LibrePilot/flight/OpenPilot/Modules/FirmwareIAP/firmwareiap.c

/**
 ******************************************************************************
 *
 * @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 "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "pios_iap.h"

#include "STM3210E_OP.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 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);

FirmwareIAPObjData 	data;

static uint32_t	get_time(void);
/**
 * 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.Version[0] = version[0];
	data.Version[1] = version[1];
	data.Version[2] = version[2];
	data.SVN = SVN;
	data.crc = iap_calc_crc();
	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;
        
        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();
                    // goodbye cruel world...
                    PIOS_SYS_Reset();
                } 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();
}