Revision 10687985 devices/DiWheelDrive/main.cpp
| devices/DiWheelDrive/main.cpp | ||
|---|---|---|
| 21 | 21 |
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| 22 | 22 |
Global global; |
| 23 | 23 |
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| 24 |
struct blVersion_t {
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const uint8_t identifier; |
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const uint8_t major; |
|
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const uint8_t minor; |
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const uint8_t patch; |
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} __attribute__((packed)); |
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| 24 | 31 |
void systemShutdown() {
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| 25 | 32 |
types::kinematic k; |
| 26 | 33 |
uint8_t i; |
| ... | ... | |
| 606 | 613 |
|
| 607 | 614 |
void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) {
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| 608 | 615 |
// check the magic number |
| 609 |
if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) {
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chprintf(chp, "Bootloader version: %u.%u.%u\n", |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (3*4)))); |
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chprintf(chp, "Callback functions:\n"); |
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if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2) {
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|
| 616 |
chprintf(chp, "\thibernate: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (4*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\tdeepsleep: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (5*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\ttransportation: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (6*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\trestart: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (10*4))) ? "available" : "unsupported"); |
|
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} else if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3) {
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chprintf(chp, "\thibernate: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (4*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\tdeepsleep: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (5*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\ttransportation: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (6*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\trestart: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (7*4))) ? "available" : "unsupported"); |
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chprintf(chp, "\thandle request: %s\n", *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (8*4))) ? "available" : "unsupported"); |
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} |
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} else {
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chprintf((BaseSequentialStream*) &SD1, "Bootloader deprecated\n"); |
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switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
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case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)):
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chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n", |
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
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break; |
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case BL_MAGIC_NUMBER: |
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chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n", |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
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break; |
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|
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default: |
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chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n"); |
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break; |
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| 629 | 634 |
} |
| 630 | 635 |
|
| 631 | 636 |
return; |
| ... | ... | |
| 772 | 777 |
|
| 773 | 778 |
chprintf((BaseSequentialStream*) &SD1, "\n"); |
| 774 | 779 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
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if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) {
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chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n", |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (3*4)))); |
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} else {
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chprintf((BaseSequentialStream*) &SD1, "Bootloader deprecated\n"); |
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switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
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case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)):
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chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n", |
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
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break; |
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case BL_MAGIC_NUMBER: |
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chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n", |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
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*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
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break; |
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default: |
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chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n"); |
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break; |
|
| 782 | 798 |
} |
| 783 | 799 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
| 784 | 800 |
// make sure that the info text is completetly printed |
| ... | ... | |
| 872 | 888 |
BaseThread::sleep(MS2ST(250)); |
| 873 | 889 |
|
| 874 | 890 |
if (shutdown_now != SHUTDOWN_NONE) {
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if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER) {
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if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) {
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| 876 | 892 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n"); |
| 877 | 893 |
shutdown_now = SHUTDOWN_NONE; |
| 878 | 894 |
} else {
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| 879 | 895 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
| 880 |
if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2) {
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// handle bootloader version 0.2.x |
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if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
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(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) {
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| 881 | 899 |
switch (shutdown_now) {
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| 882 | 900 |
case SHUTDOWN_TRANSPORTATION: |
| 883 | 901 |
blCallbackPtrAddr += 6 * 4; |
| ... | ... | |
| 896 | 914 |
blCallbackPtrAddr = 0; |
| 897 | 915 |
break; |
| 898 | 916 |
} |
| 899 |
} else if (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3) {
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} |
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// handle bootloader version 0.3.x |
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else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
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| 920 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) {
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| 921 |
switch (shutdown_now) {
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| 922 |
case SHUTDOWN_TRANSPORTATION: |
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blCallbackPtrAddr += 6 * 4; |
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| 924 |
break; |
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case SHUTDOWN_DEEPSLEEP: |
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blCallbackPtrAddr += 5 * 4; |
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break; |
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case SHUTDOWN_HIBERNATE: |
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blCallbackPtrAddr += 4 * 4; |
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break; |
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| 931 |
case SHUTDOWN_RESTART: |
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| 932 |
blCallbackPtrAddr += 7 * 4; |
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break; |
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case SHUTDOWN_HANDLE_REQUEST: |
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blCallbackPtrAddr += 8 * 4; |
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break; |
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| 937 |
default: |
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blCallbackPtrAddr = 0; |
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| 939 |
break; |
|
| 940 |
} |
|
| 941 |
} |
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| 942 |
// handle bootloader version 1.0.x |
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| 943 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) &&
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((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major == 1 && ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 0) {
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| 900 | 945 |
switch (shutdown_now) {
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| 901 | 946 |
case SHUTDOWN_TRANSPORTATION: |
| 902 | 947 |
blCallbackPtrAddr += 6 * 4; |
| ... | ... | |
| 920 | 965 |
} |
| 921 | 966 |
|
| 922 | 967 |
void (*blCallback)(void) = NULL; |
| 923 |
if (blCallbackPtrAddr) {
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| 968 |
if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
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| 924 | 969 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
| 925 | 970 |
|
| 926 | 971 |
if (!blCallback) {
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