text: /****************************************************************************
   *
   *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file bl.h
   *
   * Common bootloader definitions.
   */
  
  #pragma once
  
  /*****************************************************************************
   * Generic bootloader functions.
   */
  
  /* enum for whether bootloading via USB or USART */
  enum {
  	NONE,
  	USART,
  	USB
  };
  
  /* board info forwarded from board-specific code to booloader */
  struct boardinfo {
  	uint32_t	board_type;
  	uint32_t	board_rev;
  	uint32_t	fw_size;
  	uint32_t	systick_mhz;		/* systick input clock */
  
  } __attribute__((packed));
  
  extern struct boardinfo board_info;
  
  extern void jump_to_app(void);
  extern void bootloader(unsigned timeout);
  extern void delay(unsigned msec);
  
  #define BL_WAIT_MAGIC	0x19710317		/* magic number in PWR regs to wait in bootloader */
  
  /* generic timers */
  #define NTIMERS		4
  #define TIMER_BL_WAIT	0
  #define TIMER_CIN	1
  #define TIMER_LED	2
  #define TIMER_DELAY	3
  extern volatile unsigned timer[NTIMERS];	/* each timer decrements every millisecond if > 0 */
  
  /* generic receive buffer for async reads */
  extern void buf_put(uint8_t b);
  extern int buf_get(void);
  
  /*****************************************************************************
   * Chip/board functions.
   */
  
  /* LEDs */
  #define LED_ACTIVITY	1
  #define LED_BOOTLOADER	2
  
  #ifdef BOOT_DELAY_ADDRESS
  # define BOOT_DELAY_SIGNATURE1	0x92c2ecff
  # define BOOT_DELAY_SIGNATURE2	0xc5057d5d
  # define BOOT_DELAY_MAX		30
  #endif
  
  #define MAX_DES_LENGTH 20
  
  #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
  extern void led_on(unsigned led);
  extern void led_off(unsigned led);
  extern void led_toggle(unsigned led);
  
  /* flash helpers from main_*.c */
  extern void board_deinit(void);
  extern uint32_t board_get_devices(void);
  extern void clock_deinit(void);
  extern uint32_t flash_func_sector_size(unsigned sector);
  extern void flash_func_erase_sector(unsigned sector);
  extern void flash_func_write_word(uint32_t address, uint32_t word);
  extern uint32_t flash_func_read_word(uint32_t address);
  extern uint32_t flash_func_read_otp(uint32_t address);
  extern uint32_t flash_func_read_sn(uint32_t address);
  extern void arch_flash_lock(void);
  extern void arch_flash_unlock(void);
  extern void arch_setvtor(uint32_t address);
  void arch_systic_init(void);
  void arch_systic_deinit(void);
  
  extern uint32_t get_mcu_id(void);
  int get_mcu_desc(int max, uint8_t *revstr);
  extern int check_silicon(void);
  
  /*****************************************************************************
   * Interface in/output.
   */
  
  extern void cinit(void *config, uint8_t interface);
  extern void cfini(void);
  extern int cin(uint32_t devices);
  extern void cout(uint8_t *buf, unsigned len);
  