fome-fw/firmware/bootloader/bootloader_main.cpp

106 lines
2.3 KiB
C++

#include "pch.h"
#include "usbconsole.h"
#include "hardware.h"
#include "rusefi.h"
extern "C" {
#include "boot.h"
#include "shared_params.h"
}
class : public chibios_rt::BaseStaticThread<256> {
protected:
void main(void) override {
Gpio yellow = getWarningLedPin();
Gpio blue = getCommsLedPin();
Gpio green = getRunningLedPin();
efiSetPadMode("yellow", yellow, PAL_MODE_OUTPUT_PUSHPULL);
efiSetPadMode("blue", blue, PAL_MODE_OUTPUT_PUSHPULL);
efiSetPadMode("green", green, PAL_MODE_OUTPUT_PUSHPULL);
auto yellowPort = getBrainPinPort(yellow);
auto yellowPin = getBrainPinIndex(yellow);
auto bluePort = getBrainPinPort(blue);
auto bluePin = getBrainPinIndex(blue);
auto greenPort = getBrainPinPort(green);
auto greenPin = getBrainPinIndex(green);
if (yellowPort) {
palSetPad(yellowPort, yellowPin);
}
if (bluePort) {
palSetPad(bluePort, bluePin);
}
if (greenPort) {
palSetPad(greenPort, greenPin);
}
while (true) {
if (yellowPort) {
palTogglePad(yellowPort, yellowPin);
}
if (bluePort) {
palTogglePad(bluePort, bluePin);
}
if (greenPort) {
palTogglePad(greenPort, greenPin);
}
chThdSleepMilliseconds(250);
}
}
} blinky;
class : public chibios_rt::BaseStaticThread<1024> {
void main() override {
// Init openblt shared params
SharedParamsInit();
// Init openblt itself
BootInit();
#if (BOOT_FILE_SYS_ENABLE > 0)
// Always attempt an SD firmware update (get you unstuck from corrupt firmware)
FileHandleFirmwareUpdateRequest();
#endif
while (true) {
BootTask();
}
}
} openblt;
int main(void) {
preHalInit();
halInit();
chSysInit();
baseMCUInit();
// start the blinky thread
blinky.start(NORMALPRIO + 10);
// Start openblt on its own thread
openblt.start(NORMALPRIO + 5);
while (true) {
chThdSleepMilliseconds(1);
}
}
// very basic version, supports on chip pins only (really only used for USB, LEDs)
void efiSetPadMode(const char* msg, brain_pin_e brainPin, iomode_t mode) {
ioportid_t port = getHwPort(msg, brainPin);
ioportmask_t pin = getHwPin(msg, brainPin);
/* paranoid */
if (!port) {
return;
}
palSetPadMode(port, pin, mode);
}
// Weak linked default implementation (not necessarily required for all boards)
__attribute__((weak)) void preHalInit() { }