OP-21/Bootloader - Maximize flash space available for user code. Bring back delay on HID send (board->pc) it still hangs when blasted with data. AHRS is now Readable.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2263 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Bootloaders/AHRS/main.c

@@ -161,9 +161,7 @@ void process_spi_request(void) {
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
 		user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
 		user_tx_v0.payload.user.v.rsp.versions.hw_version = HW_VERSION;
-		user_tx_v0.payload.user.v.rsp.versions.fw_version = Fw_crc;
+		user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc;
-		read_description(
-				(uint8_t *) &(user_tx_v0.payload.user.v.rsp.versions.description));
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
 	case OPAHRS_MSG_V0_REQ_MEM_MAP:
@@ -213,6 +211,15 @@ void process_spi_request(void) {
 		user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
+	case OPAHRS_MSG_V0_REQ_FWDN_DATA:
+			opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWDN_DATA);
+			uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
+			for(uint8_t x=0;x<4;++x)
+			{
+				user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x);
+			}
+			lfsm_user_set_tx_v0(&user_tx_v0);
+		break;
 	case OPAHRS_MSG_V0_REQ_FWUP_START:
 		FLASH_Unlock();
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);

flight/Bootloaders/OpenPilot/inc/op_dfu.h

@@ -55,6 +55,7 @@ uint32_t baseOfAdressType(uint8_t type);
 uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
 void OPDfuIni(uint8_t discover);
 void DataDownload(DownloadAction);
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
 #endif /* __OP_DFU_H */
 
 /******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -66,7 +66,6 @@ uint8_t Data2;
 uint8_t Data3;
 uint8_t offset = 0;
 uint32_t aux;
-uint8_t spi_dev_desc[200] = { 0 };
 //Download vars
 uint32_t downSizeOfLastPacket = 0;
 uint32_t downPacketTotal = 0;
@@ -102,6 +101,11 @@ void DataDownload(DownloadAction action) {
 		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;
+			}
+			/*
 			switch (currentProgrammingDestination) {
 			case Remote_flash_via_spi:
 				if (downType == Descript) {
@@ -122,7 +126,7 @@ void DataDownload(DownloadAction action) {
 				SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
 				break;
 			}
-
+*/
 		}
 		//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
 		downPacketCurrent = downPacketCurrent + 1;
@@ -495,13 +499,8 @@ void OPDfuIni(uint8_t discover) {
 			if (PIOS_OPAHRS_bl_GetVersions(&rsp) == OPAHRS_RESULT_OK) {
 				dev.programmingType = Remote_flash_via_spi;
 				dev.BL_Version = rsp.payload.user.v.rsp.versions.bl_version;
-				dev.FW_Crc = rsp.payload.user.v.rsp.versions.fw_version;
+				dev.FW_Crc = rsp.payload.user.v.rsp.versions.fw_crc;
 				dev.devID = rsp.payload.user.v.rsp.versions.hw_version;
-				for (int x = 0; x < 200; ++x) {
-					spi_dev_desc[x]
-							= (uint8_t) rsp.payload.user.v.rsp.versions.description[x];
-
-				}
 				if (PIOS_OPAHRS_bl_GetMemMap(&rsp) == OPAHRS_RESULT_OK) {
 					dev.readWriteFlags
 							= rsp.payload.user.v.rsp.mem_map.rw_flags;
@@ -558,7 +557,7 @@ uint32_t CalcFirmCRC() {
 			PIOS_DELAY_WaitmS(1000);
 			PIOS_OPAHRS_bl_resync();
 			if (PIOS_OPAHRS_bl_GetVersions(&rsp) == OPAHRS_RESULT_OK) {
-				return rsp.payload.user.v.rsp.versions.fw_version;
+				return rsp.payload.user.v.rsp.versions.fw_crc;
 			}
 		}
 
@@ -574,8 +573,36 @@ void sendData(uint8_t * buf,uint16_t size)
 {
 if (ProgPort == Usb) {
 
-			PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);//FIX+1
+			PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
+			if(DeviceState == downloading)
+				PIOS_DELAY_WaitmS(10);
+
 		} else if (ProgPort == Serial) {
 			ssp_SendData(&ssp_port, buf, size);
 		}
 }
+
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
+	struct opahrs_msg_v0 rsp;
+	struct opahrs_msg_v0 req;
+	switch (type) {
+	case Remote_flash_via_spi:
+		req.payload.user.v.req.fwdn_data.adress = adr;
+		if (PIOS_OPAHRS_bl_FwDlData(&req, &rsp) == OPAHRS_RESULT_OK) {
+			for (uint8_t x = 0; x < 4; ++x) {
+				buffer[x] = rsp.payload.user.v.rsp.fw_dn.data[x];
+			}
+			return TRUE;
+		}
+		return FALSE;
+		break;
+	case Self_flash:
+		for (uint8_t x = 0; x < 4; ++x) {
+			buffer[x] = *FLASH_If_Read(adr + x);
+		}
+		return TRUE;
+		break;
+	default:
+		return FALSE;
+	}
+}

flight/PiOS/Boards/STM32103CB_AHRS.h

@@ -76,7 +76,7 @@ TIM8  |           |           |           |
 #elif STM32F10X_MD
 		#define HW_TYPE			1 //0=high_density 1=medium_density;
 #endif
-#define BOARD_READABLE	FALSE
+#define BOARD_READABLE	TRUE
 #define BOARD_WRITABLA	TRUE
 #define MAX_DEL_RETRYS	3
 

flight/PiOS/Boards/STM3210E_OP.h

@@ -74,8 +74,9 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 #define BOOTLOADER_VERSION	0
 #define MEM_SIZE			524288 //512K
 #define SIZE_OF_DESCRIPTION	(uint8_t) 100
+#define START_OF_USER_CODE	(uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
 #define SIZE_OF_CODE		(uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#define START_OF_USER_CODE	(uint32_t)0x08007800//FF00
+
 #ifdef STM32F10X_HD
 		#define HW_TYPE			0 //0=high_density 1=medium_density;
 #elif STM32F10X_MD

flight/PiOS/Common/pios_opahrs_v0.c

@@ -230,6 +230,24 @@ enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opa
 	return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWUP_STATUS, rsp);
 }
 
+enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
+{
+	if (!req || !rsp)
+		return OPAHRS_RESULT_FAILED;
+
+	/* Make up an attituderaw request */
+	opahrs_msg_v0_init_user_tx(req, OPAHRS_MSG_V0_REQ_FWDN_DATA);
+	enum opahrs_result rc;
+	/* Send the message until it is received */
+	rc = opahrs_msg_v0_send_req(req);
+	if (rc != OPAHRS_RESULT_OK) {
+		/* Failed to send the request, bail out */
+		return rc;
+	}
+
+	return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWDN_DATA, rsp);
+}
+
 enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp)
 {
 	if (!rsp)

flight/PiOS/STM32F10x/link_stm32f10x_HD_BL.ld

@@ -28,7 +28,7 @@
 MEMORY
 {
   RAM (xrw) :     ORIGIN = 0x20000000, LENGTH = 64K
-  FLASH (rx) :    ORIGIN = 0x08007800, LENGTH = 482K
+  FLASH (rx) :    ORIGIN = 0x08005000, LENGTH = 492K
   FLASHB1 (rx) :  ORIGIN = 0x00000000, LENGTH = 0
   EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
   EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0

flight/PiOS/inc/pios_opahrs.h

@@ -54,6 +54,7 @@ extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
 extern enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp);
 extern enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay);
 extern enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay);
+extern enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
 /*
  * Protocol V1 messages used by application
  */

flight/PiOS/inc/pios_opahrs_proto.h

@@ -93,6 +93,10 @@ struct opahrs_msg_v0_req_fwup_data {
 	uint8_t size;
 } __attribute__ ((__packed__));
 
+struct opahrs_msg_v0_req_fwdn_data {
+	uint32_t adress;
+} __attribute__ ((__packed__));
+
 struct opahrs_msg_v0_req_mem_map {
 } __attribute__ ((__packed__));
 
@@ -106,17 +110,21 @@ union opahrs_msg_v0_req {
 	struct opahrs_msg_v0_req_boot boot;
 	struct opahrs_msg_v0_req_serial serial;
 	struct opahrs_msg_v0_req_fwup_status status_req;
+	struct opahrs_msg_v0_req_fwdn_data fwdn_data;
 	struct opahrs_msg_v0_req_mem_map mem_map;
 	struct opahrs_msg_v0_req_fwup_start fwup_start;
 	struct opahrs_msg_v0_req_fwup_data fwup_data;
 	struct opahrs_msg_v0_req_fwup_verify fwup_verify;
 } __attribute__ ((__packed__));
 
+struct opahrs_msg_v0_rsp_fwdn_data {
+	uint8_t data[4];
+} __attribute__ ((__packed__));
+
 struct opahrs_msg_v0_rsp_versions {
 	uint8_t hw_version;
 	uint16_t bl_version;
-	uint32_t fw_version;
+	uint32_t fw_crc;
-	uint8_t description[100];
 } __attribute__ ((__packed__));
 
 struct opahrs_msg_v0_rsp_serial {
@@ -142,6 +150,7 @@ union opahrs_msg_v0_rsp {
 	struct opahrs_msg_v0_rsp_serial serial;
 	struct opahrs_msg_v0_rsp_fwup_status fwup_status;
 	struct opahrs_msg_v0_rsp_mem_map mem_map;
+	struct opahrs_msg_v0_rsp_fwdn_data fw_dn;
 } __attribute__ ((__packed__));
 
 enum opahrs_msg_v0_tag {
@@ -150,7 +159,7 @@ enum opahrs_msg_v0_tag {
 	OPAHRS_MSG_V0_REQ_RESET,
 	OPAHRS_MSG_V0_REQ_BOOT,
 	OPAHRS_MSG_V0_REQ_SERIAL,
-
+	OPAHRS_MSG_V0_REQ_FWDN_DATA,
 	OPAHRS_MSG_V0_REQ_MEM_MAP,
 
 	OPAHRS_MSG_V0_REQ_FWUP_START,
@@ -161,7 +170,7 @@ enum opahrs_msg_v0_tag {
 	OPAHRS_MSG_V0_RSP_VERSIONS,
 	OPAHRS_MSG_V0_RSP_SERIAL,
 	OPAHRS_MSG_V0_RSP_FWUP_STATUS,
-
+	OPAHRS_MSG_V0_RSP_FWDN_DATA,
 	OPAHRS_MSG_V0_RSP_MEM_MAP,
 };
 
@@ -263,7 +272,7 @@ union opahrs_msg_v1_req {
 struct opahrs_msg_v1_rsp_versions {
 	uint8_t hw_version;
 	uint16_t bl_version;
-	uint32_t fw_version;
+	uint32_t fw_crc;
 } __attribute__ ((__packed__));
 
 struct opahrs_msg_v1_rsp_serial {

ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp

@@ -249,7 +249,7 @@ bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray  & data)
         //        }
         // qDebug()<<" Data0="<<(int)data[0]<<" Data0="<<(int)data[1]<<" Data0="<<(int)data[2]<<" Data0="<<(int)data[3]<<" buf6="<<(int)buf[6]<<" buf7="<<(int)buf[7]<<" buf8="<<(int)buf[8]<<" buf9="<<(int)buf[9];
         //delay::msleep(send_delay);
-        if(int ret=StatusRequest()!=OP_DFU::uploading) return false;
+       // if(int ret=StatusRequest()!=OP_DFU::uploading) return false;
         int result = sendData(buf, BUF_LEN);
         //   qDebug()<<"sent:"<<result;
         if(result<1)