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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Bootloader/custom.cpp
Views: 1798
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/*

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  custom code for specific boards

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 */

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#include <AP_HAL/AP_HAL.h>

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#include "ch.h"

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#include "hal.h"

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#include "support.h"

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#ifdef AP_BOOTLOADER_CUSTOM_HERE4

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/*

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  reset here4 LEDs

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*/

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static void bootloader_custom_Here4(void)

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{

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    for (uint8_t n=0; n<10; n++) {

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        const uint8_t num_leds = 4;

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        const uint32_t min_bits = num_leds*25+50;

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        const uint8_t num_leading_zeros = 8-min_bits%8 + 50;

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        const uint32_t output_stream_byte_length = (min_bits+7)/8;

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        palSetLineMode(HAL_GPIO_PIN_LED_DI, PAL_MODE_OUTPUT_PUSHPULL);

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        palSetLineMode(HAL_GPIO_PIN_LED_SCK, PAL_MODE_OUTPUT_PUSHPULL);

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        int l = 100;

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        while (l--) {

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            for (uint32_t i=0; i<output_stream_byte_length; i++) {

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                for (uint8_t bit = 0; bit < 8; bit++) {

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                    uint32_t out_bit_idx = i*8+bit;

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                    uint8_t bit_val;

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                    if (out_bit_idx < num_leading_zeros) {

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                        bit_val = 0;

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                    } else if ((out_bit_idx-num_leading_zeros) % 25 == 0) {

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                        bit_val = 1;

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                    } else {

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                        bit_val = 0;

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                    }

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                    palClearLine(HAL_GPIO_PIN_LED_SCK);

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                    palWriteLine(HAL_GPIO_PIN_LED_DI, bit_val);

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                    palSetLine(HAL_GPIO_PIN_LED_SCK);

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                }

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            }

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        }

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        chThdSleepMilliseconds(10);

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    }

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}

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#endif // AP_BOOTLOADER_CUSTOM_HERE4

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void custom_startup(void)

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{

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#ifdef AP_BOOTLOADER_CUSTOM_HERE4

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    bootloader_custom_Here4();

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#endif

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}

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