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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.
*
* @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 "pios.h"
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.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
#define IAP_STATE_READY 0
#define IAP_STATE_STEP_1 1
#define IAP_STATE_STEP_2 2
#define RESET_DELAY 500 /* delay between sending reset ot INS */
#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
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;
// Private types
// Private variables
const static uint8_t version[] = { 0, 0, 1 };
const static uint16_t SVN = 12345;
// Private functions
static void FirmwareIAPCallback(UAVObjEvent* ev);
static uint32_t iap_calc_crc(void);
static void read_description(uint8_t *);
FirmwareIAPObjData data;
static uint32_t get_time(void);
// Private types
// Private variables
static xTaskHandle taskHandle;
// 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
*
*/
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
read_description(data.Description);
data.BoardRevision= BOARD_REVISION;
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}
/*!
* \brief FirmwareIAPCallback - callback function for firmware IAP requests
* \param[in] ev - pointer objevent
* \retval None.
*
* \note
*
*/
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
static uint32_t last_time = 0;
static uint16_t iap_state = IAP_STATE_READY;
uint32_t this_time;
uint32_t delta;
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==BOARD_TYPE)&&(data.crc != iap_calc_crc()))
{
read_description(data.Description);
data.BoardRevision=BOARD_REVISION;
data.crc = iap_calc_crc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(taskHandle==0))
{
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 ) {
// 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 */
UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
memset(ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(ev, resetTask, 10);
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
default:
iap_state = IAP_STATE_READY;
break;
}
}
}
// 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);
}
/*!
* \brief Calculate the CRC value of the code in flash.
* \param None
* \return calculated CRC value using STM32's builtin CRC hardware
*
* \note
* I copied this function as the function crc calc function in pios_bl_helper.c
* is only included when the PIOS_BL_HELPER is defined, but this also includes
* the flash unlock and erase functions. It is safer to only have the flash
* functions in the bootloader.
*
*/
static uint32_t iap_calc_crc(void)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
static void read_description(uint8_t * array)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/**
* Executed by event dispatcher callback to reset INS before resetting OP
*/
static void resetTask(UAVObjEvent * ev)
{
static portTickType lastSysTime;
static uint8_t count = 0;
static uint8_t first = 1;
if(first == 1) { /* Initialize */
lastSysTime = xTaskGetTickCount();
first = 0;
}
if((portTickType) (xTaskGetTickCount() - lastSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastSysTime = xTaskGetTickCount();
data.BoardType=0xFF;
data.ArmReset=1;
data.crc=count; /* Must change a value for this to get to INS */
FirmwareIAPObjSet(&data);
++count;
if(count>3)
{
PIOS_SYS_Reset();
}
}
}