BootloaderTFTP/codigo_testing.txt at main · Hyperloop-UPV/BootloaderTFTP · GitHub

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#include "main.h"
#include "ST-LIB.hpp"

void enter_bootloader(void) {
    const uint32_t MAIN_APP_ADDRESS = 0x080E0000;

    // 1. Stop ST-LIB Timers
    HAL_TIM_Base_Stop_IT(&htim2);
    HAL_TIM_Base_Stop_IT(&htim5);
    HAL_TIM_Base_Stop_IT(&htim24);
    HAL_TIM_Base_Stop_IT(&htim7);

    // 2. Disable Interrupts
    __disable_irq();

    // 3. Disable SysTick
    SysTick->CTRL = 0;
    SysTick->LOAD = 0;
    SysTick->VAL  = 0;

    // 4. Clear all interrupts in NVIC
    for (int i = 0; i < 8; i++) {
        NVIC->ICER[i] = 0xFFFFFFFF;
        NVIC->ICPR[i] = 0xFFFFFFFF;
    }

    // 5. Disable MPU and Caches
    HAL_MPU_Disable();
    // SCB_DisableICache();
    // SCB_DisableDCache();

    // 6. De-init HAL
    HAL_DeInit();

    // 7. Force Reset Ethernet to ensure DMA stops
    #if defined(ETH)
    __HAL_RCC_ETH1MAC_FORCE_RESET();
    __HAL_RCC_ETH1MAC_RELEASE_RESET();
    #endif

    // 8. Barrier
    __DSB();
    __ISB();

    // 9. Set VTOR
    SCB->VTOR = MAIN_APP_ADDRESS;

    // 10. Set MSP
    uint32_t main_stack_pointer = *(__IO uint32_t*)MAIN_APP_ADDRESS;
    __set_MSP(main_stack_pointer);

    // 11. Jump
    uint32_t jump_address = *(__IO uint32_t*)(MAIN_APP_ADDRESS + 4);
    void (*reset_handler)(void) = (void (*)(void))jump_address;

    reset_handler();
}


int main(void) {
#ifdef SIM_ON
    SharedMemory::start();
#endif

    DigitalOutput coño(PB0);


    STLIB::start("00:80:e1:00:00:E0","192.168.1.4");

    Time::register_low_precision_alarm(1000, [&](){
        coño.toggle();
    });

    Time::set_timeout(5000, [](){
        enter_bootloader();
    });
    while (1) {
        STLIB::update();

    }
}

void Error_Handler(void) {
    ErrorHandler("HAL error handler triggered");
    while (1) {
    }
}