait for all boards to be ready for shutdown */ |
| 545 | 544 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 546 | 545 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
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// this must skipped if the pullup voltage (VIO3.3) is not active |
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// this must be skipped if the pullup voltage (VIO3.3) is not active
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| 548 | 547 |
setLed(BLT_TRUE); |
| 549 | 548 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 550 | 549 |
setLed(BLT_FALSE); |
| ... | ... | |
| 565 | 564 |
PWR_EnterSTANDBYMode(); |
| 566 | 565 |
|
| 567 | 566 |
return; |
| 568 |
} /* end of shutdownToHibernate ***/ |
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} /*** end of shutdownToHibernate ***/
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|
| 569 | 568 |
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| 570 | 569 |
/* |
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* Final shutdown of the system and restart. |
| ... | ... | |
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/* wait for all boards to be ready for shutdown */ |
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GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 589 | 588 |
if (GPIO_ReadInputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
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// this must skipped if the pullup voltage (VIO3.3) is not active |
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// this must be skipped if the pullup voltage (VIO3.3) is not active
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| 591 | 590 |
setLed(BLT_TRUE); |
| 592 | 591 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 593 | 592 |
setLed(BLT_FALSE); |
| ... | ... | |
| 612 | 611 |
*/ |
| 613 | 612 |
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return; |
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} /*** end of shutdownAndRestart***/ |
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} /*** end of shutdownAndRestart ***/
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|
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|
| 617 | 616 |
/* |
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* Configures some GPIO pins as inputs for safety reasons. |
| ... | ... | |
| 802 | 801 |
GPIO_SetBits(SYS_UART_UP_GPIO, SYS_UART_UP_PIN); |
| 803 | 802 |
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return handleColdReset(); |
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} /*** end of handleImuWakeu ***/ |
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} /*** end of handleImuWakeup ***/
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|
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/* |
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* Callback function that handles the system shutdown and enters transportation mode. |
| ... | ... | |
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* In transportation low-power mode the system can only be woken up by pulling down the NRST signal. |
| 811 | 810 |
* Furthermore, the system can not be charged when in transportation mode. |
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*/ |
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void blCallbackShutdownTransportation(void) {
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void blCallbackShutdownTransportation() {
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/* make sure that the required clocks are activated */ |
| 815 | 814 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 816 | 815 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| ... | ... | |
| 819 | 818 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 820 | 819 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 821 | 820 |
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setLed(BLT_TRUE);
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/* initialized the standalone timer */
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| 823 | 822 |
saTimerInit(); |
| 824 | 823 |
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setLed(BLT_TRUE); |
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shutdownToTransportation(BLT_TRUE); |
| 826 | 827 |
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return; |
| ... | ... | |
| 841 | 842 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 842 | 843 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 843 | 844 |
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/* initialized the standalone timer */ |
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| 844 | 846 |
saTimerInit(); |
| 845 | 847 |
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setLed(BLT_TRUE); |
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| 846 | 850 |
shutdownToDeepsleep(BLT_TRUE); |
| 847 | 851 |
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| 848 | 852 |
return; |
| ... | ... | |
| 861 | 865 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 862 | 866 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 863 | 867 |
|
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/* initialized the standalone timer */ |
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| 864 | 869 |
saTimerInit(); |
| 865 | 870 |
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setLed(BLT_TRUE); |
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shutdownToHibernate(BLT_TRUE); |
| 867 | 874 |
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| 868 | 875 |
return; |
| ... | ... | |
| 877 | 884 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 878 | 885 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 879 | 886 |
|
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/* set/keep the SYS_SYNC and SYS_PD signal active */ |
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/* set/keep the SYS_SYNC and SYS_PD signals active */
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|
| 881 | 888 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 882 | 889 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 883 | 890 |
|
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/* ensure that all modules had a chance to detect the pulse on SYS_PD_N */
|
|
| 891 |
/* initialized the standalone timer */
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| 885 | 892 |
saTimerInit(); |
| 893 |
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| 894 |
setLed(BLT_TRUE); |
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| 895 |
|
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/* deactivate SYS_PD_N and ensure that all modules had a chance to detect the falling edge */ |
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| 886 | 897 |
msleep(1); |
| 887 | 898 |
GPIO_SetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 888 | 899 |
msleep(1); |
| ... | ... | |
| 902 | 913 |
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); |
| 903 | 914 |
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE); |
| 904 | 915 |
|
| 905 |
/* set/keep the SYS_SYNC and SYS_PD signal active */ |
|
| 916 |
/* set/keep the SYS_SYNC and SYS_PD signals active */
|
|
| 906 | 917 |
GPIO_ResetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 907 | 918 |
GPIO_ResetBits(SYS_PD_N_GPIO, SYS_PD_N_PIN); |
| 908 | 919 |
|
| ... | ... | |
| 919 | 930 |
/* wait for all boards to be ready for shutdown */ |
| 920 | 931 |
GPIO_SetBits(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN); |
| 921 | 932 |
if (GPIO_ReadOutputDataBit(SYS_REG_EN_GPIO, SYS_REG_EN_PIN) == Bit_SET) {
|
| 922 |
// this must skipped if the pullup voltage (VIO3.3) is not active |
|
| 933 |
// this must be skipped if the pullup voltage (VIO3.3) is not active
|
|
| 923 | 934 |
setLed(BLT_TRUE); |
| 924 | 935 |
waitForSignal(SYS_SYNC_N_GPIO, SYS_SYNC_N_PIN, Bit_SET); |
| 925 | 936 |
setLed(BLT_FALSE); |
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