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Code Issues Releases Activity

More cleaning, moved stopwatch files to library folder, code formatting.

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This commit is contained in:
zedamota 2011-04-29 20:48:13 +01:00
parent 3132de4e48
commit 1cc152b4dd
46 changed files with 1641 additions and 2141 deletions
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22
flight/Bootloaders/AHRS/ahrs_slave_test.c
View File

@ -3,36 +3,32 @@
uint8_t buf[256]; uint8_t buf[256];
bool StartProgramming(void) bool StartProgramming(void) {
{
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Started programming\r\n"); PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Started programming\r\n");
return (true); return (true);
} }
bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) {
{ if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
if(size > SPI_MAX_PROGRAM_DATA_SIZE)
{
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size); PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
return (false); return (false);
} }
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Wrote %d bytes to %d\r\n", size, offset); PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Wrote %d bytes to %d\r\n",
size, offset);
memcpy(buf, buffer, size); memcpy(buf, buffer, size);
PIOS_LED_Toggle(LED1); PIOS_LED_Toggle(LED1);
return (true); return (true);
} }
bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) {
{ if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
if(size > SPI_MAX_PROGRAM_DATA_SIZE)
{
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size); PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
return (false); return (false);
} }
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Read %d bytes from %d\r\n", size, offset); PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Read %d bytes from %d\r\n",
size, offset);
memcpy(buffer, buf, size); memcpy(buffer, buf, size);
PIOS_LED_Toggle(LED1); PIOS_LED_Toggle(LED1);
return (true); return (true);
} }

114
flight/Bootloaders/AHRS/ahrs_spi_program.c
View File

@ -2,87 +2,63 @@
#include "ahrs_spi_program.h" #include "ahrs_spi_program.h"
// Static CRC polynomial table // Static CRC polynomial table
static uint32_t crcTable[256] = static uint32_t crcTable[256] = { 0x00000000, 0x77073096, 0xEE0E612C,
{ 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 0x0EDB8832,
0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07,
0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 0x90BF1D91, 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D,
0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0x136C9856, 0x646BA8C0, 0xFD62F97A,
0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8,
0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD,
0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0xA50AB56B, 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3,
0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 0x26D930AC, 0x51DE003A, 0xC8D75180,
0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, 0x2802B89E,
0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB,
0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, 0xB6662D3D,
0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940,
0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116,
0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924,
0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F,
0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433, 0x9FBFE4A5, 0xE8B8D433, 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 0x6B6B51F4, 0x1C6C6162,
0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49,
0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, 0x8CD37CF3, 0xFBD44C65, 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A, 0x346ED9FC,
0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3,
0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0xB966D409, 0xCE61E49F, 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0,
0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086,
0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF,
0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683, 0x04DB2615, 0x73DC1683, 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 0xF00F9344, 0x8708A3D2,
0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9,
0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, 0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 0xD80D2BDA, 0xAF0A1B4C,
0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703,
0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60,
0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236,
0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F,
0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713, 0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242,
0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69,
0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, 0x616BFFD3, 0x166CCF45, 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC,
0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693,
0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D, };
0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6,
0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D,
};
/**generate CRC32 from a program packet /**generate CRC32 from a program packet
this is slightly overkill but we want to be sure this is slightly overkill but we want to be sure
*/ */
uint32_t GenerateCRC (AhrsProgramPacket * packet) uint32_t GenerateCRC(AhrsProgramPacket * packet) {
{
uint8_t * ptr = (uint8_t *) packet; uint8_t * ptr = (uint8_t *) packet;
int size = ((int) &packet->crc) - (int) packet; int size = ((int) &packet->crc) - (int) packet;
uint32_t crc = 0xFFFFFFFF; uint32_t crc = 0xFFFFFFFF;
for(int ct=0; ct< size; ct++) for (int ct = 0; ct < size; ct++) {
{
crc = ((crc) >> 8) ^ crcTable[(*ptr++) ^ ((crc) & 0x000000FF)]; crc = ((crc) >> 8) ^ crcTable[(*ptr++) ^ ((crc) & 0x000000FF)];
} }
return (~crc); return (~crc);

34
flight/Bootloaders/AHRS/ahrs_spi_program_master.c
View File

@ -29,12 +29,11 @@
#include "ahrs_spi_program.h" #include "ahrs_spi_program.h"
#include "pios_spi.h" #include "pios_spi.h"
PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf); PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
AhrsProgramPacket *rxBuf);
#define MAX_CONNECT_TRIES 500 //half a second #define MAX_CONNECT_TRIES 500 //half a second
bool AhrsProgramConnect(uint32_t spi_id) {
bool AhrsProgramConnect(uint32_t spi_id)
{
AhrsProgramPacket rxBuf; AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf; AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket)); memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
@ -44,7 +43,8 @@ bool AhrsProgramConnect(uint32_t spi_id)
uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) &txBuf, uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) &txBuf,
(uint8_t *) &rxBuf, SPI_PROGRAM_REQUEST_LENGTH + 1, NULL); (uint8_t *) &rxBuf, SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
PIOS_SPI_RC_PinSet(spi_id, 1); PIOS_SPI_RC_PinSet(spi_id, 1);
if(res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) { if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK,
SPI_PROGRAM_REQUEST_LENGTH) == 0) {
return (true); return (true);
} }
@ -53,9 +53,8 @@ bool AhrsProgramConnect(uint32_t spi_id)
return (false); return (false);
} }
PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data, uint32_t size) uint32_t size) {
{
AhrsProgramPacket rxBuf; AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf; AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket)); memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
@ -70,8 +69,8 @@ PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data, uint32_
return (PROGRAM_ERR_OK); return (PROGRAM_ERR_OK);
} }
PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t size) PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
{ uint32_t size) {
AhrsProgramPacket rxBuf; AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf; AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket)); memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
@ -86,8 +85,7 @@ PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t
return (PROGRAM_ERR_OK); return (PROGRAM_ERR_OK);
} }
PROGERR AhrsProgramReboot(uint32_t spi_id) PROGERR AhrsProgramReboot(uint32_t spi_id) {
{
AhrsProgramPacket rxBuf; AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf; AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket)); memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
@ -101,8 +99,8 @@ PROGERR AhrsProgramReboot(uint32_t spi_id)
return (PROGRAM_ERR_FUNCTION); return (PROGRAM_ERR_FUNCTION);
} }
PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf) PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
{ AhrsProgramPacket *rxBuf) {
static uint32_t pktId = 0; static uint32_t pktId = 0;
pktId++; pktId++;
txBuf->packetId = pktId; txBuf->packetId = pktId;
@ -114,9 +112,8 @@ PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPac
(uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL); (uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL);
PIOS_SPI_RC_PinSet(spi_id, 1); PIOS_SPI_RC_PinSet(spi_id, 1);
if (res == 0) { if (res == 0) {
if(rxBuf->type != PROGRAM_NULL && if (rxBuf->type != PROGRAM_NULL && rxBuf->crc == GenerateCRC(rxBuf)
rxBuf->crc == GenerateCRC(rxBuf) && && rxBuf->packetId == pktId) {
rxBuf->packetId == pktId) {
break; break;
} }
} }
@ -132,6 +129,3 @@ PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPac
return (PROGRAM_ERR_OK); return (PROGRAM_ERR_OK);
} }

27
flight/Bootloaders/AHRS/ahrs_spi_program_slave.c
View File

@ -24,7 +24,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
@ -43,25 +42,24 @@ static bool done = false;
static void ProcessPacket(); static void ProcessPacket();
#define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high #define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high
//Number of crc failures to allow before giving up //Number of crc failures to allow before giving up
#define PROGRAM_PACKET_TRIES 4 #define PROGRAM_PACKET_TRIES 4
void AhrsProgramReceive(uint32_t spi_id) void AhrsProgramReceive(uint32_t spi_id) {
{
done = false; done = false;
memset(&txBuf, 0, sizeof(AhrsProgramPacket)); memset(&txBuf, 0, sizeof(AhrsProgramPacket));
//wait for a program request //wait for a program request
int count = PROGRAM_PACKET_TRIES; int count = PROGRAM_PACKET_TRIES;
while (1) { while (1) {
WAIT_IF_RECEIVING(); WAIT_IF_RECEIVING();
while((PIOS_SPI_Busy(spi_id) != 0)){}; while ((PIOS_SPI_Busy(spi_id) != 0)) {
};
memset(&rxBuf, 'a', sizeof(AhrsProgramPacket)); memset(&rxBuf, 'a', sizeof(AhrsProgramPacket));
int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf, int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf,
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL); SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
if(res == 0 && if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_REQUEST,
memcmp(&rxBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0) { SPI_PROGRAM_REQUEST_LENGTH) == 0) {
break; break;
} }
if (count-- == 0) { if (count-- == 0) {
@ -78,7 +76,8 @@ void AhrsProgramReceive(uint32_t spi_id)
memcpy(&txBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH); memcpy(&txBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH);
WAIT_IF_RECEIVING(); WAIT_IF_RECEIVING();
while (0 != PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf, NULL, while (0 != PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf, NULL,
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {}; SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {
};
txBuf.type = PROGRAM_NULL; txBuf.type = PROGRAM_NULL;
@ -88,8 +87,7 @@ void AhrsProgramReceive(uint32_t spi_id)
(uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) { (uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {
uint32_t crc = GenerateCRC(&rxBuf); uint32_t crc = GenerateCRC(&rxBuf);
if(crc != rxBuf.crc || if (crc != rxBuf.crc || txBuf.packetId == rxBuf.packetId) {
txBuf.packetId == rxBuf.packetId) {
continue; continue;
} }
ProcessPacket(); ProcessPacket();
@ -99,11 +97,7 @@ void AhrsProgramReceive(uint32_t spi_id)
} }
} }
void ProcessPacket() {
void ProcessPacket()
{
switch (rxBuf.type) { switch (rxBuf.type) {
case PROGRAM_NULL: case PROGRAM_NULL:
txBuf.type = PROGRAM_NULL; txBuf.type = PROGRAM_NULL;
@ -128,7 +122,8 @@ void ProcessPacket()
break; break;
case PROGRAM_REBOOT: case PROGRAM_REBOOT:
if(0 == memcmp(rxBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH)) { if (0 == memcmp(rxBuf.data, REBOOT_CONFIRMATION,
REBOOT_CONFIRMATION_LENGTH)) {
done = true; done = true;
txBuf.type = PROGRAM_ACK; txBuf.type = PROGRAM_ACK;
} else { } else {

203
flight/Bootloaders/AHRS/bl_fsm.c
View File

@ -33,8 +33,7 @@ static void lfsm_update_link_tx (struct lfsm_context * context);
static void lfsm_init_rx(struct lfsm_context * context); static void lfsm_init_rx(struct lfsm_context * context);
static uint32_t PIOS_SPI_OP; static uint32_t PIOS_SPI_OP;
void lfsm_attach(uint32_t spi_id) void lfsm_attach(uint32_t spi_id) {
{
PIOS_SPI_OP = spi_id; PIOS_SPI_OP = spi_id;
} }
@ -67,23 +66,20 @@ static void go_user_rxtx_active(struct lfsm_context * context);
const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = { const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
[LFSM_STATE_FAULTED] = { [LFSM_STATE_FAULTED] = {
.entry_fn = go_faulted, .entry_fn = go_faulted,
}, }, [LFSM_STATE_STOPPED] = {
[LFSM_STATE_STOPPED] = {
.entry_fn = go_stopped, .entry_fn = go_stopped,
.next_state = { .next_state = {
[LFSM_EVENT_INIT_LINK] = LFSM_STATE_INACTIVE, [LFSM_EVENT_INIT_LINK] = LFSM_STATE_INACTIVE,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
}, },
}, }, [LFSM_STATE_STOPPING] = {
[LFSM_STATE_STOPPING] = {
.entry_fn = go_stopping, .entry_fn = go_stopping,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_STOPPED, [LFSM_EVENT_RX_LINK] = LFSM_STATE_STOPPED,
[LFSM_EVENT_RX_USER] = LFSM_STATE_STOPPED, [LFSM_EVENT_RX_USER] = LFSM_STATE_STOPPED,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
}, },
}, }, [LFSM_STATE_INACTIVE] = {
[LFSM_STATE_INACTIVE] = {
.entry_fn = go_inactive, .entry_fn = go_inactive,
.next_state = { .next_state = {
[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING, [LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
@ -93,8 +89,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE, [LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
}, },
}, }, [LFSM_STATE_USER_BUSY] = {
[LFSM_STATE_USER_BUSY] = {
.entry_fn = go_user_busy, .entry_fn = go_user_busy,
.next_state = { .next_state = {
[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING, [LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
@ -105,8 +100,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY,
}, },
}, }, [LFSM_STATE_USER_BUSY_RX_PENDING] = {
[LFSM_STATE_USER_BUSY_RX_PENDING] = {
.entry_fn = go_user_busy_rx_pending, .entry_fn = go_user_busy_rx_pending,
.next_state = { .next_state = {
[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_RXTX_PENDING, [LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
@ -115,8 +109,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RX_PENDING, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RX_PENDING,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RX_PENDING, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RX_PENDING,
}, },
}, }, [LFSM_STATE_USER_BUSY_TX_PENDING] = {
[LFSM_STATE_USER_BUSY_TX_PENDING] = {
.entry_fn = go_user_busy_tx_pending, .entry_fn = go_user_busy_tx_pending,
.next_state = { .next_state = {
[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RXTX_PENDING, [LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
@ -125,8 +118,7 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_TX_PENDING, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_TX_PENDING,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_TX_PENDING, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_TX_PENDING,
}, },
}, }, [LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
[LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
.entry_fn = go_user_busy_rxtx_pending, .entry_fn = go_user_busy_rxtx_pending,
.next_state = { .next_state = {
[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RXTX_PENDING, [LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RXTX_PENDING,
@ -134,81 +126,70 @@ const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RXTX_PENDING, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RXTX_PENDING, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
}, },
}, }, [LFSM_STATE_USER_RX_PENDING] = {
[LFSM_STATE_USER_RX_PENDING] = {
.entry_fn = go_user_rx_pending, .entry_fn = go_user_rx_pending,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RX_ACTIVE,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
}, },
}, }, [LFSM_STATE_USER_TX_PENDING] = {
[LFSM_STATE_USER_TX_PENDING] = {
.entry_fn = go_user_tx_pending, .entry_fn = go_user_tx_pending,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_TX_ACTIVE, [LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_TX_ACTIVE,
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_TX_ACTIVE, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_TX_ACTIVE,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_TX_ACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_TX_ACTIVE,
}, },
}, }, [LFSM_STATE_USER_RXTX_PENDING] = {
[LFSM_STATE_USER_RXTX_PENDING] = {
.entry_fn = go_user_rxtx_pending, .entry_fn = go_user_rxtx_pending,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RXTX_ACTIVE, [LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RXTX_ACTIVE,
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RXTX_ACTIVE, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RXTX_ACTIVE,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RXTX_ACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RXTX_ACTIVE,
}, },
}, }, [LFSM_STATE_USER_RX_ACTIVE] = {
[LFSM_STATE_USER_RX_ACTIVE] = {
.entry_fn = go_user_rx_active, .entry_fn = go_user_rx_active,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
}, },
}, }, [LFSM_STATE_USER_TX_ACTIVE] = {
[LFSM_STATE_USER_TX_ACTIVE] = {
.entry_fn = go_user_tx_active, .entry_fn = go_user_tx_active,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE, [LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE,
[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE, [LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
}, },
}, }, [LFSM_STATE_USER_RXTX_ACTIVE] = {
[LFSM_STATE_USER_RXTX_ACTIVE] = {
.entry_fn = go_user_rxtx_active, .entry_fn = go_user_rxtx_active,
.next_state = { .next_state = {
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY, [LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE, [LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
}, },
}, }, };
};
/* /*
* FSM State Entry Functions * FSM State Entry Functions
*/ */
static void go_faulted(struct lfsm_context * context) static void go_faulted(struct lfsm_context * context) {
{
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
static void go_stopped(struct lfsm_context * context) static void go_stopped(struct lfsm_context * context) {
{
#if 0 #if 0
PIOS_SPI_Stop(PIOS_SPI_OP); PIOS_SPI_Stop(PIOS_SPI_OP);
#endif #endif
} }
static void go_stopping(struct lfsm_context * context) static void go_stopping(struct lfsm_context * context) {
{
context->link_tx = NULL; context->link_tx = NULL;
context->tx = NULL; context->tx = NULL;
} }
static void go_inactive(struct lfsm_context * context) static void go_inactive(struct lfsm_context * context) {
{
context->link_state = OPAHRS_MSG_LINK_STATE_INACTIVE; context->link_state = OPAHRS_MSG_LINK_STATE_INACTIVE;
lfsm_update_link_tx(context); lfsm_update_link_tx(context);
@ -219,11 +200,11 @@ static void go_inactive(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_busy(struct lfsm_context * context) static void go_user_busy(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx);
@ -237,11 +218,11 @@ static void go_user_busy(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_busy_rx_pending(struct lfsm_context * context) static void go_user_busy_rx_pending(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx);
@ -252,11 +233,11 @@ static void go_user_busy_rx_pending(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_busy_tx_pending(struct lfsm_context * context) static void go_user_busy_tx_pending(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_tx); PIOS_DEBUG_Assert(context->user_tx);
@ -267,14 +248,13 @@ static void go_user_busy_tx_pending(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_busy_rxtx_pending(struct lfsm_context * context) static void go_user_busy_rxtx_pending(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
PIOS_DEBUG_Assert(context->user_tx);
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY; context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
lfsm_update_link_tx(context); lfsm_update_link_tx(context);
@ -283,11 +263,11 @@ static void go_user_busy_rxtx_pending(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_rx_pending(struct lfsm_context * context) static void go_user_rx_pending(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx);
@ -298,11 +278,11 @@ static void go_user_rx_pending(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_tx_pending(struct lfsm_context * context) static void go_user_tx_pending(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_tx); PIOS_DEBUG_Assert(context->user_tx);
@ -313,14 +293,13 @@ static void go_user_tx_pending(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_rxtx_pending(struct lfsm_context * context) static void go_user_rxtx_pending(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
PIOS_DEBUG_Assert(context->user_tx);
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY; context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
lfsm_update_link_tx(context); lfsm_update_link_tx(context);
@ -329,11 +308,11 @@ static void go_user_rxtx_pending(struct lfsm_context * context)
context->tx = context->link_tx; context->tx = context->link_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_rx_active(struct lfsm_context * context) static void go_user_rx_active(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx);
@ -343,11 +322,11 @@ static void go_user_rx_active(struct lfsm_context * context)
lfsm_update_link_tx(context); lfsm_update_link_tx(context);
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_tx_active(struct lfsm_context * context) static void go_user_tx_active(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_tx); PIOS_DEBUG_Assert(context->user_tx);
@ -356,21 +335,21 @@ static void go_user_tx_active(struct lfsm_context * context)
context->tx = context->user_tx; context->tx = context->user_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
static void go_user_rxtx_active(struct lfsm_context * context) static void go_user_rxtx_active(struct lfsm_context * context) {
{
/* Sanity checks */ /* Sanity checks */
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
PIOS_DEBUG_Assert(context->user_tx);
context->link_state = OPAHRS_MSG_LINK_STATE_READY; context->link_state = OPAHRS_MSG_LINK_STATE_READY;
context->rx = context->user_rx; context->rx = context->user_rx;
context->tx = context->user_tx; context->tx = context->user_tx;
lfsm_init_rx(context); lfsm_init_rx(context);
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback); PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
context->user_payload_len, lfsm_irq_callback);
} }
/* /*
@ -379,40 +358,40 @@ static void go_user_rxtx_active(struct lfsm_context * context)
* *
*/ */
static void lfsm_update_link_tx_v0 (struct opahrs_msg_v0 * msg, enum opahrs_msg_link_state state, uint16_t errors) static void lfsm_update_link_tx_v0(struct opahrs_msg_v0 * msg,
{ enum opahrs_msg_link_state state, uint16_t errors) {
opahrs_msg_v0_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP); opahrs_msg_v0_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
msg->payload.link.state = state; msg->payload.link.state = state;
msg->payload.link.errors = errors; msg->payload.link.errors = errors;
} }
static void lfsm_update_link_tx_v1 (struct opahrs_msg_v1 * msg, enum opahrs_msg_link_state state, uint16_t errors) static void lfsm_update_link_tx_v1(struct opahrs_msg_v1 * msg,
{ enum opahrs_msg_link_state state, uint16_t errors) {
opahrs_msg_v1_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP); opahrs_msg_v1_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
msg->payload.link.state = state; msg->payload.link.state = state;
msg->payload.link.errors = errors; msg->payload.link.errors = errors;
} }
static void lfsm_update_link_tx (struct lfsm_context * context) static void lfsm_update_link_tx(struct lfsm_context * context) {
{
PIOS_DEBUG_Assert(context->link_tx); PIOS_DEBUG_Assert(context->link_tx);
switch (context->user_payload_type) { switch (context->user_payload_type) {
case OPAHRS_MSG_TYPE_USER_V0: case OPAHRS_MSG_TYPE_USER_V0:
lfsm_update_link_tx_v0 ((struct opahrs_msg_v0 *)context->link_tx, context->link_state, context->errors); lfsm_update_link_tx_v0((struct opahrs_msg_v0 *) context->link_tx,
context->link_state, context->errors);
break; break;
case OPAHRS_MSG_TYPE_USER_V1: case OPAHRS_MSG_TYPE_USER_V1:
lfsm_update_link_tx_v1 ((struct opahrs_msg_v1 *)context->link_tx, context->link_state, context->errors); lfsm_update_link_tx_v1((struct opahrs_msg_v1 *) context->link_tx,
context->link_state, context->errors);
break; break;
case OPAHRS_MSG_TYPE_LINK: case OPAHRS_MSG_TYPE_LINK:
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
} }
static void lfsm_init_rx (struct lfsm_context * context) static void lfsm_init_rx(struct lfsm_context * context) {
{
PIOS_DEBUG_Assert(context->rx); PIOS_DEBUG_Assert(context->rx);
switch (context->user_payload_type) { switch (context->user_payload_type) {
@ -433,8 +412,7 @@ static void lfsm_init_rx (struct lfsm_context * context)
* *
*/ */
void lfsm_inject_event(enum lfsm_event event) void lfsm_inject_event(enum lfsm_event event) {
{
PIOS_IRQ_Disable(); PIOS_IRQ_Disable();
/* /*
@ -453,14 +431,13 @@ void lfsm_inject_event(enum lfsm_event event)
PIOS_IRQ_Enable(); PIOS_IRQ_Enable();
} }
void lfsm_init(void) void lfsm_init(void) {
{
context.curr_state = LFSM_STATE_STOPPED; context.curr_state = LFSM_STATE_STOPPED;
go_stopped(&context); go_stopped(&context);
} }
void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v0 * link_rx) void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
{ struct opahrs_msg_v0 * link_rx) {
PIOS_DEBUG_Assert(link_tx); PIOS_DEBUG_Assert(link_tx);
context.link_tx = (uint8_t *) link_tx; context.link_tx = (uint8_t *) link_tx;
@ -473,8 +450,8 @@ void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v
lfsm_inject_event(LFSM_EVENT_INIT_LINK); lfsm_inject_event(LFSM_EVENT_INIT_LINK);
} }
void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v1 * link_rx) void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
{ struct opahrs_msg_v1 * link_rx) {
PIOS_DEBUG_Assert(link_tx); PIOS_DEBUG_Assert(link_tx);
context.link_tx = (uint8_t *) link_tx; context.link_tx = (uint8_t *) link_tx;
@ -487,8 +464,7 @@ void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v
lfsm_inject_event(LFSM_EVENT_INIT_LINK); lfsm_inject_event(LFSM_EVENT_INIT_LINK);
} }
void lfsm_user_set_tx_v0 (struct opahrs_msg_v0 * user_tx) void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx) {
{
PIOS_DEBUG_Assert(user_tx); PIOS_DEBUG_Assert(user_tx);
PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
@ -497,55 +473,45 @@ void lfsm_user_set_tx_v0 (struct opahrs_msg_v0 * user_tx)
lfsm_inject_event(LFSM_EVENT_USER_SET_TX); lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
} }
void lfsm_user_set_rx_v0 (struct opahrs_msg_v0 * user_rx) void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx) {
{ PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
PIOS_DEBUG_Assert(user_rx);
PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
context.user_rx = (uint8_t *) user_rx; context.user_rx = (uint8_t *) user_rx;
lfsm_inject_event(LFSM_EVENT_USER_SET_RX); lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
} }
void lfsm_user_set_tx_v1 (struct opahrs_msg_v1 * user_tx) void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx) {
{ PIOS_DEBUG_Assert(user_tx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
PIOS_DEBUG_Assert(user_tx);
PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
context.user_tx = (uint8_t *) user_tx; context.user_tx = (uint8_t *) user_tx;
lfsm_inject_event(LFSM_EVENT_USER_SET_TX); lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
} }
void lfsm_user_set_rx_v1 (struct opahrs_msg_v1 * user_rx) void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx) {
{ PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
PIOS_DEBUG_Assert(user_rx);
PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
context.user_rx = (uint8_t *) user_rx; context.user_rx = (uint8_t *) user_rx;
lfsm_inject_event(LFSM_EVENT_USER_SET_RX); lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
} }
void lfsm_user_done (void) void lfsm_user_done(void) {
{
lfsm_inject_event(LFSM_EVENT_USER_DONE); lfsm_inject_event(LFSM_EVENT_USER_DONE);
} }
void lfsm_stop (void) void lfsm_stop(void) {
{
lfsm_inject_event(LFSM_EVENT_STOP); lfsm_inject_event(LFSM_EVENT_STOP);
} }
void lfsm_get_link_stats (struct lfsm_link_stats * stats) void lfsm_get_link_stats(struct lfsm_link_stats * stats) {
{
PIOS_DEBUG_Assert(stats); PIOS_DEBUG_Assert(stats);
*stats = context.stats; *stats = context.stats;
} }
enum lfsm_state lfsm_get_state (void) enum lfsm_state lfsm_get_state(void) {
{
return context.curr_state; return context.curr_state;
} }
@ -555,8 +521,7 @@ enum lfsm_state lfsm_get_state (void)
* *
*/ */
void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val) void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val) {
{
if (!crc_ok) { if (!crc_ok) {
context.stats.rx_badcrc++; context.stats.rx_badcrc++;
lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN); lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
@ -589,8 +554,8 @@ void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val)
} }
/* Check for bad magic */ /* Check for bad magic */
if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) || if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) || (tail->magic
(tail->magic != OPAHRS_MSG_MAGIC_TAIL)) { != OPAHRS_MSG_MAGIC_TAIL)) {
if (head->magic != OPAHRS_MSG_MAGIC_HEAD) { if (head->magic != OPAHRS_MSG_MAGIC_HEAD) {
context.stats.rx_badmagic_head++; context.stats.rx_badmagic_head++;
} }

13
flight/Bootloaders/AHRS/inc/ahrs_bl.h
View File

@ -23,31 +23,30 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef AHRS_BL_H #ifndef AHRS_BL_H
#define AHRS_BL_H #define AHRS_BL_H
/* PIOS Includes */ /* PIOS Includes */
#include <pios.h> #include <pios.h>
/** Start programming /** Start programming
returns: true if FLASH erased and ready to program returns: true if FLASH erased and ready to program
*/ */
bool StartProgramming(void); bool
StartProgramming(void);
/** Write a block to FLASH /** Write a block to FLASH
buffer contains the data to be written buffer contains the data to be written
returns: true if FLASH programmed correctly returns: true if FLASH programmed correctly
*/ */
bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size); bool
WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
/** Read a block from FLASH /** Read a block from FLASH
returns: true if FLASH read correctly. returns: true if FLASH read correctly.
Buffer is set to the read data Buffer is set to the read data
*/ */
bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size); bool
ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
#endif /* AHRS_BL_H */ #endif /* AHRS_BL_H */

10
flight/Bootloaders/AHRS/inc/ahrs_spi_program.h
View File

@ -35,9 +35,15 @@ just to be absolutely sure
*/ */
typedef enum { PROGRAM_NULL, PROGRAM_WRITE, PROGRAM_READ, PROGRAM_ACK, PROGRAM_REBOOT, PROGRAM_ERR} ProgramType; typedef enum {
PROGRAM_NULL,
PROGRAM_WRITE,
PROGRAM_READ,
PROGRAM_ACK,
PROGRAM_REBOOT,
PROGRAM_ERR
} ProgramType;
#define SPI_MAX_PROGRAM_DATA_SIZE (14 * 4) //USB comms uses 14x 32 bit words #define SPI_MAX_PROGRAM_DATA_SIZE (14 * 4) //USB comms uses 14x 32 bit words
#define REBOOT_CONFIRMATION "AHRS REBOOT" #define REBOOT_CONFIRMATION "AHRS REBOOT"
#define REBOOT_CONFIRMATION_LENGTH 11 #define REBOOT_CONFIRMATION_LENGTH 11

13
flight/Bootloaders/AHRS/inc/ahrs_spi_program_master.h
View File

@ -27,12 +27,13 @@
#ifndef AHRS_PROGRAM_MASTER_H #ifndef AHRS_PROGRAM_MASTER_H
#define AHRS_PROGRAM_MASTER_H #define AHRS_PROGRAM_MASTER_H
typedef enum {PROGRAM_ERR_OK, //OK typedef enum {
PROGRAM_ERR_OK, //OK
PROGRAM_ERR_LINK, //comms error PROGRAM_ERR_LINK, //comms error
PROGRAM_ERR_FUNCTION, //function failed PROGRAM_ERR_FUNCTION,
//function failed
} PROGERR; } PROGERR;
/** Connect to AHRS and request programming mode /** Connect to AHRS and request programming mode
* returns: false if failed. * returns: false if failed.
*/ */
@ -43,14 +44,16 @@ bool AhrsProgramConnect(uint32_t spi_id);
* returns: error status * returns: error status
*/ */
PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data, uint32_t size); PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
uint32_t size);
/** Read data from AHRS /** Read data from AHRS
* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE * size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
* returns: error status * returns: error status
*/ */
PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t size); PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
uint32_t size);
/** reboot AHRS /** reboot AHRS
* returns: error status * returns: error status

13
flight/Bootloaders/AHRS/inc/bl_fsm.h
View File

@ -23,7 +23,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef BL_FSM_H #ifndef BL_FSM_H
#define BL_FSM_H #define BL_FSM_H
@ -45,7 +44,8 @@ enum lfsm_state {
LFSM_STATE_USER_TX_ACTIVE, LFSM_STATE_USER_TX_ACTIVE,
LFSM_STATE_USER_RXTX_ACTIVE, LFSM_STATE_USER_RXTX_ACTIVE,
LFSM_STATE_NUM_STATES /* Must be last */ LFSM_STATE_NUM_STATES
/* Must be last */
}; };
enum lfsm_event { enum lfsm_event {
@ -58,7 +58,8 @@ enum lfsm_event {
LFSM_EVENT_RX_USER, LFSM_EVENT_RX_USER,
LFSM_EVENT_RX_UNKNOWN, LFSM_EVENT_RX_UNKNOWN,
LFSM_EVENT_NUM_EVENTS /* Must be last */ LFSM_EVENT_NUM_EVENTS
/* Must be last */
}; };
struct lfsm_link_stats { struct lfsm_link_stats {
@ -81,11 +82,13 @@ extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
extern void lfsm_get_link_stats(struct lfsm_link_stats * stats); extern void lfsm_get_link_stats(struct lfsm_link_stats * stats);
extern enum lfsm_state lfsm_get_state(void); extern enum lfsm_state lfsm_get_state(void);
extern void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v0 * link_rx); extern void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
struct opahrs_msg_v0 * link_rx);
extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx); extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx);
extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx); extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx);
extern void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v1 * link_rx); extern void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
struct opahrs_msg_v1 * link_rx);
extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx); extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx);
extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx); extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx);

1
flight/Bootloaders/AHRS/inc/pios_config.h
View File

@ -24,7 +24,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef PIOS_CONFIG_H #ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H #define PIOS_CONFIG_H

12
flight/Bootloaders/AHRS/main.c
View File

@ -89,8 +89,7 @@ int main() {
if (GO_dfu == FALSE) { if (GO_dfu == FALSE) {
jump_to_app(); jump_to_app();
} }
if(PIOS_IAP_CheckRequest()) if (PIOS_IAP_CheckRequest()) {
{
PIOS_DELAY_WaitmS(1000); PIOS_DELAY_WaitmS(1000);
PIOS_IAP_ClearRequest(); PIOS_IAP_ClearRequest();
} }
@ -160,7 +159,8 @@ void process_spi_request(void) {
//PIOS_LED_On(LED1); //PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS); 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.bl_version = BOOTLOADER_VERSION;
user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8) | BOARD_REVISION; user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8)
| BOARD_REVISION;
user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc; user_tx_v0.payload.user.v.rsp.versions.fw_crc = Fw_crc;
lfsm_user_set_tx_v0(&user_tx_v0); lfsm_user_set_tx_v0(&user_tx_v0);
break; break;
@ -214,9 +214,9 @@ void process_spi_request(void) {
case OPAHRS_MSG_V0_REQ_FWDN_DATA: case OPAHRS_MSG_V0_REQ_FWDN_DATA:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_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; uint32_t adr = user_rx_v0.payload.user.v.req.fwdn_data.adress;
for(uint8_t x=0;x<4;++x) for (uint8_t x = 0; x < 4; ++x) {
{ user_tx_v0.payload.user.v.rsp.fw_dn.data[x]
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x); = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
} }
lfsm_user_set_tx_v0(&user_tx_v0); lfsm_user_set_tx_v0(&user_tx_v0);
break; break;

25
flight/Bootloaders/AHRS/pios_board.c
View File

@ -29,7 +29,6 @@
#include <pios_spi_priv.h> #include <pios_spi_priv.h>
/* OP Interface /* OP Interface
* *
* NOTE: Leave this declared as const data so that it ends up in the * NOTE: Leave this declared as const data so that it ends up in the
@ -38,7 +37,8 @@
void PIOS_SPI_op_irq_handler(void); void PIOS_SPI_op_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler"))); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
static const struct pios_spi_cfg pios_spi_op_cfg = { static const struct pios_spi_cfg
pios_spi_op_cfg = {
.regs = SPI2, .regs = SPI2,
.init = { .init = {
.SPI_Mode = SPI_Mode_Slave, .SPI_Mode = SPI_Mode_Slave,
@ -93,44 +93,38 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.DMA_M2M = DMA_M2M_Disable, .DMA_M2M = DMA_M2M_Disable,
}, },
}, },
}, }, .ssel = {
.ssel = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_12, .GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING, .GPIO_Mode = GPIO_Mode_IN_FLOATING,
}, },
}, }, .sclk = {
.sclk = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_13, .GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING, .GPIO_Mode = GPIO_Mode_IN_FLOATING,
}, },
}, }, .miso = {
.miso = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_14, .GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Mode = GPIO_Mode_AF_PP,
}, },
}, }, .mosi = {
.mosi = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_15, .GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING, .GPIO_Mode = GPIO_Mode_IN_FLOATING,
}, },
}, }, };
};
uint32_t pios_spi_op_id; uint32_t pios_spi_op_id;
void PIOS_SPI_op_irq_handler(void) void PIOS_SPI_op_irq_handler(void) {
{
/* Call into the generic code to handle the IRQ for this specific device */ /* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_op_id); PIOS_SPI_IRQ_Handler(pios_spi_op_id);
} }
@ -139,8 +133,7 @@ void PIOS_SPI_op_irq_handler(void)
#include "bl_fsm.h" /* lfsm_* */ #include "bl_fsm.h" /* lfsm_* */
void PIOS_Board_Init() void PIOS_Board_Init() {
{
/* Set up the SPI interface to the OP board */ /* Set up the SPI interface to the OP board */
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) { if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);

20
flight/Bootloaders/CopterControl/Makefile
View File

@ -112,7 +112,7 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(OPSYSTEM)/stopwatch.c SRC += $(FLIGHTLIB)/stopwatch.c
## PIOS Hardware (STM32F10x) ## PIOS Hardware (STM32F10x)
@ -121,35 +121,21 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_usart.c SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c SRC += $(PIOSSTM32F10X)/pios_irq.c
#SRC += $(PIOSSTM32F10X)/pios_adc.c
#SRC += $(PIOSSTM32F10X)/pios_servo.c
#SRC += $(PIOSSTM32F10X)/pios_i2c.c
#SRC += $(PIOSSTM32F10X)/pios_spi.c
#SRC += $(PIOSSTM32F10X)/pios_ppm.c
#SRC += $(PIOSSTM32F10X)/pios_pwm.c
#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_gpio.c
#SRC += $(PIOSSTM32F10X)/pios_exti.c
#SRC += $(PIOSSTM32F10X)/pios_wdg.c
# PIOS USB related files (seperated to make code maintenance more easy) # PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common) ## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_bmp085.c
#SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_iap.c
#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations ## Libraries for flight calculations
@ -160,22 +146,18 @@ SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f10x.c SRC += $(CMSISDIR)/system_stm32f10x.c
## Used parts of the STM-Library ## Used parts of the STM-Library
#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c SRC += $(STMSPDSRCDIR)/misc.c

6
flight/Bootloaders/CopterControl/inc/common.h
View File

@ -51,7 +51,8 @@ typedef enum {
uploadingStarting, //9 uploadingStarting, //9
outsideDevCapabilities, //10 outsideDevCapabilities, //10
CRC_Fail,//11 CRC_Fail,//11
failed_jump,//12 failed_jump,
//12
} DFUStates; } DFUStates;
/**************************************************/ /**************************************************/
/* OP_DFU commands */ /* OP_DFU commands */
@ -74,8 +75,7 @@ typedef enum {
} DFUCommands; } DFUCommands;
typedef enum { typedef enum {
High_Density, High_Density, Medium_Density
Medium_Density
} DeviceType; } DeviceType;
/**************************************************/ /**************************************************/
/* OP_DFU transfer types */ /* OP_DFU transfer types */

3
flight/Bootloaders/CopterControl/inc/op_dfu.h
View File

@ -29,8 +29,7 @@
#include "common.h" #include "common.h"
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
typedef struct typedef struct {
{
uint8_t programmingType; uint8_t programmingType;
uint8_t readWriteFlags; uint8_t readWriteFlags;
uint32_t startOfUserCode; uint32_t startOfUserCode;

1
flight/Bootloaders/CopterControl/inc/pios_config.h
View File

@ -28,7 +28,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef PIOS_CONFIG_H #ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H #define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER

12
flight/Bootloaders/CopterControl/main.c
View File

@ -55,7 +55,6 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
//////////////////////////////////////// ////////////////////////////////////////
uint8_t tempcount = 0; uint8_t tempcount = 0;
/* Extern variables ----------------------------------------------------------*/ /* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState; DFUStates DeviceState;
int16_t status = 0; int16_t status = 0;
@ -70,13 +69,8 @@ uint8_t processRX();
void jump_to_app(); void jump_to_app();
#define BLUE LED1 #define BLUE LED1
// #define RED LED4
#define LED_PWM_TIMER TIM1 #define LED_PWM_TIMER TIM1
int main() { int main() {
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init(); PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0) if (BSL_HOLD_STATE == 0)
USB_connected = TRUE; USB_connected = TRUE;
@ -107,8 +101,6 @@ int main() {
while (TRUE) { while (TRUE) {
if (JumpToApp == TRUE) if (JumpToApp == TRUE)
jump_to_app(); jump_to_app();
//pwm_period = 50; // *100 uS -> 5 mS
//pwm_sweep_steps =100; // * 5 mS -> 500 mS
switch (DeviceState) { switch (DeviceState) {
case Last_operation_Success: case Last_operation_Success:
@ -161,7 +153,8 @@ int main() {
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100) if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER); STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle)) if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
== BLidle))
JumpToApp = TRUE; JumpToApp = TRUE;
processRX(); processRX();
@ -178,7 +171,6 @@ void jump_to_app() {
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE); RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask _SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests _SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4); JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
Jump_To_Application = (pFunction) JumpAddress; Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */ /* Initialize user application's Stack Pointer */

11
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -93,8 +93,8 @@ void DataDownload(DownloadAction action) {
for (uint8_t x = 0; x < packetSize; ++x) { for (uint8_t x = 0; x < packetSize; ++x) {
partoffset = (downPacketCurrent * 14 * 4) + (x * 4); partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
offset = baseOfAdressType(downType) + partoffset; offset = baseOfAdressType(downType) + partoffset;
if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination)) if (!flash_read(SendBuffer + (6 + x * 4), offset,
{ currentProgrammingDestination)) {
DeviceState = Last_operation_failed; DeviceState = Last_operation_failed;
} }
} }
@ -139,7 +139,7 @@ void processComand(uint8_t *xReceive_Buffer) {
case EnterDFU: case EnterDFU:
if (((DeviceState == BLidle) && (Data0 < numberOfDevices)) if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
|| (DeviceState == DFUidle)) { || (DeviceState == DFUidle)) {
if (Data0 > 0)//PORQUE??? if (Data0 > 0)
OPDfuIni(TRUE); OPDfuIni(TRUE);
DeviceState = DFUidle; DeviceState = DFUidle;
currentProgrammingDestination = devicesTable[Data0].programmingType; currentProgrammingDestination = devicesTable[Data0].programmingType;
@ -196,7 +196,7 @@ void processComand(uint8_t *xReceive_Buffer) {
} }
} }
if (result != 1) { if (result != 1) {
DeviceState = Last_operation_failed;//ok DeviceState = Last_operation_failed;
Aditionals = (uint32_t) Command; Aditionals = (uint32_t) Command;
} else { } else {
@ -438,8 +438,7 @@ uint32_t CalcFirmCRC() {
} }
} }
void sendData(uint8_t * buf,uint16_t size) void sendData(uint8_t * buf, uint16_t size) {
{
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading) if (DeviceState == downloading)
PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid

18
flight/Bootloaders/OpenPilot/Makefile
View File

@ -112,7 +112,7 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(OPSYSTEM)/stopwatch.c SRC += $(FLIGHTLIB)/stopwatch.c
SRC += $(OPSYSTEM)/ssp.c SRC += $(OPSYSTEM)/ssp.c
@ -122,31 +122,19 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_usart.c SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c SRC += $(PIOSSTM32F10X)/pios_irq.c
#SRC += $(PIOSSTM32F10X)/pios_adc.c
#SRC += $(PIOSSTM32F10X)/pios_servo.c
#SRC += $(PIOSSTM32F10X)/pios_i2c.c
SRC += $(PIOSSTM32F10X)/pios_spi.c SRC += $(PIOSSTM32F10X)/pios_spi.c
#SRC += $(PIOSSTM32F10X)/pios_ppm.c
#SRC += $(PIOSSTM32F10X)/pios_pwm.c
#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_gpio.c
#SRC += $(PIOSSTM32F10X)/pios_exti.c
#SRC += $(PIOSSTM32F10X)/pios_wdg.c
# PIOS USB related files (seperated to make code maintenance more easy) # PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common) ## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_bmp085.c
SRC += $(PIOSCOMMON)/pios_opahrs_v0.c SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_iap.c
@ -161,22 +149,18 @@ SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f10x.c SRC += $(CMSISDIR)/system_stm32f10x.c
## Used parts of the STM-Library ## Used parts of the STM-Library
#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c SRC += $(STMSPDSRCDIR)/misc.c

6
flight/Bootloaders/OpenPilot/inc/common.h
View File

@ -51,7 +51,8 @@ typedef enum {
uploadingStarting, //9 uploadingStarting, //9
outsideDevCapabilities, //10 outsideDevCapabilities, //10
CRC_Fail,//11 CRC_Fail,//11
failed_jump,//12 failed_jump,
//12
} DFUStates; } DFUStates;
/**************************************************/ /**************************************************/
/* OP_DFU commands */ /* OP_DFU commands */
@ -74,8 +75,7 @@ typedef enum {
} DFUCommands; } DFUCommands;
typedef enum { typedef enum {
High_Density, High_Density, Medium_Density
Medium_Density
} DeviceType; } DeviceType;
/**************************************************/ /**************************************************/
/* OP_DFU transfer types */ /* OP_DFU transfer types */

3
flight/Bootloaders/OpenPilot/inc/op_dfu.h
View File

@ -29,8 +29,7 @@
#include "common.h" #include "common.h"
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
typedef struct typedef struct {
{
uint8_t programmingType; uint8_t programmingType;
uint8_t readWriteFlags; uint8_t readWriteFlags;
uint32_t startOfUserCode; uint32_t startOfUserCode;

1
flight/Bootloaders/OpenPilot/inc/pios_config.h
View File

@ -27,7 +27,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef PIOS_CONFIG_H #ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H #define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER

12
flight/Bootloaders/OpenPilot/inc/ssp.h
View File

@ -45,12 +45,10 @@ typedef enum decodeState_ {
} DecodeState_t; } DecodeState_t;
typedef enum ReceiveState { typedef enum ReceiveState {
state_escaped_e = 0, state_escaped_e = 0, state_unescaped_e
state_unescaped_e
} ReceiveState_t; } ReceiveState_t;
typedef struct typedef struct {
{
uint8_t *pbuff; uint8_t *pbuff;
uint16_t length; uint16_t length;
uint16_t crc; uint16_t crc;
@ -102,20 +100,18 @@ typedef struct Port_tag {
uint16_t flags; uint16_t flags;
} Port_t; } Port_t;
/** Public Data **/ /** Public Data **/
/** PUBLIC FUNCTIONS **/ /** PUBLIC FUNCTIONS **/
int16_t ssp_ReceiveProcess(Port_t *thisport); int16_t ssp_ReceiveProcess(Port_t *thisport);
int16_t ssp_SendProcess(Port_t *thisport); int16_t ssp_SendProcess(Port_t *thisport);
uint16_t ssp_SendString(Port_t *thisport, char *str); uint16_t ssp_SendString(Port_t *thisport, char *str);
int16_t ssp_SendData(Port_t *thisport, const uint8_t * data,const uint16_t length ); int16_t ssp_SendData(Port_t *thisport, const uint8_t * data,
const uint16_t length);
void ssp_Init(Port_t *thisport, const PortConfig_t* const info); void ssp_Init(Port_t *thisport, const PortConfig_t* const info);
int16_t ssp_ReceiveByte(Port_t *thisport); int16_t ssp_ReceiveByte(Port_t *thisport);
uint16_t ssp_Synchronise(Port_t *thisport); uint16_t ssp_Synchronise(Port_t *thisport);
/** EXTERNAL FUNCTIONS **/ /** EXTERNAL FUNCTIONS **/
#endif #endif

55
flight/Bootloaders/OpenPilot/inc/stopwatch.h
View File

@ -1,55 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file stopwatch.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions for the LED PWM.
* @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
*/
#ifndef _STOPWATCH_H
#define _STOPWATCH_H
/////////////////////////////////////////////////////////////////////////////
// Global definitions
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Global Types
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Prototypes
/////////////////////////////////////////////////////////////////////////////
extern s32 STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM);
extern s32 STOPWATCH_Reset(TIM_TypeDef* TIM);
extern u32 STOPWATCH_ValueGet(TIM_TypeDef* TIM);
/////////////////////////////////////////////////////////////////////////////
// Export global variables
/////////////////////////////////////////////////////////////////////////////
#endif /* _STOPWATCH_H */

13
flight/Bootloaders/OpenPilot/main.c
View File

@ -57,7 +57,6 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
//////////////////////////////////////// ////////////////////////////////////////
uint8_t tempcount = 0; uint8_t tempcount = 0;
/// SSP SECTION /// SSP SECTION
/// SSP TIME SOURCE /// SSP TIME SOURCE
#define SSP_TIMER TIM7 #define SSP_TIMER TIM7
@ -65,7 +64,8 @@ uint32_t ssp_time=0;
#define MAX_PACKET_DATA_LEN 255 #define MAX_PACKET_DATA_LEN 255
#define MAX_PACKET_BUF_SIZE (1+1+MAX_PACKET_DATA_LEN+2) #define MAX_PACKET_BUF_SIZE (1+1+MAX_PACKET_DATA_LEN+2)
#define UART_BUFFER_SIZE 1024 #define UART_BUFFER_SIZE 1024
uint8_t rx_buffer[UART_BUFFER_SIZE] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement; uint8_t rx_buffer[UART_BUFFER_SIZE] __attribute__ ((aligned(4)));
// align to 32-bit to try and provide speed improvement;
// master buffers... // master buffers...
uint8_t SSP_TxBuf[MAX_PACKET_BUF_SIZE]; uint8_t SSP_TxBuf[MAX_PACKET_BUF_SIZE];
uint8_t SSP_RxBuf[MAX_PACKET_BUF_SIZE]; uint8_t SSP_RxBuf[MAX_PACKET_BUF_SIZE];
@ -206,7 +206,8 @@ int main() {
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100) if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER); STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle)) if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
== BLidle))
JumpToApp = TRUE; JumpToApp = TRUE;
processRX(); processRX();
@ -274,11 +275,9 @@ void SSP_CallBack(uint8_t *buf, uint16_t len) {
fifoBuf_putData(&ssp_buffer, buf, len); fifoBuf_putData(&ssp_buffer, buf, len);
} }
int16_t SSP_SerialRead(void) { int16_t SSP_SerialRead(void) {
if(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF)>0) if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) {
{
return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF); return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF);
} } else
else
return -1; return -1;
} }
void SSP_SerialWrite(uint8_t value) { void SSP_SerialWrite(uint8_t value) {

7
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -101,8 +101,8 @@ void DataDownload(DownloadAction action) {
for (uint8_t x = 0; x < packetSize; ++x) { for (uint8_t x = 0; x < packetSize; ++x) {
partoffset = (downPacketCurrent * 14 * 4) + (x * 4); partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
offset = baseOfAdressType(downType) + partoffset; offset = baseOfAdressType(downType) + partoffset;
if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination)) if (!flash_read(SendBuffer + (6 + x * 4), offset,
{ currentProgrammingDestination)) {
DeviceState = Last_operation_failed; DeviceState = Last_operation_failed;
} }
} }
@ -545,8 +545,7 @@ uint32_t CalcFirmCRC() {
} }
} }
void sendData(uint8_t * buf,uint16_t size) void sendData(uint8_t * buf, uint16_t size) {
{
if (ProgPort == Usb) { if (ProgPort == Usb) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);

45
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -41,7 +41,8 @@
void PIOS_SPI_ahrs_irq_handler(void); void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg pios_spi_ahrs_cfg = { const struct pios_spi_cfg
pios_spi_ahrs_cfg = {
.regs = SPI2, .regs = SPI2,
.init = { .init = {
.SPI_Mode = SPI_Mode_Master, .SPI_Mode = SPI_Mode_Master,
@ -97,51 +98,44 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.DMA_M2M = DMA_M2M_Disable, .DMA_M2M = DMA_M2M_Disable,
}, },
}, },
}, }, .ssel = {
.ssel = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_12, .GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Mode = GPIO_Mode_Out_PP,
}, },
}, }, .sclk = {
.sclk = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_13, .GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Mode = GPIO_Mode_AF_PP,
}, },
}, }, .miso = {
.miso = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_14, .GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING, .GPIO_Mode = GPIO_Mode_IN_FLOATING,
}, },
}, }, .mosi = {
.mosi = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_15, .GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Mode = GPIO_Mode_AF_PP,
}, },
}, }, };
};
uint32_t pios_spi_ahrs_id; uint32_t pios_spi_ahrs_id;
void PIOS_SPI_ahrs_irq_handler(void) void PIOS_SPI_ahrs_irq_handler(void) {
{
/* Call into the generic code to handle the IRQ for this specific device */ /* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id); PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id);
} }
#endif /* PIOS_INCLUDE_SPI */ #endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_USART) #if defined(PIOS_INCLUDE_USART)
#include "pios_usart_priv.h" #include "pios_usart_priv.h"
@ -151,9 +145,7 @@ void PIOS_SPI_ahrs_irq_handler(void)
*/ */
void PIOS_USART_telem_irq_handler(void); void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = { const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE) #if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else #else
@ -164,8 +156,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_StopBits = USART_StopBits_1, .USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
}, }, .irq = {
.irq = {
.handler = PIOS_USART_telem_irq_handler, .handler = PIOS_USART_telem_irq_handler,
.init = { .init = {
.NVIC_IRQChannel = USART2_IRQn, .NVIC_IRQChannel = USART2_IRQn,
@ -173,28 +164,24 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE, .NVIC_IRQChannelCmd = ENABLE,
}, },
}, }, .rx = {
.rx = {
.gpio = GPIOA, .gpio = GPIOA,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_3, .GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU, .GPIO_Mode = GPIO_Mode_IPU,
}, },
}, }, .tx = {
.tx = {
.gpio = GPIOA, .gpio = GPIOA,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_2, .GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Mode = GPIO_Mode_AF_PP,
}, },
}, }, };
};
static uint32_t pios_usart_telem_rf_id; static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void) void PIOS_USART_telem_irq_handler(void) {
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id); PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
} }
@ -220,7 +207,6 @@ uint32_t pios_com_telem_usb_id;
*/ */
void PIOS_Board_Init(void) { void PIOS_Board_Init(void) {
/* Enable Prefetch Buffer */ /* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable); FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@ -235,7 +221,8 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
#endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_COM */

126
flight/Bootloaders/OpenPilot/ssp.c
View File

@ -85,13 +85,11 @@
#define SEQNUM 1 #define SEQNUM 1
#define DATA 2 #define DATA 2
// Make larger sized integers from smaller sized integers // Make larger sized integers from smaller sized integers
#define MAKEWORD16( ub, lb ) ((uint16_t)0x0000 | ((uint16_t)(ub) << 8) | (uint16_t)(lb) ) #define MAKEWORD16( ub, lb ) ((uint16_t)0x0000 | ((uint16_t)(ub) << 8) | (uint16_t)(lb) )
#define MAKEWORD32( uw, lw ) ((uint32_t)(0x0UL | ((uint32_t)(uw) << 16) | (uint32_t)(lw)) ) #define MAKEWORD32( uw, lw ) ((uint32_t)(0x0UL | ((uint32_t)(uw) << 16) | (uint32_t)(lw)) )
#define MAKEWORD32B( b3, b2, b1, b0 ) ((uint32_t)((uint32_t)(b3)<< 24) | ((uint32_t)(b2)<<16) | ((uint32_t)(b1)<<8) | ((uint32_t)(b0) ) #define MAKEWORD32B( b3, b2, b1, b0 ) ((uint32_t)((uint32_t)(b3)<< 24) | ((uint32_t)(b2)<<16) | ((uint32_t)(b1)<<8) | ((uint32_t)(b0) )
// Used to extract smaller integers from larger sized intergers // Used to extract smaller integers from larger sized intergers
#define LOWERBYTE( w ) (uint8_t)((w) & 0x00ff ) #define LOWERBYTE( w ) (uint8_t)((w) & 0x00ff )
#define UPPERBYTE( w ) (uint8_t)(((w) & 0xff00) >> 8 ) #define UPPERBYTE( w ) (uint8_t)(((w) & 0xff00) >> 8 )
@ -118,7 +116,8 @@ static int16_t sf_ReceiveState( Port_t *thisport, uint8_t c );
static void sf_SendPacket(Port_t *thisport); static void sf_SendPacket(Port_t *thisport);
static void sf_SendAckPacket(Port_t *thisport, uint8_t seqNumber); static void sf_SendAckPacket(Port_t *thisport, uint8_t seqNumber);
static void sf_MakePacket( uint8_t *buf, const uint8_t * pdata, uint16_t length, uint8_t seqNo ); static void sf_MakePacket(uint8_t *buf, const uint8_t * pdata, uint16_t length,
uint8_t seqNo);
static int16_t sf_ReceivePacket(Port_t *thisport); static int16_t sf_ReceivePacket(Port_t *thisport);
/* Flag bit masks...*/ /* Flag bit masks...*/
@ -131,40 +130,35 @@ static int16_t sf_ReceivePacket(Port_t *thisport);
#define SSP_IDLE 2 #define SSP_IDLE 2
/** PRIVATE DATA **/ /** PRIVATE DATA **/
static const uint16_t CRC_TABLE[] = { static const uint16_t CRC_TABLE[] = { 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301,
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, 0x03C0, 0x0280, 0xC241, 0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1,
0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440, 0xC481, 0x0440, 0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81,
0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40, 0x0E40, 0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841, 0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0x1E00,
0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, 0x1400, 0xD4C1,
0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, 0xD201, 0x12C0, 0x1380,
0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, 0xF001, 0x30C0, 0x3180, 0xF141,
0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, 0x3300, 0xF3C1, 0xF281, 0x3240, 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501,
0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240, 0x35C0, 0x3480, 0xF441, 0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0,
0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441, 0x3E80, 0xFE41, 0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881,
0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41, 0x3840, 0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840, 0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE401,
0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, 0x2200, 0xE2C1,
0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, 0xA001, 0x60C0, 0x6180,
0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, 0x6600, 0xA6C1, 0xA781, 0x6740,
0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, 0xA501, 0x65C0, 0x6480, 0xA441, 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01,
0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, 0x6FC0, 0x6E80, 0xAE41, 0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1,
0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441, 0xA881, 0x6840, 0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80,
0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41, 0xBA41, 0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840, 0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, 0x7200,
0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041, 0x5000, 0x90C1,
0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, 0x9601, 0x56C0, 0x5780,
0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, 0x9C01, 0x5CC0, 0x5D80, 0x9D41,
0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901,
0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, 0x59C0, 0x5880, 0x9841, 0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1,
0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, 0x8A81, 0x4A40, 0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80,
0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, 0x8C41, 0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841, 0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040 };
0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
};
/** EXTERNAL DATA **/ /** EXTERNAL DATA **/
@ -172,7 +166,6 @@ static const uint16_t CRC_TABLE[] = {
/** VERIFICATION FUNCTIONS **/ /** VERIFICATION FUNCTIONS **/
/***********************************************************************************************************/ /***********************************************************************************************************/
/*! /*!
@ -185,8 +178,7 @@ static const uint16_t CRC_TABLE[] = {
* Must be called before calling the Send or REceive process functions. * Must be called before calling the Send or REceive process functions.
*/ */
void ssp_Init( Port_t *thisport, const PortConfig_t* const info) void ssp_Init(Port_t *thisport, const PortConfig_t* const info) {
{
thisport->pfCallBack = info->pfCallBack; thisport->pfCallBack = info->pfCallBack;
thisport->pfSerialRead = info->pfSerialRead; thisport->pfSerialRead = info->pfSerialRead;
thisport->pfSerialWrite = info->pfSerialWrite; thisport->pfSerialWrite = info->pfSerialWrite;
@ -216,8 +208,7 @@ void ssp_Init( Port_t *thisport, const PortConfig_t* const info)
* \note * \note
* *
*/ */
int16_t ssp_SendProcess( Port_t *thisport ) int16_t ssp_SendProcess(Port_t *thisport) {
{
int16_t value = SSP_TX_WAITING; int16_t value = SSP_TX_WAITING;
if (thisport->SendState == SSP_AWAITING_ACK) { if (thisport->SendState == SSP_AWAITING_ACK) {
@ -260,8 +251,7 @@ int16_t ssp_SendProcess( Port_t *thisport )
* \note * \note
* *
*/ */
int16_t ssp_ReceiveProcess(Port_t *thisport) int16_t ssp_ReceiveProcess(Port_t *thisport) {
{
int16_t b; int16_t b;
int16_t packet_status = SSP_RX_IDLE; int16_t packet_status = SSP_RX_IDLE;
@ -284,8 +274,7 @@ int16_t ssp_ReceiveProcess(Port_t *thisport)
* *
*/ */
int16_t ssp_ReceiveByte(Port_t *thisport ) int16_t ssp_ReceiveByte(Port_t *thisport) {
{
int16_t b; int16_t b;
int16_t packet_status = SSP_RX_IDLE; int16_t packet_status = SSP_RX_IDLE;
@ -307,8 +296,7 @@ int16_t ssp_ReceiveByte(Port_t *thisport )
* \note * \note
* *
*/ */
uint16_t ssp_SendDataBlock( Port_t *thisport, uint8_t *data, uint16_t length ) uint16_t ssp_SendDataBlock(Port_t *thisport, uint8_t *data, uint16_t length) {
{
int16_t packet_status = SSP_TX_WAITING; int16_t packet_status = SSP_TX_WAITING;
uint16_t retval = FALSE; uint16_t retval = FALSE;
@ -337,8 +325,8 @@ uint16_t ssp_SendDataBlock( Port_t *thisport, uint8_t *data, uint16_t length )
* \note * \note
* *
*/ */
int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t length ) int16_t ssp_SendData(Port_t *thisport, const uint8_t *data,
{ const uint16_t length) {
int16_t value = SSP_TX_WAITING; int16_t value = SSP_TX_WAITING;
@ -416,8 +404,7 @@ int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t leng
* if number of tries exceed maximum try limit then exit * if number of tries exceed maximum try limit then exit
* C. goto A * C. goto A
*/ */
uint16_t ssp_Synchronise( Port_t *thisport ) uint16_t ssp_Synchronise(Port_t *thisport) {
{
int16_t packet_status; int16_t packet_status;
uint16_t retval = FALSE; uint16_t retval = FALSE;
@ -454,7 +441,6 @@ uint16_t ssp_Synchronise( Port_t *thisport )
return retval; return retval;
} }
/*! /*!
* \brief sends out a preformatted packet for a give port * \brief sends out a preformatted packet for a give port
* \param thisport = which port to use. * \param thisport = which port to use.
@ -463,8 +449,7 @@ uint16_t ssp_Synchronise( Port_t *thisport )
* \note * \note
* Packet should be formed through the use of sf_MakePacket before calling this function. * Packet should be formed through the use of sf_MakePacket before calling this function.
*/ */
static void sf_SendPacket(Port_t *thisport) static void sf_SendPacket(Port_t *thisport) {
{
// add 3 to packet data length for: 1 length + 2 CRC (packet overhead) // add 3 to packet data length for: 1 length + 2 CRC (packet overhead)
uint8_t packetLen = thisport->txBuf[LENGTH] + 3; uint8_t packetLen = thisport->txBuf[LENGTH] + 3;
@ -476,7 +461,6 @@ static void sf_SendPacket(Port_t *thisport)
thisport->retryCount++; thisport->retryCount++;
} }
/*! /*!
* \brief converts data to transport layer protocol packet format. * \brief converts data to transport layer protocol packet format.
* \param txbuf = buffer to use when forming the packet * \param txbuf = buffer to use when forming the packet
@ -493,8 +477,8 @@ static void sf_SendPacket(Port_t *thisport)
* 3. TODO: Should this function return an error if data length to be sent is greater th tx buffer size? * 3. TODO: Should this function return an error if data length to be sent is greater th tx buffer size?
* *
*/ */
void sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint8_t seqNo ) void sf_MakePacket(uint8_t *txBuf, const uint8_t * pdata, uint16_t length,
{ uint8_t seqNo) {
uint16_t crc = 0xffff; uint16_t crc = 0xffff;
uint16_t bufPos = 0; uint16_t bufPos = 0;
uint8_t b; uint8_t b;
@ -525,8 +509,7 @@ void sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint
* *
*/ */
static void sf_SendAckPacket( Port_t *thisport, uint8_t seqNumber) static void sf_SendAckPacket(Port_t *thisport, uint8_t seqNumber) {
{
#ifdef DEBUG_SSP #ifdef DEBUG_SSP
char str[63]= {0}; char str[63]= {0};
sprintf(str,"Sent ACK PACKET:%d|",seqNumber); sprintf(str,"Sent ACK PACKET:%d|",seqNumber);
@ -549,8 +532,7 @@ static void sf_SendAckPacket( Port_t *thisport, uint8_t seqNumber)
* \note * \note
* *
*/ */
static void sf_write_byte( Port_t *thisport, uint8_t c ) static void sf_write_byte(Port_t *thisport, uint8_t c) {
{
if (c == SYNC) { // check for SYNC byte if (c == SYNC) { // check for SYNC byte
thisport->pfSerialWrite(ESC); // since we are not starting a packet we must ESCAPE the SYNCH byte thisport->pfSerialWrite(ESC); // since we are not starting a packet we must ESCAPE the SYNCH byte
thisport->pfSerialWrite(ESC_SYNC); // now send the escaped synch char thisport->pfSerialWrite(ESC_SYNC); // now send the escaped synch char
@ -583,12 +565,10 @@ static void sf_write_byte( Port_t *thisport, uint8_t c )
* *
*/ */
static uint16_t sf_crc16( uint16_t crc, uint8_t data ) static uint16_t sf_crc16(uint16_t crc, uint8_t data) {
{
return (crc >> 8) ^ CRC_TABLE[(crc ^ data) & 0x00FF]; return (crc >> 8) ^ CRC_TABLE[(crc ^ data) & 0x00FF];
} }
/*! /*!
* \brief sets the timeout for the given packet * \brief sets the timeout for the given packet
* \param thisport = which port to use * \param thisport = which port to use
@ -598,8 +578,7 @@ static uint16_t sf_crc16( uint16_t crc, uint8_t data )
* *
*/ */
static void sf_SetSendTimeout( Port_t *thisport ) static void sf_SetSendTimeout(Port_t *thisport) {
{
uint32_t timeout; uint32_t timeout;
timeout = thisport->pfGetTime() + thisport->timeoutLen; timeout = thisport->pfGetTime() + thisport->timeoutLen;
thisport->timeout = timeout; thisport->timeout = timeout;
@ -614,8 +593,7 @@ static void sf_SetSendTimeout( Port_t *thisport )
* \note * \note
* *
*/ */
static uint16_t sf_CheckTimeout( Port_t *thisport ) static uint16_t sf_CheckTimeout(Port_t *thisport) {
{
uint16_t retval = FALSE; uint16_t retval = FALSE;
uint32_t current_time; uint32_t current_time;
@ -626,7 +604,6 @@ static uint16_t sf_CheckTimeout( Port_t *thisport )
return retval; return retval;
} }
/**************************************************************************** /****************************************************************************
* NAME: sf_ReceiveState * NAME: sf_ReceiveState
* DESC: Implements the receive state handling code for escaped and unescaped data * DESC: Implements the receive state handling code for escaped and unescaped data
@ -646,8 +623,7 @@ static uint16_t sf_CheckTimeout( Port_t *thisport )
* \note * \note
* *
*/ */
static int16_t sf_ReceiveState( Port_t *thisport, uint8_t c ) static int16_t sf_ReceiveState(Port_t *thisport, uint8_t c) {
{
int16_t retval = SSP_RX_RECEIVING; int16_t retval = SSP_RX_RECEIVING;
switch (thisport->InputState) { switch (thisport->InputState) {
@ -696,8 +672,7 @@ static int16_t sf_ReceiveState( Port_t *thisport, uint8_t c )
* \note * \note
* *
*/ */
static int16_t sf_DecodeState( Port_t *thisport, uint8_t c ) static int16_t sf_DecodeState(Port_t *thisport, uint8_t c) {
{
int16_t retval; int16_t retval;
switch (thisport->DecodeState) { switch (thisport->DecodeState) {
case decode_idle_e: case decode_idle_e:
@ -787,8 +762,7 @@ static int16_t sf_DecodeState( Port_t *thisport, uint8_t c )
* Created: Oct 7, 2010 12:07:22 AM by joe * Created: Oct 7, 2010 12:07:22 AM by joe
*/ */
static int16_t sf_ReceivePacket(Port_t *thisport) static int16_t sf_ReceivePacket(Port_t *thisport) {
{
int16_t value = FALSE; int16_t value = FALSE;
if (ISBITSET(thisport->rxBuf[SEQNUM], ACK_BIT )) { if (ISBITSET(thisport->rxBuf[SEQNUM], ACK_BIT )) {

19
flight/Bootloaders/OpenPilot/ssp_timer.c
View File

@ -25,17 +25,12 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
// Include files // Include files
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
#include "stm32f10x_tim.h" #include "stm32f10x_tim.h"
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
// Local definitions // Local definitions
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
@ -43,10 +38,10 @@
#define SSP_TIMER_TIMER_BASE TIM7 #define SSP_TIMER_TIMER_BASE TIM7
#define SSP_TIMER_TIMER_RCC RCC_APB1Periph_TIM7 #define SSP_TIMER_TIMER_RCC RCC_APB1Periph_TIM7
uint32_t SSP_TIMER_Init(u32 resolution) uint32_t SSP_TIMER_Init(u32 resolution) {
{
// enable timer clock // enable timer clock
if( SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM1 || SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM8 ) if (SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM1 || SSP_TIMER_TIMER_RCC
== RCC_APB2Periph_TIM8)
RCC_APB2PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE); RCC_APB2PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE);
else else
RCC_APB1PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE); RCC_APB1PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE);
@ -68,13 +63,11 @@ uint32_t SSP_TIMER_Init(u32 resolution)
return 0; // no error return 0; // no error
} }
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
//! Resets the SSP_TIMER //! Resets the SSP_TIMER
//! \return < 0 on errors //! \return < 0 on errors
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
uint32_t SSP_TIMER_Reset(void) uint32_t SSP_TIMER_Reset(void) {
{
// reset counter // reset counter
SSP_TIMER_TIMER_BASE->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request SSP_TIMER_TIMER_BASE->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
TIM_ClearITPendingBit(SSP_TIMER_TIMER_BASE, TIM_IT_Update); TIM_ClearITPendingBit(SSP_TIMER_TIMER_BASE, TIM_IT_Update);
@ -82,14 +75,12 @@ uint32_t SSP_TIMER_Reset(void)
return 0; // no error return 0; // no error
} }
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
//! Returns current value of SSP_TIMER //! Returns current value of SSP_TIMER
//! \return 1..65535: valid SSP_TIMER value //! \return 1..65535: valid SSP_TIMER value
//! \return 0xffffffff: counter overrun //! \return 0xffffffff: counter overrun
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
uint32_t SSP_TIMER_ValueGet(void) uint32_t SSP_TIMER_ValueGet(void) {
{
uint32_t value = SSP_TIMER_TIMER_BASE->CNT; uint32_t value = SSP_TIMER_TIMER_BASE->CNT;
if (TIM_GetITStatus(SSP_TIMER_TIMER_BASE, TIM_IT_Update) != RESET) if (TIM_GetITStatus(SSP_TIMER_TIMER_BASE, TIM_IT_Update) != RESET)

103
flight/Bootloaders/OpenPilot/stopwatch.c
View File

@ -1,103 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file stopwatch.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions for the LED PWM.
* @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 files
/////////////////////////////////////////////////////////////////////////////
#include "stm32f10x_tim.h"
/////////////////////////////////////////////////////////////////////////////
// Local definitions
/////////////////////////////////////////////////////////////////////////////
//#define STOPWATCH_TIMER_BASE TIM6
//#define STOPWATCH_TIMER_RCC RCC_APB1Periph_TIM6
uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
uint32_t STOPWATCH_TIMER_RCC;
switch ((uint32_t)TIM) {
case (uint32_t)TIM6:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM6;
break;
case (uint32_t)TIM7:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM7;
break;
default:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM6;
}
// enable timer clock
if (STOPWATCH_TIMER_RCC == RCC_APB2Periph_TIM1 || STOPWATCH_TIMER_RCC
== RCC_APB2Periph_TIM8)
RCC_APB2PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
else
RCC_APB1PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
// time base configuration
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution) - 1; // <resolution> uS accuracy @ 72 MHz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM, &TIM_TimeBaseStructure);
// enable interrupt request
TIM_ITConfig(TIM, TIM_IT_Update, ENABLE);
// start counter
TIM_Cmd(TIM, ENABLE);
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! Resets the stopwatch
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
uint32_t STOPWATCH_Reset(TIM_TypeDef* TIM) {
// reset counter
TIM->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
TIM_ClearITPendingBit(TIM, TIM_IT_Update);
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! Returns current value of stopwatch
//! \return 1..65535: valid stopwatch value
//! \return 0xffffffff: counter overrun
/////////////////////////////////////////////////////////////////////////////
uint32_t STOPWATCH_ValueGet(TIM_TypeDef* TIM) {
uint32_t value = TIM->CNT;
if (TIM_GetITStatus(TIM, TIM_IT_Update) != RESET)
value = 0xffffffff;
return value;
}

21
flight/Bootloaders/PipXtreme/Makefile
View File

@ -112,7 +112,7 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(OPSYSTEM)/stopwatch.c SRC += $(FLIGHTLIB)/stopwatch.c
## PIOS Hardware (STM32F10x) ## PIOS Hardware (STM32F10x)
@ -121,35 +121,20 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_usart.c SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c SRC += $(PIOSSTM32F10X)/pios_irq.c
#SRC += $(PIOSSTM32F10X)/pios_adc.c
#SRC += $(PIOSSTM32F10X)/pios_servo.c
#SRC += $(PIOSSTM32F10X)/pios_i2c.c
#SRC += $(PIOSSTM32F10X)/pios_spi.c
#SRC += $(PIOSSTM32F10X)/pios_ppm.c
#SRC += $(PIOSSTM32F10X)/pios_pwm.c
#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_gpio.c
#SRC += $(PIOSSTM32F10X)/pios_exti.c
#SRC += $(PIOSSTM32F10X)/pios_wdg.c
# PIOS USB related files (seperated to make code maintenance more easy) # PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common) ## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_bmp085.c
#SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_iap.c
#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations ## Libraries for flight calculations
@ -160,22 +145,18 @@ SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f10x.c SRC += $(CMSISDIR)/system_stm32f10x.c
## Used parts of the STM-Library ## Used parts of the STM-Library
#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c SRC += $(STMSPDSRCDIR)/misc.c

6
flight/Bootloaders/PipXtreme/inc/common.h
View File

@ -51,7 +51,8 @@ typedef enum {
uploadingStarting, //9 uploadingStarting, //9
outsideDevCapabilities, //10 outsideDevCapabilities, //10
CRC_Fail,//11 CRC_Fail,//11
failed_jump,//12 failed_jump,
//12
} DFUStates; } DFUStates;
/**************************************************/ /**************************************************/
/* OP_DFU commands */ /* OP_DFU commands */
@ -74,8 +75,7 @@ typedef enum {
} DFUCommands; } DFUCommands;
typedef enum { typedef enum {
High_Density, High_Density, Medium_Density
Medium_Density
} DeviceType; } DeviceType;
/**************************************************/ /**************************************************/
/* OP_DFU transfer types */ /* OP_DFU transfer types */

3
flight/Bootloaders/PipXtreme/inc/op_dfu.h
View File

@ -29,8 +29,7 @@
#include "common.h" #include "common.h"
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
typedef struct typedef struct {
{
uint8_t programmingType; uint8_t programmingType;
uint8_t readWriteFlags; uint8_t readWriteFlags;
uint32_t startOfUserCode; uint32_t startOfUserCode;

1
flight/Bootloaders/PipXtreme/inc/pios_config.h
View File

@ -27,7 +27,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef PIOS_CONFIG_H #ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H #define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER

55
flight/Bootloaders/PipXtreme/inc/stopwatch.h
View File

@ -1,55 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file stopwatch.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions for the LED PWM.
* @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
*/
#ifndef _STOPWATCH_H
#define _STOPWATCH_H
/////////////////////////////////////////////////////////////////////////////
// Global definitions
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Global Types
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Prototypes
/////////////////////////////////////////////////////////////////////////////
extern s32 STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM);
extern s32 STOPWATCH_Reset(TIM_TypeDef* TIM);
extern u32 STOPWATCH_ValueGet(TIM_TypeDef* TIM);
/////////////////////////////////////////////////////////////////////////////
// Export global variables
/////////////////////////////////////////////////////////////////////////////
#endif /* _STOPWATCH_H */

4
flight/Bootloaders/PipXtreme/main.c
View File

@ -55,7 +55,6 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
//////////////////////////////////////// ////////////////////////////////////////
uint8_t tempcount = 0; uint8_t tempcount = 0;
/* Extern variables ----------------------------------------------------------*/ /* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState; DFUStates DeviceState;
int16_t status = 0; int16_t status = 0;
@ -161,7 +160,8 @@ int main() {
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100) if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER); STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle)) if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
== BLidle))
JumpToApp = TRUE; JumpToApp = TRUE;
processRX(); processRX();

7
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -97,8 +97,8 @@ void DataDownload(DownloadAction action) {
for (uint8_t x = 0; x < packetSize; ++x) { for (uint8_t x = 0; x < packetSize; ++x) {
partoffset = (downPacketCurrent * 14 * 4) + (x * 4); partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
offset = baseOfAdressType(downType) + partoffset; offset = baseOfAdressType(downType) + partoffset;
if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination)) if (!flash_read(SendBuffer + (6 + x * 4), offset,
{ currentProgrammingDestination)) {
DeviceState = Last_operation_failed; DeviceState = Last_operation_failed;
} }
/* /*
@ -470,8 +470,7 @@ uint32_t CalcFirmCRC() {
} }
} }
void sendData(uint8_t * buf,uint16_t size) void sendData(uint8_t * buf, uint16_t size) {
{
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading) if (DeviceState == downloading)
PIOS_DELAY_WaitmS(10); PIOS_DELAY_WaitmS(10);

101
flight/Bootloaders/PipXtreme/stopwatch.c
View File

@ -1,101 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file stopwatch.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions for the LED PWM.
* @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 files
/////////////////////////////////////////////////////////////////////////////
#include "stm32f10x_tim.h"
/////////////////////////////////////////////////////////////////////////////
// Local definitions
/////////////////////////////////////////////////////////////////////////////
//#define STOPWATCH_TIMER_BASE TIM6
//#define STOPWATCH_TIMER_RCC RCC_APB1Periph_TIM6
uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
uint32_t STOPWATCH_TIMER_RCC;
switch ((uint32_t)TIM) {
case (uint32_t)TIM1: STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;break;
case (uint32_t)TIM2: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2; break;
case (uint32_t)TIM3: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3; break;
case (uint32_t)TIM4: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4; break;
default:
STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
}
// enable timer clock
if (STOPWATCH_TIMER_RCC == RCC_APB2Periph_TIM1 || STOPWATCH_TIMER_RCC
== RCC_APB2Periph_TIM8)
RCC_APB2PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
else
RCC_APB1PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
// time base configuration
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution) - 1; // <resolution> uS accuracy @ 72 MHz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM, &TIM_TimeBaseStructure);
// enable interrupt request
TIM_ITConfig(TIM, TIM_IT_Update, ENABLE);
// start counter
TIM_Cmd(TIM, ENABLE);
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! Resets the stopwatch
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
uint32_t STOPWATCH_Reset(TIM_TypeDef* TIM) {
// reset counter
TIM->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
TIM_ClearITPendingBit(TIM, TIM_IT_Update);
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! Returns current value of stopwatch
//! \return 1..65535: valid stopwatch value
//! \return 0xffffffff: counter overrun
/////////////////////////////////////////////////////////////////////////////
uint32_t STOPWATCH_ValueGet(TIM_TypeDef* TIM) {
uint32_t value = TIM->CNT;
if (TIM_GetITStatus(TIM, TIM_IT_Update) != RESET)
value = 0xffffffff;
return value;
}

0
flight/Bootloaders/CopterControl/inc/stopwatch.h → flight/Libraries/inc/stopwatch.h
View File

16
flight/Bootloaders/CopterControl/stopwatch.c → flight/Libraries/stopwatch.c
View File

@ -38,10 +38,18 @@
uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) { uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
uint32_t STOPWATCH_TIMER_RCC; uint32_t STOPWATCH_TIMER_RCC;
switch ((uint32_t) TIM) { switch ((uint32_t) TIM) {
case (uint32_t)TIM1: STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;break; case (uint32_t)TIM1:
case (uint32_t)TIM2: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2; break; STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
case (uint32_t)TIM3: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3; break; break;
case (uint32_t)TIM4: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4; break; case (uint32_t)TIM2:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2;
break;
case (uint32_t)TIM3:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3;
break;
case (uint32_t)TIM4:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4;
break;
default: default:
STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1; STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
} }