commit 8dc9fd444461a8b0698d77dbc8de33bbd494e9ac
author Brian Silverman <brians> Mon Feb 10 13:35:43 2014 -0800
committer Brian Silverman <brians> Mon Feb 10 13:35:43 2014 -0800
tree f24ec62897d51aa84959fb4c30ccdb6fad900068
parent 0a33c374ef2c31d34dd277c9ace701c2cca87529

little fixes to make everything actually work

bbb_cape/src/cape/bootloader.c

diff --git a/bbb_cape/src/cape/bootloader.c b/bbb_cape/src/cape/bootloader.c
index 39f3080..5194832 100644
--- a/bbb_cape/src/cape/bootloader.c
+++ b/bbb_cape/src/cape/bootloader.c
@@ -74,8 +74,8 @@
   while (!(SYSCFG->CMPCR & SYSCFG_CMPCR_READY)) {}  // wait for it to be ready
 
   if (GPIOC->IDR & (1 << 2)) {
-    bootloader_start();
-  } else {
     jump_to_main();
+  } else {
+    bootloader_start();
   }
 }

bbb_cape/src/cape/bootloader_impl.c

diff --git a/bbb_cape/src/cape/bootloader_impl.c b/bbb_cape/src/cape/bootloader_impl.c
index 15d28b1..2cd287d 100644
--- a/bbb_cape/src/cape/bootloader_impl.c
+++ b/bbb_cape/src/cape/bootloader_impl.c
@@ -6,6 +6,7 @@
 #include "cape/uart_common.h"
 #include "cape/crc.h"
 #include "cape/util.h"
+#include "cape/led.h"
 
 // The protocol is pretty simple. Basically, when the bootloader is started, it
 // expects repeated "packets" of data to write. It starts at MAIN_FLASH_START,
@@ -37,6 +38,11 @@
 }
 
 __attribute__((noreturn)) void bootloader_start(void) {
+  led_set(LED_ERR, 1);
+  led_set(LED_DB, 1);
+  led_set(LED_Z, 1);
+  led_set(LED_HB, 0);
+
   crc_init();
 
   // Unlock the flash so we can program it.
@@ -80,6 +86,7 @@
         error = 1;
       }
     } else {  // successfully received a byte
+      led_set(LED_HB, bytes_received & 1);
       if (error == 0) {
         buffer[bytes_received++] = (uint8_t)received;
         if (bytes_received == sizeof(buffer)) {

bbb_cape/src/cape/fill_packet.c

diff --git a/bbb_cape/src/cape/fill_packet.c b/bbb_cape/src/cape/fill_packet.c
index 012b7e3..29ea095 100644
--- a/bbb_cape/src/cape/fill_packet.c
+++ b/bbb_cape/src/cape/fill_packet.c
@@ -25,9 +25,6 @@
 static uint8_t buffer2[DATA_STRUCT_SEND_SIZE] __attribute__((aligned(4)));
 
 static uint32_t flash_checksum;
-// These aren't really integers; they're (4-byte) variables whose addresses mark
-// various locations.
-extern uint8_t __etext, __data_start__, __data_end__;
 
 static inline void do_fill_packet(struct DataStruct *packet) {
   static uint64_t timestamp = 0;
@@ -82,9 +79,9 @@
   encoder_init();
   digital_init();
 
-  uint8_t *flash_end = &__etext + (&__data_start__ - &__data_end__) + 8;
-  flash_checksum = crc_calculate((void *)MAIN_FLASH_START,
-                                 (size_t)(flash_end - MAIN_FLASH_START) / 4);
+  flash_checksum =
+      crc_calculate((void *)MAIN_FLASH_START,
+                    (size_t)(MAIN_FLASH_END - MAIN_FLASH_START) / 4);
 
   led_set(LED_ERR, 0);
   gyro_init();