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Code Issues Releases Activity

OP-35 : Attempt at implementing a "Manual" mode which guides the use to get into AHRS + MB BL Mode.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2130 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-11-18 23:53:13 +00:00 committed by edouard
parent 03af1cdbc4
commit 05d8e2e36a
4 changed files with 154 additions and 31 deletions
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6
ground/src/plugins/uploader/op_dfu.cpp
View File

@ -13,16 +13,19 @@ DFUObject::DFUObject(bool _debug): debug(_debug)
use_delay=true;
int numDevices=0;
int count=0;
while(numDevices==0)
while((numDevices==0) && count < 10)
{
if (debug)
qDebug() << ".";
delay::msleep(500);
numDevices = hidHandle.open(1,0x20a0,0x4117,0,0); //0xff9c,0x0001);
count++;
/*
if(++count==10)
{
count=0;
}
*/
}
if(debug)
qDebug() << numDevices << " device(s) opened";
@ -30,6 +33,7 @@ DFUObject::DFUObject(bool _debug): debug(_debug)
DFUObject::~DFUObject()
{
hidHandle.close(0);
}

68
ground/src/plugins/uploader/uploader.ui
View File

@ -13,7 +13,7 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,3,1">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
@ -51,6 +51,17 @@ Only enabled if the system is halted.</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rescueButton">
<property name="toolTip">
<string>Start a guided procedure to manually
recover a system which does not boot.</string>
</property>
<property name="text">
<string>Rescue</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
@ -80,19 +91,23 @@ Only enabled if the system is halted.</string>
</layout>
</item>
<item>
<widget class="QTabWidget" name="systemElements">
<property name="currentIndex">
<number>0</number>
<widget class="QSplitter" name="splitter">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Mainboard</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QTextEdit" name="textEdit">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
<widget class="QTabWidget" name="systemElements">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Mainboard</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QTextEdit" name="textEdit">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
@ -103,25 +118,24 @@ p, li { white-space: pre-wrap; }
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You will get a list of devices.&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
</layout>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</widget>
</item>
<item>
<widget class="QTextBrowser" name="textBrowser">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
<widget class="QTextBrowser" name="textBrowser">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Please connect your board through USB for firmware upload.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</property>
</widget>
</widget>
</item>
</layout>

107
ground/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -31,6 +31,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
m_config = new Ui_UploaderWidget();
m_config->setupUi(this);
currentStep = IAP_STATE_READY;
rescueStep = RESCUE_STEP0;
resetOnly=false;
dfu = NULL;
@ -39,6 +40,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));
connect(m_config->rescueButton, SIGNAL(clicked()), this, SLOT(systemRescue()));
}
@ -132,9 +134,9 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
dfu->findDevices();
log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
// Delete all previous tabs:
for (int i=0; i< m_config->systemElements->count(); i++) {
QWidget *qw = m_config->systemElements->widget(i);
m_config->systemElements->removeTab(i);
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
}
for(int i=0;i<dfu->numberOfDevices;i++) {
@ -207,6 +209,104 @@ void UploaderGadgetWidget::systemBoot()
} else {
log("Not in bootloader mode!");
}
}
/**
Attempt a guided procedure to put both boards in BL mode when
the system is not bootable
*/
void UploaderGadgetWidget::systemRescue()
{
switch (rescueStep) {
case RESCUE_STEP0: {
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
cm->disconnectDevice();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
// stop the polling thread: otherwise it will mess up DFU
RawHIDConnection *cnx = pm->getObject<RawHIDConnection>();
cnx->suspendPolling();
// Delete all previous tabs:
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
}
if (dfu) {
delete dfu;
dfu = NULL;
}
clearLog();
log("**********************************************************");
log("** Follow those instructions to attempt a system rescue **");
log("**********************************************************");
log("You will be prompted to first connect USB, then system power");
log ("Connect USB in 3 seconds...");
rescueStep = RESCUE_STEP1;
QTimer::singleShot(1000, this, SLOT(systemRescue()));
}
break;
case RESCUE_STEP1:
rescueStep = RESCUE_STEP2;
log (" ...2...");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_STEP2:
rescueStep = RESCUE_STEP3;
log(" ...1...");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_STEP3:
log("... NOW!\n***\n");
log("Connect Power in 1 second...");
rescueStep = RESCUE_POWER2;
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_POWER1:
rescueStep = RESCUE_POWER2;
log(" ...1...");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_POWER2:
log("... NOW!\n***\nWaiting...");
rescueStep = RESCUE_DETECT;
QTimer::singleShot(3000, this, SLOT(systemRescue()));
break;
case RESCUE_DETECT:
rescueStep = RESCUE_STEP0;
log("Polling for devices...");
repaint();
if (!dfu)
dfu = new DFUObject(true);
if(!dfu->enterDFU(0))
{
log("Could not enter DFU mode.");
return;
}
if(!dfu->findDevices())
{
log("Could not detect devices.");
return;
}
log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
if (dfu->numberOfDevices > 5) {
log("Inconsistent number of devices, aborting!");
return;
}
for(int i=0;i<dfu->numberOfDevices;i++) {
deviceWidget* dw = new deviceWidget(this);
dw->setDeviceID(i);
dw->setDfu(dfu);
dw->populate();
m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
}
m_config->haltButton->setEnabled(false);
m_config->resetButton->setEnabled(false);
m_config->bootButton->setEnabled(true);
currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
}
}
@ -216,6 +316,7 @@ void UploaderGadgetWidget::systemBoot()
void UploaderGadgetWidget::log(QString str)
{
m_config->textBrowser->append(str);
m_config->textBrowser->repaint();
}

4
ground/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -43,6 +43,7 @@
#include <QLineEdit>
#include <QThread>
#include <QMessageBox>
#include <QTimer>
using namespace OP_DFU;
@ -55,12 +56,14 @@ public:
UploaderGadgetWidget(QWidget *parent = 0);
~UploaderGadgetWidget();
typedef enum { IAP_STATE_READY, IAP_STATE_STEP_1, IAP_STATE_STEP_2, IAP_STEP_RESET, IAP_STATE_BOOTLOADER} IAPStep;
typedef enum { RESCUE_STEP0, RESCUE_STEP1, RESCUE_STEP2, RESCUE_STEP3, RESCUE_POWER1, RESCUE_POWER2, RESCUE_DETECT } RescueStep;
private:
Ui_UploaderWidget *m_config;
DFUObject *dfu;
IAPStep currentStep;
RescueStep rescueStep;
bool resetOnly;
void log(QString str);
void clearLog();
@ -73,6 +76,7 @@ private slots:
void goToBootloader(UAVObject* = NULL, bool = false);
void systemReset();
void systemBoot();
void systemRescue();
};
#endif // UPLOADERGADGETWIDGET_H