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LibrePilot/flight/modules/FirmwareIAP/firmwareiap.c

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/**
******************************************************************************
*
* @file firmwareiap.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief In Application Programming module to support firmware upgrades by
* providing a means to enter the bootloader.
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*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <openpilot.h>
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#include <pios_board_info.h>
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#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "flightstatus.h"
// Private constants
#define IAP_CMD_STEP_1 1122
#define IAP_CMD_STEP_2 2233
#define IAP_CMD_STEP_3 3344
#define IAP_CMD_CRC 100
#define IAP_CMD_VERIFY 101
#define IAP_CMD_VERSION 102
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#define IAP_STATE_READY 0
#define IAP_STATE_STEP_1 1
#define IAP_STATE_STEP_2 2
#define IAP_STATE_RESETTING 3
#define RESET_DELAY 500 /* delay between sending reset ot INS */
#define TICKS2MS(t) ((t) / portTICK_RATE_MS)
#define MS2TICKS(m) ((m) * portTICK_RATE_MS)
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const uint32_t iap_time_2_low_end = 500;
const uint32_t iap_time_2_high_end = 5000;
const uint32_t iap_time_3_low_end = 500;
const uint32_t iap_time_3_high_end = 5000;
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// Private types
// Private variables
static uint8_t reset_count = 0;
static portTickType lastResetSysTime;
// Private functions
static void FirmwareIAPCallback(UAVObjEvent *ev);
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static uint32_t get_time(void);
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// Private types
// Private functions
static void resetTask(UAVObjEvent *);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
*/
/*!
* \brief Performs object initialization functions.
* \param None.
* \return 0 - under all cases
*
* \note
*
*/
MODULE_INITCALL(FirmwareIAPInitialize, 0);
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int32_t FirmwareIAPInitialize()
{
FirmwareIAPObjInitialize();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
FirmwareIAPObjData data;
FirmwareIAPObjGet(&data);
data.BoardType = bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(data.Description, FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision = bdinfo->board_rev;
data.BootloaderRevision = bdinfo->bl_rev;
data.ArmReset = 0;
data.crc = 0;
FirmwareIAPObjSet(&data);
if (bdinfo->magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
FirmwareIAPObjConnectCallback(&FirmwareIAPCallback);
}
return 0;
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}
int32_t FirmwareIAPStart()
{
return 0;
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}
/*!
* \brief FirmwareIAPCallback - callback function for firmware IAP requests
* \param[in] ev - pointer objevent
* \retval None.
*
* \note
*
*/
static uint8_t iap_state = IAP_STATE_READY;
static void FirmwareIAPCallback(UAVObjEvent *ev)
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{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
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if (iap_state == IAP_STATE_RESETTING) {
return;
}
FirmwareIAPObjData data;
FirmwareIAPObjGet(&data);
if (ev->obj == FirmwareIAPObjHandle()) {
// Get the input object data
FirmwareIAPObjGet(&data);
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if ((data.BoardType == bdinfo->board_type) && (data.crc != PIOS_BL_HELPER_CRC_Memory_Calc())) {
PIOS_BL_HELPER_FLASH_Read_Description(data.Description, FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision = bdinfo->board_rev;
data.BootloaderRevision = bdinfo->bl_rev;
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet(&data);
}
if ((data.ArmReset == 1) && (iap_state != IAP_STATE_RESETTING)) {
data.ArmReset = 0;
FirmwareIAPObjSet(&data);
}
switch (iap_state) {
case IAP_STATE_READY:
if (data.Command == IAP_CMD_STEP_1) {
iap_state = IAP_STATE_STEP_1;
}
break;
case IAP_STATE_STEP_1:
if (data.Command == IAP_CMD_STEP_2) {
if (delta > iap_time_2_low_end && delta < iap_time_2_high_end) {
iap_state = IAP_STATE_STEP_2;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_STEP_2:
if (data.Command == IAP_CMD_STEP_3) {
if (delta > iap_time_3_low_end && delta < iap_time_3_high_end) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
// Abort any attempts if not disarmed
iap_state = IAP_STATE_READY;
break;
}
// we've met the three sequence of command numbers
// we've met the time requirements.
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
/* Note: Cant just wait timeout value, because first time is randomized */
reset_count = 0;
lastResetSysTime = xTaskGetTickCount();
UAVObjEvent *event = pios_malloc(sizeof(UAVObjEvent));
memset(event, 0, sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(event, resetTask, 100);
iap_state = IAP_STATE_RESETTING;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_RESETTING:
// stay here permanentally, should reboot
break;
default:
iap_state = IAP_STATE_READY;
last_time = 0; // Reset the time counter, as we are not doing a IAP reset
break;
}
}
}
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// Returns number of milliseconds from the start of the kernel.
/*!
* \brief Returns number of milliseconds from the start of the kernel
* \param None.
* \return number of milliseconds from the start of the kernel.
*
* \note
*
*/
static uint32_t get_time(void)
{
portTickType ticks;
ticks = xTaskGetTickCount();
return TICKS2MS(ticks);
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}
/**
* Executed by event dispatcher callback to reset INS before resetting OP
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*/
static void resetTask(__attribute__((unused)) UAVObjEvent *ev)
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{
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Toggle(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
FirmwareIAPObjData data;
FirmwareIAPObjGet(&data);
if ((portTickType)(xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastResetSysTime = xTaskGetTickCount();
data.BoardType = 0xFF;
data.ArmReset = 1;
data.crc = reset_count; /* Must change a value for this to get to INS */
FirmwareIAPObjSet(&data);
++reset_count;
if (reset_count > 3) {
PIOS_SYS_Reset();
}
}
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}