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LibrePilot/flight/PiOS/Common/pios_opahrs_v0.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @brief HAL code to interface to the OpenPilot AHRS module's bootloader
* @{
*
* @file pios_opahrs_download.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Hardware commands to communicate with the AHRS bootloader
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_OPAHRS)
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
static uint32_t PIOS_OPAHRS_SPI;
void PIOS_OPAHRS_Attach(uint32_t spi_id)
{
PIOS_OPAHRS_SPI = spi_id;
}
void PIOS_OPAHRS_ForceSlaveSelected(bool selected)
{
if (selected) {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
} else {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
}
}
static int32_t opahrs_msg_txrx(const uint8_t * tx, uint8_t * rx, uint32_t len)
{
int32_t rc;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
return (rc);
}
static enum opahrs_result opahrs_msg_v0_send_req(const struct opahrs_msg_v0 *req)
{
int32_t rc;
struct opahrs_msg_v0 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v0 *rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *) rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(50 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result opahrs_msg_v0_recv_rsp(enum opahrs_msg_v0_tag tag, struct opahrs_msg_v0 *rsp)
{
struct opahrs_msg_v0 link_tx;
opahrs_msg_v0_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *) rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V1:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result PIOS_OPAHRS_v0_simple_req(enum opahrs_msg_v0_tag req_type, struct opahrs_msg_v0 *rsp, enum opahrs_msg_v0_tag rsp_type)
{
struct opahrs_msg_v0 req;
enum opahrs_result rc;
/* Make up an empty request */
opahrs_msg_v0_init_user_tx(&req, req_type);
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(&req);
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */
return opahrs_msg_v0_recv_rsp(rsp_type, rsp);
}
return rc;
}
enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_VERSIONS, rsp, OPAHRS_MSG_V0_RSP_VERSIONS));
}
enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_MEM_MAP, rsp, OPAHRS_MSG_V0_RSP_MEM_MAP));
}
enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_SERIAL, rsp, OPAHRS_MSG_V0_RSP_SERIAL));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_START, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupStatus(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_STATUS, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
{
if (!req || !rsp)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(req, OPAHRS_MSG_V0_REQ_FWUP_DATA);
enum opahrs_result rc;
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWUP_STATUS, rsp);
}
enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
{
if (!req || !rsp)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(req, OPAHRS_MSG_V0_REQ_FWDN_DATA);
enum opahrs_result rc;
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWDN_DATA, rsp);
}
enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_VERIFY, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_resync(void)
{
struct opahrs_msg_v0 req;
struct opahrs_msg_v0 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v0_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v0_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) & req, (uint8_t *) & rsp, sizeof(req) - 1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) && (rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(10 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(5 / portTICK_RATE_MS);
return rc;
}
enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay)
{
struct opahrs_msg_v0 req;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(&req, OPAHRS_MSG_V0_REQ_RESET);
req.payload.user.v.req.reset.reset_delay_in_ms = delay;
/* Send the message until it is received */
return opahrs_msg_v0_send_req(&req);
}
enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay)
{
struct opahrs_msg_v0 req;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(&req, OPAHRS_MSG_V0_REQ_BOOT);
req.payload.user.v.req.boot.boot_delay_in_ms = delay;
/* Send the message until it is received */
return opahrs_msg_v0_send_req(&req);
}
#endif /* PIOS_INCLUDE_OPAHRS */