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mirror of https://github.com/peterantypas/maiana.git synced 2025-05-17 07:50:10 -07:00
2020-10-23 16:40:11 -07:00

108 lines
2.7 KiB
C++

/*
Copyright (c) 2016-2020 Peter Antypas
This file is part of the MAIANA™ transponder firmware.
The firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>
*/
#include "stm32l4xx_hal.h"
#include "RadioManager.hpp"
#include "RXPacketProcessor.hpp"
#include "DataTerminal.hpp"
#include "TXScheduler.hpp"
#include "GPS.hpp"
#include "SystickTimer.hpp"
#include "CommandProcessor.hpp"
#include "bsp.hpp"
#include "printf_serial.h"
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
void jump_to_bootloader()
{
typedef void (*pFunction)(void);
pFunction systemBootloader;
/**
* System bootloader for L412 and L432 series resides at 0x1fff0000,
* so the first 4 bytes contain the stack pointer and the next 4 contain the
* program counter
*/
systemBootloader = (pFunction) (*((uint32_t *)(0x1fff0004)));
uint32_t *pp = (uint32_t*)0x1fff0000;
uint32_t msp = *pp;
__set_MSP(msp);
// That's it, jump!
systemBootloader();
}
void mainTask(void *params)
{
EventQueue::instance().init();
Configuration::instance().init();
CommandProcessor::instance().init();
DataTerminal::instance().init();
RXPacketProcessor packetProcessor;
#if not defined CALIBRATION_MODE && not defined TX_TEST_MODE
GPS::instance().init();
GPS::instance().enable();
#endif
#ifdef ENABLE_TX
TXPacketPool::instance().init();
TXScheduler::instance().init();
#endif
RadioManager::instance().init();
RadioManager::instance().start();
bsp_start_wdt();
while (1)
{
EventQueue::instance().dispatch();
vTaskDelay(10);
bsp_refresh_wdt();
}
}
int main(void)
{
if ( *(uint32_t*)DFU_FLAG_ADDRESS == DFU_FLAG_MAGIC )
{
*(uint32_t*)DFU_FLAG_ADDRESS = 0;
jump_to_bootloader();
}
// This is for debugging imprecise bus faults
//*(uint8_t *)0xe000ed08 |= 2;
bsp_hw_init();
TaskHandle_t xHandle;
if ( xTaskCreate(mainTask, "main", 2048u, NULL, tskIDLE_PRIORITY+4, &xHandle) != pdPASS )
{
asm("BKPT 0");
}
vTaskStartScheduler();
asm("BKPT 0");
return 1;
}