mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
469 lines
13 KiB
C
469 lines
13 KiB
C
|
/**
|
||
|
******************************************************************************
|
||
|
* @addtogroup CopterControlBL CopterControl BootLoader
|
||
|
* @brief These files contain the code to the CopterControl Bootloader.
|
||
|
*
|
||
|
* @{
|
||
|
* @file op_dfu.c
|
||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||
|
* @brief This file contains the DFU commands handling code
|
||
|
* @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
|
||
|
*/
|
||
|
|
||
|
/* Includes ------------------------------------------------------------------*/
|
||
|
#include "pios.h"
|
||
|
#include <stdbool.h>
|
||
|
#include "op_dfu.h"
|
||
|
#include "pios_bl_helper.h"
|
||
|
#include "pios_com_msg.h"
|
||
|
#include <pios_board_info.h>
|
||
|
//programmable devices
|
||
|
Device devicesTable[10];
|
||
|
uint8_t numberOfDevices = 0;
|
||
|
|
||
|
DFUProgType currentProgrammingDestination; //flash, flash_trough spi
|
||
|
uint8_t currentDeviceCanRead;
|
||
|
uint8_t currentDeviceCanWrite;
|
||
|
Device currentDevice;
|
||
|
|
||
|
uint8_t Buffer[64];
|
||
|
uint8_t echoBuffer[64];
|
||
|
uint8_t SendBuffer[64];
|
||
|
uint8_t Command = 0;
|
||
|
uint8_t EchoReqFlag = 0;
|
||
|
uint8_t EchoAnsFlag = 0;
|
||
|
uint8_t StartFlag = 0;
|
||
|
uint32_t Aditionals = 0;
|
||
|
uint32_t SizeOfTransfer = 0;
|
||
|
uint32_t Expected_CRC = 0;
|
||
|
uint8_t SizeOfLastPacket = 0;
|
||
|
uint32_t Next_Packet = 0;
|
||
|
uint8_t TransferType;
|
||
|
uint32_t Count = 0;
|
||
|
uint32_t Data;
|
||
|
uint8_t Data0;
|
||
|
uint8_t Data1;
|
||
|
uint8_t Data2;
|
||
|
uint8_t Data3;
|
||
|
uint8_t offset = 0;
|
||
|
uint32_t aux;
|
||
|
//Download vars
|
||
|
uint32_t downSizeOfLastPacket = 0;
|
||
|
uint32_t downPacketTotal = 0;
|
||
|
uint32_t downPacketCurrent = 0;
|
||
|
DFUTransfer downType = 0;
|
||
|
/* Extern variables ----------------------------------------------------------*/
|
||
|
extern DFUStates DeviceState;
|
||
|
extern uint8_t JumpToApp;
|
||
|
/* Private function prototypes -----------------------------------------------*/
|
||
|
/* Private functions ---------------------------------------------------------*/
|
||
|
void sendData(uint8_t * buf, uint16_t size);
|
||
|
uint32_t CalcFirmCRC(void);
|
||
|
|
||
|
void DataDownload(DownloadAction action) {
|
||
|
if ((DeviceState == downloading)) {
|
||
|
|
||
|
uint8_t packetSize;
|
||
|
uint32_t offset;
|
||
|
uint32_t partoffset;
|
||
|
SendBuffer[0] = 0x01;
|
||
|
SendBuffer[1] = Download;
|
||
|
SendBuffer[2] = downPacketCurrent >> 24;
|
||
|
SendBuffer[3] = downPacketCurrent >> 16;
|
||
|
SendBuffer[4] = downPacketCurrent >> 8;
|
||
|
SendBuffer[5] = downPacketCurrent;
|
||
|
if (downPacketCurrent == downPacketTotal - 1) {
|
||
|
packetSize = downSizeOfLastPacket;
|
||
|
} else {
|
||
|
packetSize = 14;
|
||
|
}
|
||
|
for (uint8_t x = 0; x < packetSize; ++x) {
|
||
|
partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
|
||
|
offset = baseOfAdressType(downType) + partoffset;
|
||
|
if (!flash_read(SendBuffer + (6 + x * 4), offset,
|
||
|
currentProgrammingDestination)) {
|
||
|
DeviceState = Last_operation_failed;
|
||
|
}
|
||
|
}
|
||
|
downPacketCurrent = downPacketCurrent + 1;
|
||
|
if (downPacketCurrent > downPacketTotal - 1) {
|
||
|
DeviceState = Last_operation_Success;
|
||
|
Aditionals = (uint32_t) Download;
|
||
|
}
|
||
|
sendData(SendBuffer + 1, 63);
|
||
|
}
|
||
|
}
|
||
|
void processComand(uint8_t *xReceive_Buffer) {
|
||
|
|
||
|
Command = xReceive_Buffer[COMMAND];
|
||
|
#ifdef DEBUG_SSP
|
||
|
char str[63]= {0};
|
||
|
sprintf(str,"Received COMMAND:%d|",Command);
|
||
|
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
|
||
|
#endif
|
||
|
EchoReqFlag = (Command >> 7);
|
||
|
EchoAnsFlag = (Command >> 6) & 0x01;
|
||
|
StartFlag = (Command >> 5) & 0x01;
|
||
|
Count = xReceive_Buffer[COUNT] << 24;
|
||
|
Count += xReceive_Buffer[COUNT + 1] << 16;
|
||
|
Count += xReceive_Buffer[COUNT + 2] << 8;
|
||
|
Count += xReceive_Buffer[COUNT + 3];
|
||
|
|
||
|
Data = xReceive_Buffer[DATA] << 24;
|
||
|
Data += xReceive_Buffer[DATA + 1] << 16;
|
||
|
Data += xReceive_Buffer[DATA + 2] << 8;
|
||
|
Data += xReceive_Buffer[DATA + 3];
|
||
|
Data0 = xReceive_Buffer[DATA];
|
||
|
Data1 = xReceive_Buffer[DATA + 1];
|
||
|
Data2 = xReceive_Buffer[DATA + 2];
|
||
|
Data3 = xReceive_Buffer[DATA + 3];
|
||
|
Command = Command & 0b00011111;
|
||
|
|
||
|
if (EchoReqFlag == 1) {
|
||
|
memcpy(echoBuffer, xReceive_Buffer, 64);
|
||
|
}
|
||
|
switch (Command) {
|
||
|
case EnterDFU:
|
||
|
if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
|
||
|
|| (DeviceState == DFUidle)) {
|
||
|
if (Data0 > 0)
|
||
|
OPDfuIni(true);
|
||
|
DeviceState = DFUidle;
|
||
|
currentProgrammingDestination = devicesTable[Data0].programmingType;
|
||
|
currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
|
||
|
currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
|
||
|
& 0x01;
|
||
|
currentDevice = devicesTable[Data0];
|
||
|
uint8_t result = 0;
|
||
|
switch (currentProgrammingDestination) {
|
||
|
case Self_flash:
|
||
|
result = PIOS_BL_HELPER_FLASH_Ini();
|
||
|
break;
|
||
|
case Remote_flash_via_spi:
|
||
|
result = true;
|
||
|
break;
|
||
|
default:
|
||
|
DeviceState = Last_operation_failed;
|
||
|
Aditionals = (uint16_t) Command;
|
||
|
}
|
||
|
if (result != 1) {
|
||
|
DeviceState = Last_operation_failed;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
}
|
||
|
}
|
||
|
break;
|
||
|
case Upload:
|
||
|
if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
|
||
|
if ((StartFlag == 1) && (Next_Packet == 0)) {
|
||
|
TransferType = Data0;
|
||
|
SizeOfTransfer = Count;
|
||
|
Next_Packet = 1;
|
||
|
Expected_CRC = Data2 << 24;
|
||
|
Expected_CRC += Data3 << 16;
|
||
|
Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
|
||
|
Expected_CRC += xReceive_Buffer[DATA + 5];
|
||
|
SizeOfLastPacket = Data1;
|
||
|
|
||
|
if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
|
||
|
* 14 * 4 + SizeOfLastPacket * 4) == true) {
|
||
|
DeviceState = outsideDevCapabilities;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
} else {
|
||
|
uint8_t result = 1;
|
||
|
if (TransferType == FW) {
|
||
|
switch (currentProgrammingDestination) {
|
||
|
case Self_flash:
|
||
|
result = PIOS_BL_HELPER_FLASH_Start();
|
||
|
break;
|
||
|
case Remote_flash_via_spi:
|
||
|
result = false;
|
||
|
break;
|
||
|
default:
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
if (result != 1) {
|
||
|
DeviceState = Last_operation_failed;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
} else {
|
||
|
|
||
|
DeviceState = uploading;
|
||
|
}
|
||
|
}
|
||
|
} else if ((StartFlag != 1) && (Next_Packet != 0)) {
|
||
|
if (Count > SizeOfTransfer) {
|
||
|
DeviceState = too_many_packets;
|
||
|
Aditionals = Count;
|
||
|
} else if (Count == Next_Packet - 1) {
|
||
|
uint8_t numberOfWords = 14;
|
||
|
if (Count == SizeOfTransfer - 1)//is this the last packet?
|
||
|
{
|
||
|
numberOfWords = SizeOfLastPacket;
|
||
|
}
|
||
|
uint8_t result = 0;
|
||
|
switch (currentProgrammingDestination) {
|
||
|
case Self_flash:
|
||
|
for (uint8_t x = 0; x < numberOfWords; ++x) {
|
||
|
offset = 4 * x;
|
||
|
Data = xReceive_Buffer[DATA + offset] << 24;
|
||
|
Data += xReceive_Buffer[DATA + 1 + offset] << 16;
|
||
|
Data += xReceive_Buffer[DATA + 2 + offset] << 8;
|
||
|
Data += xReceive_Buffer[DATA + 3 + offset];
|
||
|
aux = baseOfAdressType(TransferType) + (uint32_t)(
|
||
|
Count * 14 * 4 + x * 4);
|
||
|
result = 0;
|
||
|
for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
|
||
|
if (result == 0) {
|
||
|
result = (FLASH_ProgramWord(aux, Data)
|
||
|
== FLASH_COMPLETE) ? 1 : 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
break;
|
||
|
case Remote_flash_via_spi:
|
||
|
result = false; // No support for this for the PipX
|
||
|
break;
|
||
|
default:
|
||
|
result = 0;
|
||
|
break;
|
||
|
}
|
||
|
if (result != 1) {
|
||
|
DeviceState = Last_operation_failed;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
}
|
||
|
|
||
|
++Next_Packet;
|
||
|
} else {
|
||
|
DeviceState = wrong_packet_received;
|
||
|
Aditionals = Count;
|
||
|
}
|
||
|
} else {
|
||
|
DeviceState = Last_operation_failed;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
}
|
||
|
}
|
||
|
break;
|
||
|
case Req_Capabilities:
|
||
|
OPDfuIni(true);
|
||
|
Buffer[0] = 0x01;
|
||
|
Buffer[1] = Rep_Capabilities;
|
||
|
if (Data0 == 0) {
|
||
|
Buffer[2] = 0;
|
||
|
Buffer[3] = 0;
|
||
|
Buffer[4] = 0;
|
||
|
Buffer[5] = 0;
|
||
|
Buffer[6] = 0;
|
||
|
Buffer[7] = numberOfDevices;
|
||
|
uint16_t WRFlags = 0;
|
||
|
for (int x = 0; x < numberOfDevices; ++x) {
|
||
|
WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
|
||
|
| WRFlags);
|
||
|
}
|
||
|
Buffer[8] = WRFlags >> 8;
|
||
|
Buffer[9] = WRFlags;
|
||
|
} else {
|
||
|
Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
|
||
|
Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
|
||
|
Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
|
||
|
Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
|
||
|
Buffer[6] = Data0;
|
||
|
Buffer[7] = devicesTable[Data0 - 1].BL_Version;
|
||
|
Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
|
||
|
Buffer[9] = devicesTable[Data0 - 1].devID;
|
||
|
Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
|
||
|
Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
|
||
|
Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
|
||
|
Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
|
||
|
Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
|
||
|
Buffer[15] = devicesTable[Data0 - 1].devID;
|
||
|
}
|
||
|
sendData(Buffer + 1, 63);
|
||
|
break;
|
||
|
case JumpFW:
|
||
|
if (Data == 0x5AFE) {
|
||
|
/* Force board into safe mode */
|
||
|
PIOS_IAP_WriteBootCount(0xFFFF);
|
||
|
}
|
||
|
FLASH_Lock();
|
||
|
JumpToApp = 1;
|
||
|
break;
|
||
|
case Reset:
|
||
|
PIOS_SYS_Reset();
|
||
|
break;
|
||
|
case Abort_Operation:
|
||
|
Next_Packet = 0;
|
||
|
DeviceState = DFUidle;
|
||
|
break;
|
||
|
|
||
|
case Op_END:
|
||
|
if (DeviceState == uploading) {
|
||
|
if (Next_Packet - 1 == SizeOfTransfer) {
|
||
|
Next_Packet = 0;
|
||
|
if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
|
||
|
DeviceState = Last_operation_Success;
|
||
|
} else {
|
||
|
DeviceState = CRC_Fail;
|
||
|
}
|
||
|
}
|
||
|
if (Next_Packet - 1 < SizeOfTransfer) {
|
||
|
Next_Packet = 0;
|
||
|
DeviceState = too_few_packets;
|
||
|
}
|
||
|
}
|
||
|
break;
|
||
|
case Download_Req:
|
||
|
#ifdef DEBUG_SSP
|
||
|
sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
|
||
|
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
|
||
|
#endif
|
||
|
if (DeviceState == DFUidle) {
|
||
|
#ifdef DEBUG_SSP
|
||
|
PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
|
||
|
#endif
|
||
|
downType = Data0;
|
||
|
downPacketTotal = Count;
|
||
|
downSizeOfLastPacket = Data1;
|
||
|
if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
|
||
|
+ downSizeOfLastPacket * 4) == 1) {
|
||
|
DeviceState = outsideDevCapabilities;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
|
||
|
} else {
|
||
|
downPacketCurrent = 0;
|
||
|
DeviceState = downloading;
|
||
|
}
|
||
|
} else {
|
||
|
DeviceState = Last_operation_failed;
|
||
|
Aditionals = (uint32_t) Command;
|
||
|
}
|
||
|
break;
|
||
|
|
||
|
case Status_Request:
|
||
|
Buffer[0] = 0x01;
|
||
|
Buffer[1] = Status_Rep;
|
||
|
if (DeviceState == wrong_packet_received) {
|
||
|
Buffer[2] = Aditionals >> 24;
|
||
|
Buffer[3] = Aditionals >> 16;
|
||
|
Buffer[4] = Aditionals >> 8;
|
||
|
Buffer[5] = Aditionals;
|
||
|
} else {
|
||
|
Buffer[2] = 0;
|
||
|
Buffer[3] = ((uint16_t) Aditionals) >> 8;
|
||
|
Buffer[4] = ((uint16_t) Aditionals);
|
||
|
Buffer[5] = 0;
|
||
|
}
|
||
|
Buffer[6] = DeviceState;
|
||
|
Buffer[7] = 0;
|
||
|
Buffer[8] = 0;
|
||
|
Buffer[9] = 0;
|
||
|
sendData(Buffer + 1, 63);
|
||
|
if (DeviceState == Last_operation_Success) {
|
||
|
DeviceState = DFUidle;
|
||
|
}
|
||
|
break;
|
||
|
case Status_Rep:
|
||
|
|
||
|
break;
|
||
|
|
||
|
}
|
||
|
if (EchoReqFlag == 1) {
|
||
|
echoBuffer[0] = echoBuffer[0] | (1 << 6);
|
||
|
sendData(echoBuffer, 63);
|
||
|
}
|
||
|
return;
|
||
|
}
|
||
|
void OPDfuIni(uint8_t discover) {
|
||
|
const struct pios_board_info * bdinfo = &pios_board_info_blob;
|
||
|
Device dev;
|
||
|
|
||
|
dev.programmingType = Self_flash;
|
||
|
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
|
||
|
dev.startOfUserCode = bdinfo->fw_base;
|
||
|
dev.sizeOfCode = bdinfo->fw_size;
|
||
|
dev.sizeOfDescription = bdinfo->desc_size;
|
||
|
dev.BL_Version = bdinfo->bl_rev;
|
||
|
dev.FW_Crc = CalcFirmCRC();
|
||
|
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
|
||
|
dev.devType = bdinfo->hw_type;
|
||
|
numberOfDevices = 1;
|
||
|
devicesTable[0] = dev;
|
||
|
if (discover) {
|
||
|
//TODO check other devices trough spi or whatever
|
||
|
}
|
||
|
}
|
||
|
uint32_t baseOfAdressType(DFUTransfer type) {
|
||
|
switch (type) {
|
||
|
case FW:
|
||
|
return currentDevice.startOfUserCode;
|
||
|
break;
|
||
|
case Descript:
|
||
|
return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
|
||
|
break;
|
||
|
default:
|
||
|
|
||
|
return 0;
|
||
|
}
|
||
|
}
|
||
|
uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
|
||
|
switch (type) {
|
||
|
case FW:
|
||
|
return (size > currentDevice.sizeOfCode) ? 1 : 0;
|
||
|
break;
|
||
|
case Descript:
|
||
|
return (size > currentDevice.sizeOfDescription) ? 1 : 0;
|
||
|
break;
|
||
|
default:
|
||
|
return true;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
uint32_t CalcFirmCRC() {
|
||
|
switch (currentProgrammingDestination) {
|
||
|
case Self_flash:
|
||
|
return PIOS_BL_HELPER_CRC_Memory_Calc();
|
||
|
break;
|
||
|
case Remote_flash_via_spi:
|
||
|
return 0;
|
||
|
break;
|
||
|
default:
|
||
|
return 0;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
}
|
||
|
void sendData(uint8_t * buf, uint16_t size) {
|
||
|
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
|
||
|
}
|
||
|
|
||
|
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
|
||
|
switch (type) {
|
||
|
case Remote_flash_via_spi:
|
||
|
return false; // We should not get this for the PipX
|
||
|
break;
|
||
|
case Self_flash:
|
||
|
for (uint8_t x = 0; x < 4; ++x) {
|
||
|
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
|
||
|
}
|
||
|
return true;
|
||
|
break;
|
||
|
default:
|
||
|
return false;
|
||
|
}
|
||
|
}
|