mirror of
https://github.com/peterantypas/maiana.git
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109 lines
2.7 KiB
C++
109 lines
2.7 KiB
C++
/*
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Copyright (c) 2016-2020 Peter Antypas
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This file is part of the MAIANA™ transponder firmware.
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The firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>
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*/
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#include "stm32l4xx_hal.h"
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#include "RadioManager.hpp"
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#include "RXPacketProcessor.hpp"
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#include "DataTerminal.hpp"
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#include "TXScheduler.hpp"
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#include "GPS.hpp"
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#include "SystickTimer.hpp"
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#include "CommandProcessor.hpp"
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#include "bsp.hpp"
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#include "printf_serial.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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void jump_to_bootloader()
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{
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typedef void (*pFunction)(void);
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pFunction systemBootloader;
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/**
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* System bootloader for L412 and L432 series resides at 0x1fff0000,
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* so the first 4 bytes contain the stack pointer and the next 4 contain the
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* program counter
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*/
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systemBootloader = (pFunction) (*((uint32_t *)(0x1fff0004)));
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uint32_t *pp = (uint32_t*)0x1fff0000;
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uint32_t msp = *pp;
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__set_MSP(msp);
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// That's it, jump!
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systemBootloader();
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}
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void mainTask(void *params)
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{
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EventPool::instance().init();
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EventQueue::instance().init();
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Configuration::instance().init();
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CommandProcessor::instance().init();
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DataTerminal::instance().init();
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RXPacketProcessor packetProcessor;
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#if not defined CALIBRATION_MODE && not defined TX_TEST_MODE
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GPS::instance().init();
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GPS::instance().enable();
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#endif
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#ifdef ENABLE_TX
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TXPacketPool::instance().init();
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TXScheduler::instance().init();
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#endif
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RadioManager::instance().init();
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RadioManager::instance().start();
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bsp_start_wdt();
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while (1)
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{
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EventQueue::instance().dispatch();
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vTaskDelay(10);
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bsp_refresh_wdt();
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}
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}
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int main(void)
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{
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if ( *(uint32_t*)DFU_FLAG_ADDRESS == DFU_FLAG_MAGIC )
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{
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*(uint32_t*)DFU_FLAG_ADDRESS = 0;
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jump_to_bootloader();
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}
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// This is for debugging imprecise bus faults
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//*(uint8_t *)0xe000ed08 |= 2;
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bsp_hw_init();
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TaskHandle_t xHandle;
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if ( xTaskCreate(mainTask, "main", 2248u, NULL, tskIDLE_PRIORITY+4, &xHandle) != pdPASS )
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{
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asm("BKPT 0");
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}
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vTaskStartScheduler();
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asm("BKPT 0");
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return 1;
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}
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