yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

Uavcan bootloader Starts Watchdog for Application

Browse Source
This commit is contained in:
David Sidrane
2021-01-29 06:59:53 -08:00
committed by Daniel Agar
parent 77d0eae40b
commit ef29ed7db3
2 changed files with 27 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
platforms/nuttx/src/canbootloader/CMakeLists.txt
View File

@@ -48,4 +48,5 @@ target_compile_options(canbootloader PRIVATE -Wno-error)
target_link_libraries(canbootloader target_link_libraries(canbootloader
PRIVATE PRIVATE
drivers_bootloaders drivers_bootloaders
arch_watchdog_iwdg
) )

29
platforms/nuttx/src/canbootloader/uavcan/main.c
View File

@@ -57,6 +57,7 @@
#include "random.h" #include "random.h"
#include <drivers/bootloaders/boot_app_shared.h> #include <drivers/bootloaders/boot_app_shared.h>
#include <drivers/drv_watchdog.h>
#include <lib/systemlib/crc.h> #include <lib/systemlib/crc.h>
//#define DEBUG_APPLICATION_INPLACE 1 /* Never leave defined */ //#define DEBUG_APPLICATION_INPLACE 1 /* Never leave defined */
@@ -108,7 +109,7 @@ bootloader_t bootloader;
const uint8_t debug_log_source[uavcan_byte_count(LogMessage, source)] = {'B', 'o', 'o', 't'}; const uint8_t debug_log_source[uavcan_byte_count(LogMessage, source)] = {'B', 'o', 'o', 't'};
/**************************************************************************** /****************************************************************************
* Name: start_the_watch_dog * Name: early_start_the_watch_dog
* *
* Description: * Description:
* This function will start the hardware watchdog. Once stated the code must * This function will start the hardware watchdog. Once stated the code must
@@ -122,11 +123,32 @@ const uint8_t debug_log_source[uavcan_byte_count(LogMessage, source)] = {'B', 'o
* *
****************************************************************************/ ****************************************************************************/
static inline void start_the_watch_dog(void) static inline void early_start_the_watch_dog(void)
{ {
#ifdef OPT_ENABLE_WD #ifdef OPT_ENABLE_WD
#endif #endif
} }
/****************************************************************************
* Name: app_start_the_watch_dog
*
* Description:
* This function will start the hardware watchdog. Once stated the code must
* kick it before it time out a reboot will occur.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
static inline void app_start_the_watch_dog(void)
{
watchdog_init();
watchdog_pet();
}
/**************************************************************************** /****************************************************************************
* Name: kick_the_watch_dog * Name: kick_the_watch_dog
* *
@@ -943,6 +965,7 @@ static void application_run(size_t fw_image_size, bootloader_app_shared_t *commo
putreg32(APPLICATION_LOAD_ADDRESS, NVIC_VECTAB); putreg32(APPLICATION_LOAD_ADDRESS, NVIC_VECTAB);
__asm volatile("dsb"); __asm volatile("dsb");
/* extract the stack and entrypoint from the app vector table and go */ /* extract the stack and entrypoint from the app vector table and go */
app_start_the_watch_dog();
do_jump(fw_image[0], fw_image[1]); do_jump(fw_image[0], fw_image[1]);
} }
} }
@@ -1014,7 +1037,7 @@ __EXPORT int main(int argc, char *argv[])
flash_error_t status; flash_error_t status;
bootloader_app_shared_t common; bootloader_app_shared_t common;
start_the_watch_dog(); early_start_the_watch_dog();
/* Begin with all data zeroed */ /* Begin with all data zeroed */
memset((void *)&bootloader, 0, sizeof(bootloader)); memset((void *)&bootloader, 0, sizeof(bootloader));