1 files changed, 103 insertions, 0 deletions

diff --git a/lib/chibios-contrib/testhal/KINETIS/TEENSY_LC/BOOTLOADER/main.c b/lib/chibios-contrib/testhal/KINETIS/TEENSY_LC/BOOTLOADER/main.c
new file mode 100644
index 000000000..8615523cf
--- /dev/null
+++ b/lib/chibios-contrib/testhal/KINETIS/TEENSY_LC/BOOTLOADER/main.c
@@ -0,0 +1,103 @@
+/*
+    (C) 2015-2016 flabbergast <[email protected]>
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+#include "hal.h"
+
+#define BTN_GPIO TEENSY_PIN2_IOPORT
+#define BTN_PIN TEENSY_PIN2
+
+/*
+ * Jump to bootloader on ARM Teensies.
+ */
+
+static void jump_to_bootloader(void) {
+   /* __asm__ volatile("bkpt"); */
+   /* Same as above, CMSIS notation: */
+  __BKPT(0);
+}
+
+/*
+ * Blink thread.
+ */
+
+static THD_WORKING_AREA(waBlinkThread, 128);
+static THD_FUNCTION(BlinkThread, arg) {
+  (void)arg;
+  uint8_t i;
+
+  // while(TRUE) {
+  for(i=0; i<5; i++) {
+    palSetPad(TEENSY_PIN13_IOPORT, TEENSY_PIN13);
+    chThdSleepMilliseconds(700);
+    palClearPad(TEENSY_PIN13_IOPORT, TEENSY_PIN13);
+    chThdSleepMilliseconds(700);
+  }
+  jump_to_bootloader();
+}
+
+/*
+ * Button thread.
+ */
+
+static THD_WORKING_AREA(waButtonThread, 128);
+static THD_FUNCTION(ButtonThread, arg) {
+  (void)arg;
+
+  while(TRUE) {
+    if(palReadPad(BTN_GPIO, BTN_PIN) == PAL_LOW) {
+      jump_to_bootloader();
+    }
+    chThdSleepMilliseconds(50);
+  }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  /*
+   * Button init.
+   */
+  palSetPadMode(BTN_GPIO, BTN_PIN, PAL_MODE_INPUT_PULLUP);
+
+  /*
+   * Create the blink thread.
+   */
+  chThdCreateStatic(waBlinkThread, sizeof(waBlinkThread), NORMALPRIO, BlinkThread, NULL);
+
+  /*
+   * Create the button thread.
+   */
+  chThdCreateStatic(waButtonThread, sizeof(waButtonThread), NORMALPRIO, ButtonThread, NULL);
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing.
+   */
+  while(TRUE) {
+    chThdSleepMilliseconds(500);
+  }
+
+  return 0;
+}