LibrePilot/flight/Bootloaders/AHRS/ahrs_spi_program_slave.c

/**
 ******************************************************************************
 *
 * @file       ahrs_spi_program_slave.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      AHRS programming over SPI link - slave(AHRS) end.
 *
 * @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 <stdint.h>
#include <string.h>

#include "pios_opahrs_proto.h"
#include "pios_spi.h"
#include "STM32103CB_AHRS.h"

#include "ahrs_bl.h"
#include "ahrs_spi_program_slave.h"
#include "ahrs_spi_program.h"

static AhrsProgramPacket txBuf;
static AhrsProgramPacket rxBuf;
static bool done = false;

static void ProcessPacket();

#define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high

//Number of crc failures to allow before giving up
#define PROGRAM_PACKET_TRIES 4

void AhrsProgramReceive(uint32_t spi_id)
{
	done = false;
	memset(&txBuf,0,sizeof(AhrsProgramPacket));
	//wait for a program request
	int count = PROGRAM_PACKET_TRIES;
	while(1) {
		WAIT_IF_RECEIVING();
		while((PIOS_SPI_Busy(spi_id) != 0)){};
		memset(&rxBuf,'a',sizeof(AhrsProgramPacket));
		int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf,
											 SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);

		if(res == 0 &&
				memcmp(&rxBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
			break;
		}
		if(count-- == 0) {
			return;
		}
	}

	if(!StartProgramming()) {
		//Couldn't erase FLASH. Nothing we can do.
		return;
	}

	//send ack
	memcpy(&txBuf,SPI_PROGRAM_ACK,SPI_PROGRAM_REQUEST_LENGTH);
	WAIT_IF_RECEIVING();
	while(0 != PIOS_SPI_TransferBlock(spi_id,(uint8_t*) &txBuf, NULL,
									  SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {};

	txBuf.type = PROGRAM_NULL;

	while(!done) {
		WAIT_IF_RECEIVING();
		if(0 == PIOS_SPI_TransferBlock(spi_id,(uint8_t*) &txBuf,
									   (uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {

			uint32_t crc = GenerateCRC(&rxBuf);
			if(crc != rxBuf.crc ||
				txBuf.packetId == rxBuf.packetId) {
				continue;
			}
			ProcessPacket();
			txBuf.packetId = rxBuf.packetId;
			txBuf.crc = GenerateCRC(&txBuf);
		}
	}
}




void ProcessPacket()
{
	switch(rxBuf.type) {
	case PROGRAM_NULL:
		txBuf.type = PROGRAM_NULL;
		break;

	case PROGRAM_WRITE:
		if(WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
			txBuf.type = PROGRAM_ACK;
			txBuf.size = rxBuf.size;
		} else {
			txBuf.type = PROGRAM_ERR;
		}
		break;

	case PROGRAM_READ:
		if(ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
			txBuf.type = PROGRAM_ACK;
			txBuf.size = rxBuf.size;
		} else {
			txBuf.type = PROGRAM_ERR;
		}
		break;

	case PROGRAM_REBOOT:
		if(0 == memcmp(rxBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH)) {
			done = true;
			txBuf.type = PROGRAM_ACK;
		}else{
			txBuf.type = PROGRAM_ERR;
		}
		break;

	default:
		txBuf.type = PROGRAM_ERR;
	}
}