mirror of
https://github.com/peterantypas/maiana.git
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104 lines
2.6 KiB
C++
104 lines
2.6 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 "config.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 "LEDManager.hpp"
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#include "CommandProcessor.hpp"
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#include "bsp.hpp"
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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 L4xx 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 mainLoop()
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{
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bool cliBootMode = *(uint32_t*)BOOTMODE_ADDRESS == CLI_FLAG_MAGIC;
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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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DataTerminal::instance().init();
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CommandProcessor::instance().init();
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LEDManager::instance().init();
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RXPacketProcessor packetProcessor;
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GPS::instance().init();
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TXPacketPool::instance().init();
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TXScheduler::instance().init();
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RadioManager::instance().init();
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if ( !cliBootMode )
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{
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GPS::instance().enable();
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RadioManager::instance().start();
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}
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else
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{
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DataTerminal::instance().write("\r\n\r\nCLI mode. Send the 'reboot' command or cycle power to exit.\r\n");
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}
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*(uint32_t*)BOOTMODE_ADDRESS = 0;
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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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bsp_refresh_wdt();
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__WFI();
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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*)BOOTMODE_ADDRESS == DFU_FLAG_MAGIC )
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{
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*(uint32_t*)BOOTMODE_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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mainLoop();
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return 1;
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}
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