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LibrePilot/flight/Bootloaders/AHRS/ahrs_spi_program_slave.c

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/**
******************************************************************************
*
* @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 "pios_board.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;
}
}