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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Bootloader/support.h
Views: 1798
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#pragma once

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#include <AP_HAL_ChibiOS/AP_HAL_ChibiOS.h>

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#define LED_ACTIVITY	1

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#define LED_BOOTLOADER	2

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/* board info forwarded from board-specific code to booloader */

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struct boardinfo {

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    uint32_t	board_type;

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    uint32_t	board_rev;

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    uint32_t	fw_size;

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    uint32_t    extf_size;

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} __attribute__((packed));

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extern struct boardinfo board_info;

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void init_uarts(void);

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int16_t cin(unsigned timeout_ms);

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int cin_word(uint32_t *wp, unsigned timeout_ms);

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void cout(uint8_t *data, uint32_t len);

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void port_setbaud(uint32_t baudrate);

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#if defined(BOOTLOADER_FORWARD_OTG2_SERIAL)

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bool update_otg2_serial_forward(void);

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#endif

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void flash_init();

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uint32_t flash_func_read_word(uint32_t offset);

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bool flash_func_write_word(uint32_t offset, uint32_t v);

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bool flash_func_write_words(uint32_t offset, uint32_t *v, uint8_t n);

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uint32_t flash_func_sector_size(uint32_t sector);

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bool flash_func_is_erased(uint32_t sector);

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bool flash_func_erase_sector(uint32_t sector, bool force_erase = false);

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uint32_t flash_func_read_otp(uint32_t idx);

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uint32_t flash_func_read_sn(uint32_t idx);

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void flash_set_keep_unlocked(bool);

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void lock_bl_port(void);

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bool flash_write_flush(void);

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bool flash_write_buffer(uint32_t address, const uint32_t *v, uint8_t nwords);

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uint32_t get_mcu_id(void);

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uint32_t get_mcu_desc(uint32_t len, uint8_t *buf);

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uint32_t board_get_rtc_signature(void);

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void board_set_rtc_signature(uint32_t sig);

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void led_on(unsigned led);

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void led_off(unsigned led);

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void led_toggle(unsigned led);

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void thread_sleep_ms(uint32_t ms);

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void thread_sleep_us(uint32_t us);

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void custom_startup(void);

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#if defined(STM32H7) && CH_CFG_USE_HEAP

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void check_ecc_errors(void);

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#endif

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// printf to debug uart (or USB)

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extern "C" {

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void uprintf(const char *fmt, ...) FMT_PRINTF(1,2);

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}

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// generate a LED sequence forever

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void led_pulses(uint8_t npulses);

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typedef struct mcu_des_t {

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    uint16_t mcuid;

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    const char *desc;

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} mcu_des_t;

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typedef struct mcu_rev_t {

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    uint16_t revid;

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    char  rev;

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} mcu_rev_t;

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