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vance
2022-10-23 23:45:43 -07:00
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//*****************************************************************************
//
//! @file main.c
//!
//! @brief A variable-baud rate bootloader for Apollo3 / Artemis module
//!
//! Purpose:
//
//*****************************************************************************
/*
Copyright (c) 2020 SparkFun Electronics
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
/*
Authors:
Owen Lyke, Nathan Seidle
Modified: Juy 22 2019
*/
//*****************************************************************************
//
// Includes
//
//*****************************************************************************
#include "am_mcu_apollo.h"
#include "am_bsp.h"
#include "am_util.h"
#include "stdint.h"
#include "svl_ringbuf.h"
#include "svl_packet.h"
#include "svl_uart.h"
#include "svl_utils.h"
//*****************************************************************************
//
// Defines
//
//*****************************************************************************
#define SVL_VERSION_NUMBER 0x05
// ****************************************
//
// Bootloader Options
//
// ****************************************
#define BL_UART_BUF_LEN (2048 + 512) // must be larger than maximum frame transmission length for guaranteed performance
#define BL_UART_INST 0 // which UART peripheral to use for BL data
#define BL_RX_PAD 49 // RX pad for BL_UART_INST
#define BL_TX_PAD 48 // TX pad for BL_UART_INST
#define USERCODE_OFFSET (0xC000 + 0x4000) // location in flash to begin storing user's code (Linker script needs to be adjusted to offset user's flash to this address)
#define FRAME_BUFFER_SIZE 512 // maximum number of 4-byte words that can be transmitted in a single frame packet
// ****************************************
//
// Debug Options
//
// ****************************************
//#define DEBUG 1 // uncomment to enable debug output
#ifdef DEBUG
#define DEBUG_BAUD_RATE 921600 // debug output baud rate
#define DEBUG_UART_INST 1 // debug UART peripheral instance (should not be the same as BL_UART_INST)
#define DEBUG_RX_PAD 25 // RX pad for
#define DEBUG_TX_PAD 24
#define DEBUG_UART_BUF_LEN 256
#define DEBUG_PRINT_APP 1 // undefine to not print app pages
#define APP_PRINT_NUM_PAGE 1
#undef APP_PRINT_PRETTY // define APP_PRINT_PRETTY for the alternate app data print format
uint8_t debug_buffer[DEBUG_UART_BUF_LEN] = {0};
#endif // DEBUG
// ****************************************
//
// Bootloader Commands
//
// ****************************************
#define CMD_VERSION (0x01)
#define CMD_BLMODE (0x02)
#define CMD_NEXT (0x03)
#define CMD_FRAME (0x04)
#define CMD_RETRY (0x05)
#define CMD_DONE (0x06)
//*****************************************************************************
//
// Macros
//
//*****************************************************************************
#define UART_GPIO_PINCONFIG_INNER(INST, TXRX, PAD) \
{ \
.uFuncSel = AM_HAL_PIN_##PAD##_UART##INST##TXRX, .eDriveStrength = AM_HAL_GPIO_PIN_DRIVESTRENGTH_2MA \
}
#define UART_GPIO_PINCONFIG(INST, TXRX, PAD) UART_GPIO_PINCONFIG_INNER(INST, TXRX, PAD)
//*****************************************************************************
//
// Forward Declarations
//
//*****************************************************************************
void setup(void);
bool detect_baud_rate(uint32_t *baud);
void start_uart_bl(uint32_t baud);
void enter_bootload(void);
uint8_t handle_frame_packet(svl_packet_t *packet, uint32_t *p_frame_address, uint16_t *p_last_page_erased);
void app_start(void);
void debug_printf(char *fmt, ...);
//*****************************************************************************
//
// Globals
//
//*****************************************************************************
art_svl_ringbuf_t bl_rx_ringbuf = {
.buf = NULL,
.len = 0,
.r_offset = 0,
.w_offset = 0,
};
void *hUART_bl = NULL; // pointer to handle for bootloader UART
void *hUART_debug = NULL; // pointer to handle for debug UART
#define BL_BAUD_SAMPLES (5)
volatile uint8_t bl_baud_ticks_index = 0x00;
volatile uint32_t bl_baud_ticks[BL_BAUD_SAMPLES] = {0};
//*****************************************************************************
//
// Main
//
//*****************************************************************************
int main(void)
{
bool baud_valid = false;
uint32_t bl_baud = 0x00;
uint8_t bl_buffer[BL_UART_BUF_LEN] = {0};
#define PLLEN_VER 1
uint8_t packet_ver_buf[PLLEN_VER] = {SVL_VERSION_NUMBER};
svl_packet_t svl_packet_version = {CMD_VERSION, packet_ver_buf, PLLEN_VER, PLLEN_VER};
svl_packet_t svl_packet_blmode = {CMD_BLMODE, NULL, 0, 0};
art_svl_ringbuf_init(&bl_rx_ringbuf, bl_buffer, BL_UART_BUF_LEN);
setup();
debug_printf("\n\nArtemis SVL Bootloader - DEBUG\n\n");
baud_valid = detect_baud_rate(&bl_baud); // Detects the baud rate. Returns true if a valid baud rate was found
if (baud_valid == false)
{
app_start(); // w/o valid baud rate jump t the app
}
start_uart_bl(bl_baud); // This will create a 23 us wide low 'blip' on the TX line (until possibly fixed)
am_util_delay_us(200); // At the minimum baud rate of 115200 one byte (10 bits with start/stop) takes 10/115200 or 87 us. 87+23 = 100, double to be safe
debug_printf("phase:\tconfirm bootloading entry\n");
debug_printf("\tsending Artemis SVL version packet\n");
svl_packet_send(&svl_packet_version); // when baud rate is determined send the version packet
debug_printf("\twaiting for bootloader confirmation\n");
if (svl_packet_wait(&svl_packet_blmode) != 0)
{ // wait for the bootloader to confirm bootloader mode entry
debug_printf("\tno confirmation received\n");
app_start(); // break to app
}
debug_printf("\tentering bootloader\n\n");
enter_bootload(); // Now we are locked in
am_util_delay_ms(10);
am_hal_reset_control(AM_HAL_RESET_CONTROL_SWPOI, 0); //Cause a system Power On Init to release as much of the stack as possible
debug_printf("ERROR - runoff");
while (1)
{ // Loop forever while sleeping.
am_hal_sysctrl_sleep(AM_HAL_SYSCTRL_SLEEP_DEEP); // Go to Deep Sleep.
}
}
//*****************************************************************************
//
// Function definitions below
//
//*****************************************************************************
#ifdef DEBUG
void start_uart_debug(void)
{
const am_hal_gpio_pincfg_t debug_uart_tx_pinconfig = UART_GPIO_PINCONFIG(DEBUG_UART_INST, TX, DEBUG_TX_PAD);
const am_hal_gpio_pincfg_t debug_uart_rx_pinconfig = UART_GPIO_PINCONFIG(DEBUG_UART_INST, RX, DEBUG_RX_PAD);
const am_hal_uart_config_t debug_uart_config = {
// Standard UART settings: 115200-8-N-1
.ui32BaudRate = DEBUG_BAUD_RATE,
.ui32DataBits = AM_HAL_UART_DATA_BITS_8,
.ui32Parity = AM_HAL_UART_PARITY_NONE,
.ui32StopBits = AM_HAL_UART_ONE_STOP_BIT,
.ui32FlowControl = AM_HAL_UART_FLOW_CTRL_NONE,
// Set TX and RX FIFOs to interrupt at half-full.
.ui32FifoLevels = (AM_HAL_UART_TX_FIFO_1_2 |
AM_HAL_UART_RX_FIFO_1_2),
// Buffers
.pui8TxBuffer = NULL,
.ui32TxBufferSize = 0,
.pui8RxBuffer = NULL,
.ui32RxBufferSize = 0,
};
// Initialize the printf interface for UART output.
am_hal_uart_initialize(DEBUG_UART_INST, &hUART_debug);
am_hal_uart_power_control(hUART_debug, AM_HAL_SYSCTRL_WAKE, false);
am_hal_uart_configure(hUART_debug, &debug_uart_config);
// Disable that pesky FIFO
UARTn(DEBUG_UART_INST)->LCRH_b.FEN = 0;
// Enable the UART pins.
am_hal_gpio_pinconfig(DEBUG_TX_PAD, debug_uart_tx_pinconfig);
am_hal_gpio_pinconfig(DEBUG_RX_PAD, debug_uart_rx_pinconfig);
// Enable interrupts.
NVIC_EnableIRQ((IRQn_Type)(UART0_IRQn + DEBUG_UART_INST));
am_hal_uart_interrupt_enable(hUART_debug, (AM_HAL_UART_INT_RX));
}
void stop_uart_debug(void)
{
// Deinitialize the UART printf interface.
am_hal_uart_power_control(hUART_debug, AM_HAL_SYSCTRL_DEEPSLEEP, false);
am_hal_uart_deinitialize(hUART_debug);
// Re-enable that pesky FIFO
UARTn(DEBUG_UART_INST)->LCRH_b.FEN = 1;
// Disable the UART pins.
am_hal_gpio_pinconfig(DEBUG_TX_PAD, g_AM_HAL_GPIO_DISABLE);
am_hal_gpio_pinconfig(DEBUG_RX_PAD, g_AM_HAL_GPIO_DISABLE);
// Disable interrupts.
NVIC_DisableIRQ((IRQn_Type)(UART0_IRQn + DEBUG_UART_INST));
am_hal_uart_interrupt_disable(hUART_debug, (AM_HAL_UART_INT_RX));
}
#endif // DEBUG
//*****************************************************************************
//
// Setup
//
//*****************************************************************************
void setup(void)
{
// Set the clock frequency.
am_hal_clkgen_control(AM_HAL_CLKGEN_CONTROL_SYSCLK_MAX, 0);
// Set the default cache configuration
am_hal_cachectrl_config(&am_hal_cachectrl_defaults);
am_hal_cachectrl_enable();
// Configure the stimer
am_hal_stimer_int_enable(AM_HAL_STIMER_INT_OVERFLOW);
NVIC_EnableIRQ(STIMER_IRQn);
am_hal_stimer_config(AM_HAL_STIMER_CFG_CLEAR | AM_HAL_STIMER_CFG_FREEZE);
am_hal_stimer_config(AM_HAL_STIMER_HFRC_3MHZ);
#ifdef DEBUG
start_uart_debug();
#endif
// Enable interrupts.
am_hal_interrupt_master_enable();
}
//*****************************************************************************
//
// Un-set-up
//
//*****************************************************************************
void unsetup(void)
{
disable_burst_mode();
// Deconfigure the stimer
am_hal_stimer_int_disable(AM_HAL_STIMER_INT_OVERFLOW);
NVIC_DisableIRQ(STIMER_IRQn);
am_hal_stimer_config(AM_HAL_STIMER_CFG_CLEAR | AM_HAL_STIMER_CFG_FREEZE);
am_hal_stimer_config(AM_HAL_STIMER_NO_CLK);
#ifdef DEBUG
stop_uart_debug();
#endif
// Disable interrupts.
am_hal_interrupt_master_disable();
}
// ****************************************
//
// Baud Rate Detect Phase
//
// ****************************************
bool detect_baud_rate(uint32_t *baud)
{
uint32_t bl_entry_timeout_ms = 200;
uint32_t bl_entry_timeout_start = millis();
bool baud_is_valid = false;
bool timed_out = true;
debug_printf("phase:\tdetect baud rate\n");
enable_burst_mode();
am_hal_gpio_pinconfig(BL_RX_PAD, g_AM_HAL_GPIO_INPUT_PULLUP);
ap3_gpio_enable_interrupts(BL_RX_PAD, AM_HAL_GPIO_PIN_INTDIR_LO2HI);
am_hal_gpio_interrupt_clear(AM_HAL_GPIO_BIT(BL_RX_PAD));
am_hal_gpio_interrupt_enable(AM_HAL_GPIO_BIT(BL_RX_PAD));
NVIC_EnableIRQ(GPIO_IRQn);
while ((millis() - bl_entry_timeout_start) < bl_entry_timeout_ms)
{
// try to detect baud rate
// debug_printf("\ttime (ms):\t%d\n", millis());
if (bl_baud_ticks_index == BL_BAUD_SAMPLES)
{
// compute differences between samples
for (uint8_t indi = 0; indi < (BL_BAUD_SAMPLES - 1); indi++)
{
bl_baud_ticks[indi] = bl_baud_ticks[indi + 1] - bl_baud_ticks[indi];
}
float mean = 0.0;
for (uint8_t indi = 0; indi < (BL_BAUD_SAMPLES - 1); indi++)
{
mean += bl_baud_ticks[indi];
}
mean /= (BL_BAUD_SAMPLES - 1);
if (mean < 3)
{
// invalid
}
else if ((mean >= 4) && (mean <= 8))
{
*baud = 921600;
baud_is_valid = true;
}
else if ((mean >= 10) && (mean <= 14))
{
*baud = 460800;
baud_is_valid = true;
}
else if ((mean >= 25) && (mean <= 30))
{
*baud = 230400;
baud_is_valid = true;
}
else if ((mean >= 45) && (mean <= 55))
{
*baud = 115200;
baud_is_valid = true;
}
else if ((mean >= 91) && (mean <= 111))
{
*baud = 57600;
baud_is_valid = true;
}
else
{
// invalid
}
if (baud_is_valid)
{
timed_out = false;
}
break; // exit the timeout loop
}
}
am_hal_gpio_interrupt_disable(AM_HAL_GPIO_BIT(BL_RX_PAD));
am_hal_gpio_interrupt_clear(AM_HAL_GPIO_BIT(BL_RX_PAD));
NVIC_DisableIRQ(GPIO_IRQn);
disable_burst_mode();
#ifdef DEBUG
// show differences for debugging purposes
debug_printf("\ttiming differences: { ");
for (uint8_t indi = 0; indi < (BL_BAUD_SAMPLES - 1); indi++)
{
debug_printf("%d", bl_baud_ticks[indi]);
if (indi < (BL_BAUD_SAMPLES - 2))
{
debug_printf(", ");
}
}
debug_printf("}\n");
#endif // DEBUG
if (!baud_is_valid)
{
debug_printf("\tbaud rate not detected.\n\t\trising edges:\t%d\n\t\ttimed out:\t%d\n\n", bl_baud_ticks_index, timed_out);
}
else
{
debug_printf("\tdetected valid baud rate:\t%d\n\n", *baud);
}
return baud_is_valid;
}
//*****************************************************************************
//
// Start BL UART at desired baud
//
//*****************************************************************************
void start_uart_bl(uint32_t baud)
{
const am_hal_gpio_pincfg_t bl_uart_tx_pinconfig = UART_GPIO_PINCONFIG(BL_UART_INST, TX, BL_TX_PAD);
const am_hal_gpio_pincfg_t bl_uart_rx_pinconfig = UART_GPIO_PINCONFIG(BL_UART_INST, RX, BL_RX_PAD);
am_hal_uart_config_t bl_uart_config =
{
// Standard UART settings: 115200-8-N-1
.ui32BaudRate = baud,
.ui32DataBits = AM_HAL_UART_DATA_BITS_8,
.ui32Parity = AM_HAL_UART_PARITY_NONE,
.ui32StopBits = AM_HAL_UART_ONE_STOP_BIT,
.ui32FlowControl = AM_HAL_UART_FLOW_CTRL_NONE,
// Set TX and RX FIFOs to interrupt at half-full.
.ui32FifoLevels = (AM_HAL_UART_TX_FIFO_1_2 |
AM_HAL_UART_RX_FIFO_1_2),
// Buffers
.pui8TxBuffer = NULL,
.ui32TxBufferSize = 0,
.pui8RxBuffer = NULL,
.ui32RxBufferSize = 0,
};
// Initialize the printf interface for UART output.
am_hal_uart_initialize(BL_UART_INST, &hUART_bl);
am_hal_uart_power_control(hUART_bl, AM_HAL_SYSCTRL_WAKE, false);
am_hal_uart_configure(hUART_bl, &bl_uart_config);
// Disable that pesky FIFO
UARTn(BL_UART_INST)->LCRH_b.FEN = 0;
// Enable the UART pins.
am_hal_gpio_pinconfig(BL_TX_PAD, bl_uart_tx_pinconfig);
am_hal_gpio_pinconfig(BL_RX_PAD, bl_uart_rx_pinconfig);
// Enable interrupts.
NVIC_EnableIRQ((IRQn_Type)(UART0_IRQn + BL_UART_INST));
am_hal_uart_interrupt_enable(hUART_bl, (AM_HAL_UART_INT_RX));
// Provide SVL Packet interfaces
svl_packet_link_read_fn(art_svl_ringbuf_read, &bl_rx_ringbuf);
svl_packet_link_avail_fn(art_svl_ringbuf_available, &bl_rx_ringbuf);
svl_packet_link_millis_fn(millis);
svl_packet_link_write_fn(svl_uart_write_byte, hUART_bl);
}
// ****************************************
//
// Bootload phase
//
// ****************************************
void enter_bootload(void)
{
enable_burst_mode();
bool done = false;
uint32_t frame_address = 0;
uint16_t last_page_erased = 0;
uint8_t retransmit = 0;
static uint32_t frame_buffer[FRAME_BUFFER_SIZE];
svl_packet_t svl_packet_incoming_frame = {CMD_FRAME, (uint8_t *)frame_buffer, sizeof(frame_buffer) / sizeof(uint8_t), sizeof(frame_buffer) / sizeof(uint8_t)};
svl_packet_t svl_packet_retry = {CMD_RETRY, NULL, 0, 0};
svl_packet_t svl_packet_next = {CMD_NEXT, NULL, 0, 0};
debug_printf("phase:\tbootload\n");
while (!done)
{
if (retransmit != 0)
{
debug_printf("\trequesting retransmission\n");
svl_packet_send((svl_packet_t *)&svl_packet_retry); // Ask to retransmit
}
else
{
debug_printf("\trequesting next app frame\n");
svl_packet_send((svl_packet_t *)&svl_packet_next); // Ask for the next frame packet
}
retransmit = 0;
uint8_t stat = svl_packet_wait(&svl_packet_incoming_frame);
if (stat != 0)
{ // wait for either a frame or the done command
debug_printf("\t\terror receiving packet (%d)\n", stat);
retransmit = 1;
am_util_delay_us(177000); //Worst case: wait 177ms for 2048 byte transfer at 115200bps to complete
//Flush the buffers to remove any inbound or outbound garbage
bl_rx_ringbuf.r_offset = 0;
bl_rx_ringbuf.w_offset = 0;
continue;
}
// debug_printf("Successfully received incoming frame packet (todo: add extra details in debug)\n", stat);
if (svl_packet_incoming_frame.cmd == CMD_FRAME)
{
debug_printf("\t\treceived an app frame\n");
if (handle_frame_packet(&svl_packet_incoming_frame, &frame_address, &last_page_erased) != 0)
{
// debug_printf("\t\t\tbootload error - packet could not be handled\n");
retransmit = 1;
continue;
}
}
else if (svl_packet_incoming_frame.cmd == CMD_DONE)
{
debug_printf("\t\treceived done signal!\n\n");
done = true;
}
else
{
debug_printf("bootload error - unknown command\n");
retransmit = 1;
continue;
}
}
// finish bootloading
}
// ****************************************
//
// Handle a frame packet
//
// ****************************************
uint8_t handle_frame_packet(svl_packet_t *packet, uint32_t *p_frame_address, uint16_t *p_last_page_erased)
{
// debug_printf("\t\thandling frame\n");
uint32_t num_words = (packet->pl_len / 4);
debug_printf("\t\tframe_address = 0x%08X, num_words = %d\n", *(p_frame_address), num_words);
// Check payload length is multiple of words
if ((packet->pl_len % 4))
{
debug_printf("Error: frame packet not integer multiple of words (4 bytes per word)\n");
return 1;
}
int32_t i32ReturnCode = 0;
uint32_t offset_address = (*(p_frame_address) + USERCODE_OFFSET);
if ((*p_last_page_erased) < AM_HAL_FLASH_ADDR2PAGE(offset_address))
{ // Prevent erasing partially-filled pages
// debug_printf("Erasing instance %d, page %d\n\r", AM_HAL_FLASH_ADDR2INST( offset_address ), AM_HAL_FLASH_ADDR2PAGE(offset_address) );
//Erase the 8k page for this address
i32ReturnCode = am_hal_flash_page_erase(AM_HAL_FLASH_PROGRAM_KEY, AM_HAL_FLASH_ADDR2INST(offset_address), AM_HAL_FLASH_ADDR2PAGE(offset_address));
*(p_last_page_erased) = AM_HAL_FLASH_ADDR2PAGE(offset_address);
if (i32ReturnCode)
{
debug_printf("FLASH_MASS_ERASE i32ReturnCode = 0x%x.\n\r", i32ReturnCode);
}
}
//Record the array
//debug_printf("Recording %d words (%d bytes) to memory\n", num_words, 4 * num_words);
i32ReturnCode = am_hal_flash_program_main(AM_HAL_FLASH_PROGRAM_KEY, (uint32_t *)packet->pl, (uint32_t *)(*(p_frame_address) + USERCODE_OFFSET), num_words);
if (i32ReturnCode)
{
debug_printf("FLASH_WRITE error = 0x%x.\n\r", i32ReturnCode);
return 1;
}
*(p_frame_address) += num_words * 4;
// debug_printf("Array recorded to flash\n");
return 0;
}
// ****************************************
//
// Jump to the application
//
// ****************************************
void app_start(void)
{
// debug_printf("\n\t-- app start --\n");
// #ifdef DEBUG
// #ifdef DEBUG_PRINT_APP
// uint32_t start_address = USERCODE_OFFSET; // Print a section of flash
// debug_printf("Printing page starting at offset 0x%04X\n", start_address);
// #ifdef APP_PRINT_PRETTY
// for (uint16_t x = 0; x < 512*APP_PRINT_NUM_PAGE; x++){
// if (x % 8 == 0){
// debug_printf("\nAdr: 0x%04X", start_address + (x * 4));
// }
// debug_printf(" 0x%08X", *(uint32_t *)(start_address + (x * 4)));
// }
// debug_printf("\n");
// #else
// for (uint16_t x = 0; x < 512*APP_PRINT_NUM_PAGE; x++){
// if (x % 4 == 0){
// debug_printf("\n");
// }
// uint32_t wor = *(uint32_t *)(start_address + (x * 4));
// debug_printf("%02x%02x %02x%02x", (wor & 0x000000FF), (wor & 0x0000FF00) >> 8, (wor & 0x00FF0000) >> 16, (wor & 0xFF000000) >> 24 );
// if( (x%4) != 3 ){
// debug_printf(" ");
// }
// }
// debug_printf("\n");
// #endif // APP_PRINT_PRETTY
// #endif // DEBUG_PRINT_APP
// #endif // DEBUG
void *entryPoint = (void *)(*((uint32_t *)(USERCODE_OFFSET + 4)));
debug_printf("\nJump to App at 0x%08X\n\n", (uint32_t)entryPoint);
am_util_delay_ms(10); // Wait for prints to complete
unsetup(); // Undoes configuration to provide users with a clean slate
goto *entryPoint; // Jump to start of user code
}
// ****************************************
//
// Debug printf function
//
// ****************************************
void debug_printf(char *fmt, ...)
{
#ifdef DEBUG
char debug_buffer[DEBUG_UART_BUF_LEN];
va_list args;
va_start(args, fmt);
vsnprintf(debug_buffer, DEBUG_UART_BUF_LEN, (const char *)fmt, args);
va_end(args);
svl_uart_print(hUART_debug, debug_buffer);
#endif //DEBUG
}
//*****************************************************************************
//
// UART interrupt handlers
//
//*****************************************************************************
void am_uart_isr(void)
{
// Service the FIFOs as necessary, and clear the interrupts.
#if BL_UART_INST == 0
uint32_t ui32Status, ui32Idle;
am_hal_uart_interrupt_status_get(hUART_bl, &ui32Status, true);
am_hal_uart_interrupt_clear(hUART_bl, ui32Status);
am_hal_uart_interrupt_service(hUART_bl, ui32Status, &ui32Idle);
if (ui32Status & AM_HAL_UART_INT_RX)
{
uint8_t c = 0x00;
if (svl_uart_read(hUART_bl, (char *)&c, 1) != 0)
{
art_svl_ringbuf_write(&bl_rx_ringbuf, c);
}
}
#else
#ifdef DEBUG
am_hal_uart_interrupt_status_get(hUART_debug, &ui32Status, true);
am_hal_uart_interrupt_clear(hUART_debug, ui32Status);
am_hal_uart_interrupt_service(hUART_debug, ui32Status, &ui32Idle);
#endif // DEBUG
#endif // BL_UART_INST == 0
}
void am_uart1_isr(void)
{
// Service the FIFOs as necessary, and clear the interrupts.
#if BL_UART_INST == 1
uint32_t ui32Status, ui32Idle;
am_hal_uart_interrupt_status_get(hUART_bl, &ui32Status, true);
am_hal_uart_interrupt_clear(hUART_bl, ui32Status);
am_hal_uart_interrupt_service(hUART_bl, ui32Status, &ui32Idle);
if (ui32Status & AM_HAL_UART_INT_RX)
{
uint8_t c = 0x00;
if (read(hUART_bl, &c, 1) != 0)
{
art_svl_ringbuf_write(&bl_rx_ringbuf, c);
}
}
#else
#ifdef DEBUG
uint32_t ui32Status, ui32Idle;
am_hal_uart_interrupt_status_get(hUART_debug, &ui32Status, true);
am_hal_uart_interrupt_clear(hUART_debug, ui32Status);
am_hal_uart_interrupt_service(hUART_debug, ui32Status, &ui32Idle);
#endif // DEBUG
#endif // BL_UART_INST == 0
}
//*****************************************************************************
//
// GPIO interrupt handler
//
//*****************************************************************************
void am_gpio_isr(void)
{
am_hal_gpio_interrupt_clear(AM_HAL_GPIO_BIT(BL_RX_PAD));
if (bl_baud_ticks_index < BL_BAUD_SAMPLES)
{
bl_baud_ticks[bl_baud_ticks_index++] = CTIMER->STTMR;
}
}
//*****************************************************************************
//
// STimer interrupt handler
//
//*****************************************************************************
void am_stimer_isr(void)
{
am_hal_stimer_int_clear(AM_HAL_STIMER_INT_OVERFLOW);
ap3_stimer_overflows += 1;
// At the fastest rate (3MHz) the 64 bits of the stimer
// along with this overflow counter can keep track of
// the time for ~ 195,000 years without wrapping to 0
}
tools/svl/bootloader/src/svl_packet/svl_packet.c
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#include "svl_packet.h"
void *read_param = NULL;
void *write_param = NULL;
void *avail_param = NULL;
svl_packet_read_byte_fn_t read_fn = NULL;
svl_packet_write_byte_fn_t write_fn = NULL;
svl_packet_avail_bytes_fn_t avail_fn = NULL;
svl_packet_millis_fn_t millis_fn = NULL;
uint8_t CRCL, CRCH;
uint16_t CRC_Table[8 * 32] = {
0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202};
//Update CRC with given byte
inline __attribute__((always_inline)) void updateCRC(uint8_t num)
{
uint16_t tableAddr = (num ^ CRCH);
CRCH = (CRC_Table[tableAddr] >> 8) ^ CRCL;
CRCL = (CRC_Table[tableAddr] & 0x00FF);
}
inline __attribute__((always_inline)) size_t svl_packet_read_byte(uint8_t *c)
{
size_t retval = 0x00;
if (read_fn != NULL)
{
retval = read_fn(read_param, c);
}
return retval;
}
inline __attribute__((always_inline)) size_t svl_packet_write_byte(uint8_t c)
{
size_t retval = 0x00;
if (write_fn != NULL)
{
retval = write_fn(write_param, c);
}
return retval;
}
inline __attribute__((always_inline)) size_t svl_packet_avail_bytes(void)
{
size_t retval = 0x00;
if (avail_fn != NULL)
{
retval = avail_fn(avail_param);
}
return retval;
}
inline __attribute__((always_inline)) size_t svl_packet_millis(void)
{
size_t retval = 0x00;
if (millis_fn != NULL)
{
retval = millis_fn();
}
return retval;
}
void svl_packet_link_read_fn(svl_packet_read_byte_fn_t fn, void *param)
{
read_param = param;
read_fn = fn;
}
void svl_packet_link_write_fn(svl_packet_write_byte_fn_t fn, void *param)
{
write_param = param;
write_fn = fn;
}
void svl_packet_link_avail_fn(svl_packet_avail_bytes_fn_t fn, void *param)
{
avail_param = param;
avail_fn = fn;
}
void svl_packet_link_millis_fn(svl_packet_millis_fn_t fn)
{
millis_fn = fn;
}
void svl_packet_send(svl_packet_t *packet)
{
CRCL = 0;
CRCH = 0;
updateCRC(packet->cmd); //Add this byte to CRC
for (uint32_t x = 0; x < packet->pl_len; x++)
{
updateCRC(*(packet->pl + x)); //Add this byte to CRC
}
svl_packet_write_byte(((packet->pl_len + 3) >> 8)); // len high byte (including command and CRC bytes)
svl_packet_write_byte(((packet->pl_len + 3) & 0xFF)); // len low byte (including command and CRC bytes)
svl_packet_write_byte((packet->cmd)); // command byte
if ((packet->pl != NULL) && (packet->pl_len != 0))
{
for (uint16_t indi = 0; indi < packet->pl_len; indi++)
{ // payload
svl_packet_write_byte(*(packet->pl + indi));
}
}
svl_packet_write_byte(CRCH); // CRC H
svl_packet_write_byte(CRCL); // CRC L
}
uint8_t svl_packet_wait(svl_packet_t *packet)
{
// wait for 2 bytes (the length bytes)
// wait for length bytes to come in
// make sure that 'length' bytes are enough to satisfy the desired payload length
if (packet == NULL)
{
return (SVL_PACKET_ERR);
}
const uint8_t num_bytes_length = 2;
if (svl_packet_wait_bytes(num_bytes_length))
{
return (SVL_PACKET_ERR_TIMEOUT | SVL_PACKET_LEN);
}
uint16_t len = svl_packet_get_uint16_t();
if (len == 0)
{
return (SVL_PACKET_ERR_ZLP);
}
if ((len - 3) > packet->max_pl_len)
{
return (SVL_PACKET_ERR_MEM | SVL_PACKET_PL);
}
//Wait for entire packet to come in
if (svl_packet_wait_bytes(len))
return (SVL_PACKET_ERR_TIMEOUT | SVL_PACKET_PL);
uint8_t incoming;
CRCL = 0;
CRCH = 0;
//Get command byte
svl_packet_read_byte(&incoming);
packet->cmd = incoming;
updateCRC(incoming); //Add this byte to CRC
packet->pl_len = (len - 3);
//Now read the data coming in
if ((packet->pl != NULL) && (packet->max_pl_len != 0))
{
for (uint32_t x = 0; x < packet->pl_len; x++)
{
svl_packet_read_byte(&incoming);
updateCRC(incoming); //Add this byte to CRC
*(packet->pl + x) = incoming; //Fill payload with data
}
}
uint16_t crc = svl_packet_get_uint16_t(); //Read final two bytes into CRC
uint16_t check = ((uint16_t)CRCH << 8) | CRCL;
if (crc != check)
{
return (SVL_PACKET_ERR_CRC);
}
return (SVL_PACKET_OK);
}
uint16_t svl_packet_get_uint16_t(void)
{
uint8_t h = 0x00;
uint8_t l = 0x00;
svl_packet_read_byte(&h);
svl_packet_read_byte(&l);
return (((uint16_t)h << 8) | (l & 0xFF));
}
uint8_t svl_packet_wait_bytes(uint32_t num)
{
uint32_t timeout_ms = 500;
uint32_t start = svl_packet_millis();
uint32_t avail = 0;
while ((svl_packet_millis() - start) < timeout_ms)
{
avail = svl_packet_avail_bytes();
if (avail >= num)
{
return 0;
}
}
// debug_printf("only got %d bytes...\n",avail);
return 1;
}
tools/svl/bootloader/src/svl_packet/svl_packet.h
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#ifndef _SVL_PACKET_H_
#define _SVL_PACKET_H_
#include "stdint.h"
#include "stdlib.h"
#include "stdbool.h"
typedef struct _svl_packet_t
{ // An SVL3 packet consists of 5+N bytes. N is the length of the data payload, and there are 5 bytes that are always transmitted
// len // 2 - length of the remainder of the packet (pllen + 3) (note, this is automatically calculated)
uint8_t cmd; // 1 - The command
uint8_t *pl; // N - The payload (pointer)
uint16_t pl_len; // - Length of the payload in bytes (note, this is not transmitted across the line, just used internally)
// crc // 2 - CRC16 on the command and the payload. poly = 0x8005, nothing extra or fancy. Byte order MSB first, bit order MSB first
uint16_t max_pl_len; // - This is the number of bytes pointed to by 'pl'
} svl_packet_t;
enum
{
SVL_PACKET_OK = 0x00,
SVL_PACKET_ERR = 0x01, // general error
SVL_PACKET_ERR_TIMEOUT = 0x02, // timeout
SVL_PACKET_ERR_ZLP = 0x04, // zero length packet
SVL_PACKET_ERR_MEM = 0x08, // not enough space to receive packet
SVL_PACKET_ERR_CRC = 0x10, // crc mismatch
SVL_PACKET_LEN = 0x80, // flag indicating 'len' header
SVL_PACKET_PL = 0x40, // flag indicating payload
};
typedef size_t (*svl_packet_read_byte_fn_t)(void *, uint8_t *);
typedef size_t (*svl_packet_write_byte_fn_t)(void *, uint8_t);
typedef size_t (*svl_packet_avail_bytes_fn_t)(void *);
typedef size_t (*svl_packet_millis_fn_t)(void);
void svl_packet_link_read_fn(svl_packet_read_byte_fn_t fn, void *param);
void svl_packet_link_write_fn(svl_packet_write_byte_fn_t fn, void *param);
void svl_packet_link_avail_fn(svl_packet_avail_bytes_fn_t fn, void *param);
void svl_packet_link_millis_fn(svl_packet_millis_fn_t fn);
void svl_packet_send(svl_packet_t *packet);
uint8_t svl_packet_wait(svl_packet_t *packet);
uint16_t svl_packet_get_uint16_t(void);
uint8_t svl_packet_wait_bytes(uint32_t num);
#endif // _SVL_PACKET_H_
tools/svl/bootloader/src/svl_ringbuf/svl_ringbuf.c
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#include "svl_ringbuf.h"
size_t art_svl_ringbuf_init( void* vrb, uint8_t* buf, size_t len ){
if( vrb == NULL ){ return 0; }
art_svl_ringbuf_t* rb = (art_svl_ringbuf_t*)vrb;
rb->buf = buf;
rb->len = len;
rb->r_offset = 0;
rb->w_offset = 0;
return rb->len;
}
size_t art_svl_ringbuf_available( void* vrb ){
if( vrb == NULL ){ return 0; }
art_svl_ringbuf_t* rb = (art_svl_ringbuf_t*)vrb;
size_t avail = 0x00;
if((rb->w_offset) >= (rb->r_offset)){
avail = rb->w_offset - rb->r_offset;
}else{
avail = rb->len - (rb->r_offset - rb->w_offset);
}
return avail;
}
size_t art_svl_ringbuf_bytes_free( void* vrb ){
if( vrb == NULL ){ return 0; }
art_svl_ringbuf_t* rb = (art_svl_ringbuf_t*)vrb;
size_t friegh = 0x00;
if((rb->w_offset) >= (rb->r_offset)){
friegh = rb->len - rb->w_offset + rb->r_offset -1;
}else{
friegh = rb->r_offset - rb->w_offset - 1;
}
return friegh;
}
size_t art_svl_ringbuf_write( void* vrb, uint8_t c ){
if( vrb == NULL ){ return 0; }
art_svl_ringbuf_t* rb = (art_svl_ringbuf_t*)vrb;
if(art_svl_ringbuf_bytes_free(rb) > 0){
*(rb->buf + rb->w_offset) = c;
rb->w_offset++;
if(rb->w_offset >= rb->len){
rb->w_offset = 0;
}
return 1;
}
return 0;
}
size_t art_svl_ringbuf_read( void* vrb, uint8_t* c ){
if( vrb == NULL ){ return 0; }
art_svl_ringbuf_t* rb = (art_svl_ringbuf_t*)vrb;
if(art_svl_ringbuf_available(rb) > 0){
*c = *(rb->buf + rb->r_offset);
rb->r_offset++;
if(rb->r_offset >= rb->len){
rb->r_offset = 0;
}
return 1;
}
return 0;
}
tools/svl/bootloader/src/svl_ringbuf/svl_ringbuf.h
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#ifndef _SVL_RINGBUF_H_
#define _SVL_RINGBUF_H_
#include "stdio.h"
typedef struct _art_svl_ringbuf_t {
uint8_t* buf;
size_t len;
volatile size_t r_offset;
volatile size_t w_offset;
}art_svl_ringbuf_t;
size_t art_svl_ringbuf_init ( void* rb, uint8_t* buf, size_t len );
size_t art_svl_ringbuf_available ( void* rb );
size_t art_svl_ringbuf_bytes_free ( void* rb );
size_t art_svl_ringbuf_write ( void* rb, uint8_t c );
size_t art_svl_ringbuf_read ( void* rb, uint8_t* c );
#endif // _SVL_RINGBUF_H_
tools/svl/bootloader/src/svl_uart/svl_uart.c
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#include "svl_uart.h"
//*****************************************************************************
//
// UART read buffer
//
//*****************************************************************************
size_t svl_uart_read(void *pHandle, char* buf, size_t len){
uint32_t ui32BytesRead = 0x00;
am_hal_uart_transfer_t sRead = {
.ui32Direction = AM_HAL_UART_READ,
.pui8Data = (uint8_t*)buf,
.ui32NumBytes = len,
.ui32TimeoutMs = 0,
.pui32BytesTransferred = &ui32BytesRead,
};
am_hal_uart_transfer(pHandle, &sRead);
return ui32BytesRead;
}
//*****************************************************************************
//
// UART write buffer
//
//*****************************************************************************
size_t svl_uart_write(void *pHandle, char* buf, size_t len){
uint32_t ui32BytesWritten = 0;
const am_hal_uart_transfer_t sUartWrite =
{
.ui32Direction = AM_HAL_UART_WRITE,
.pui8Data = (uint8_t*) buf,
.ui32NumBytes = len,
.ui32TimeoutMs = AM_HAL_UART_WAIT_FOREVER,
.pui32BytesTransferred = &ui32BytesWritten,
};
am_hal_uart_transfer(pHandle, &sUartWrite);
return ui32BytesWritten;
}
//*****************************************************************************
//
// UART write byte
//
//*****************************************************************************
size_t svl_uart_write_byte(void *pHandle, uint8_t c){
return svl_uart_write(pHandle, (char*)&c, 1);
}
//*****************************************************************************
//
// UART send string
//
//*****************************************************************************
size_t svl_uart_print(void *pHandle, char* str){
uint32_t ui32StrLen = 0;
while (str[ui32StrLen] != 0){ ui32StrLen++; } // Measure the length of the string.
return svl_uart_write( pHandle, str, ui32StrLen);
// uint16_t indi = 0;
// while((*(debug_buffer+indi)!='\0') && (indi < DEBUG_UART_BUF_LEN)){
// svl_uart_write(hUART_debug, debug_buffer+indi, 1);
// indi++;
// }
}
tools/svl/bootloader/src/svl_uart/svl_uart.h
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#ifndef _SVL_UART_H_
#define _SVL_UART_H_
#include "am_mcu_apollo.h"
#include "am_bsp.h"
#include "am_util.h"
size_t svl_uart_read (void *pHandle, char* buf, size_t len);
size_t svl_uart_write (void *pHandle, char* buf, size_t len);
size_t svl_uart_write_byte (void *pHandle, uint8_t c);
size_t svl_uart_print (void *pHandle, char* str);
#endif // _SVL_UART_H_
tools/svl/bootloader/src/svl_utils/svl_utils.c
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#include "svl_utils.h"
#define AP3_STIMER_FREQ_HZ (3000000)
#define AP3_STIMER_FREQ_KHZ (AP3_STIMER_FREQ_HZ / 1000)
#define AP3_STIMER_FREQ_MHZ (AP3_STIMER_FREQ_HZ / 1000000)
volatile uint32_t ap3_stimer_overflows = 0x00;
uint64_t ticks = 0;
void _fill_ticks(void)
{
ticks = ap3_stimer_overflows;
ticks <<= 32;
ticks |= (am_hal_stimer_counter_get() & 0xFFFFFFFF);
}
size_t millis(void){
_fill_ticks();
return (uint32_t)(ticks / AP3_STIMER_FREQ_KHZ);
}
//*****************************************************************************
//
// Burst mode
//
//*****************************************************************************
bool enable_burst_mode(void)
{
// Check that the Burst Feature is available.
am_hal_burst_avail_e eBurstModeAvailable;
if (AM_HAL_STATUS_SUCCESS != am_hal_burst_mode_initialize(&eBurstModeAvailable))
{
return (false);
}
// Put the MCU into "Burst" mode.
am_hal_burst_mode_e eBurstMode;
if (AM_HAL_STATUS_SUCCESS != am_hal_burst_mode_enable(&eBurstMode))
{
return (false);
}
return (true);
}
//Turns main processor from 96MHz to 48MHz
//Returns false if disable fails
bool disable_burst_mode(void)
{
am_hal_burst_mode_e eBurstMode;
if (AM_HAL_STATUS_SUCCESS == am_hal_burst_mode_disable(&eBurstMode))
{
if (AM_HAL_NORMAL_MODE != eBurstMode)
{
return (false);
}
}
else
{
return (false);
}
return (true);
}
//*****************************************************************************
// Local defines. Copied from am_hal_gpio.c
//*****************************************************************************
//
// Generally define GPIO PADREG and GPIOCFG bitfields
//
#define PADREG_FLD_76_S 6
#define PADREG_FLD_FNSEL_S 3
#define PADREG_FLD_DRVSTR_S 2
#define PADREG_FLD_INPEN_S 1
#define PADREG_FLD_PULLUP_S 0
#define GPIOCFG_FLD_INTD_S 3
#define GPIOCFG_FLD_OUTCFG_S 1
#define GPIOCFG_FLD_INCFG_S 0
uint32_t ap3_gpio_enable_interrupts(uint32_t ui32Pin, uint32_t eIntDir){
uint32_t ui32Padreg, ui32AltPadCfg, ui32GPCfg;
bool bClearEnable = false;
ui32GPCfg = ui32Padreg = ui32AltPadCfg = 0;
ui32GPCfg |= (((eIntDir >> 0) & 0x1) << GPIOCFG_FLD_INTD_S) | (((eIntDir >> 1) & 0x1) << GPIOCFG_FLD_INCFG_S);
uint32_t ui32GPCfgAddr;
uint32_t ui32GPCfgClearMask;
uint32_t ui32GPCfgShft;
ui32GPCfgShft = ((ui32Pin & 0x7) << 2);
ui32GPCfgAddr = AM_REGADDR(GPIO, CFGA) + ((ui32Pin >> 1) & ~0x3);
ui32GPCfgClearMask = ~((uint32_t)0xF << ui32GPCfgShft);
ui32GPCfg <<= ui32GPCfgShft;
AM_CRITICAL_BEGIN
if (bClearEnable)
{
am_hal_gpio_output_tristate_disable(ui32Pin);
}
GPIO->PADKEY = GPIO_PADKEY_PADKEY_Key;
// Here's where the magic happens
AM_REGVAL(ui32GPCfgAddr) = (AM_REGVAL(ui32GPCfgAddr) & ui32GPCfgClearMask) | ui32GPCfg;
GPIO->PADKEY = 0;
AM_CRITICAL_END
return AM_HAL_STATUS_SUCCESS;
}
tools/svl/bootloader/src/svl_utils/svl_utils.h
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#ifndef _SVL_UTILS_H_
#define _SVL_UTILS_H_
#include "am_mcu_apollo.h"
#include "am_bsp.h"
#include "am_util.h"
#include "stdint.h"
void _fill_ticks(void);
size_t millis(void);
bool enable_burst_mode(void);
bool disable_burst_mode(void);
uint32_t ap3_gpio_enable_interrupts(uint32_t ui32Pin, uint32_t eIntDir);
extern volatile uint32_t ap3_stimer_overflows;
#endif // _SVL_UTILS_H_