From 97a9d8e1de6b462d628723ea1f0f1ba806b33b37 Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Sun, 6 Feb 2022 19:51:16 -0600
Subject: [PATCH] Remap memory before jumping
Still not working
---
.vscode/settings.json | 3 ++-
.../crazyflie-firmware-2021.06/src/hal/src/usb.c | 16 +++++++++++++---
2 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 0e356f0bb..659a6316b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,6 +1,7 @@
{
"files.associations": {
"controller.h": "c",
- "typeinfo": "c"
+ "typeinfo": "c",
+ "attitude_controller.h": "c"
}
}
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c b/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
index 20fb6886e..8de5d6748 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
@@ -182,13 +182,23 @@ static uint8_t usbd_cf_Setup(void *pdev , USB_SETUP_REQ *req)
} else if(command == 0x02){
//transition to DFU bootloader mode
- // arm-none-eabi-gcc 4.9.0 does not correctly inline this
- // // // MSP function, so we write it out explicitly here.
+ //shutdown any tasks running
+ RCC_DeInit();
+ SysTick->CTRL = 0; //reset the Systick timer
+ SysTick->LOAD = 0;
+ SysTick->VAL = 0;
+
+ __set_PRIMASK(1); //disable interrupts
+
+ SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SystemFlash);
+
+ //set main stack pointer to its default value
__set_MSP(*((uint32_t*) 0x00000000));
- //__ASM volatile ("movs r3, #0\nldr r3, [r3, #0]\nMSR msp, r3\n" : : : "r3", "sp");
+ //jump to boot loader (start of system memory plus 4)
((void (*)(void)) *((uint32_t*) 0x00000004))();
+ while(1);
}
--
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