diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile index b0de38d0a..b6697534d 100644 --- a/flight/AHRS/Makefile +++ b/flight/AHRS/Makefile @@ -121,6 +121,7 @@ SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_hmc5843.c SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/pios_iap.c +SRC += $(PIOSCOMMON)/pios_bl_helper.c ## CMSIS for STM32 SRC += $(CMSISDIR)/core_cm3.c diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c index 1c15d5c69..57f9e11e2 100644 --- a/flight/AHRS/ahrs.c +++ b/flight/AHRS/ahrs.c @@ -99,8 +99,6 @@ void affine_rotate(float scale[3][4], float rotation[3]); void calibration(float result[3], float scale[3][4], float arg[3]); /* Bootloader related functions and var*/ -static uint32_t iap_calc_crc(void); -static void read_description(uint8_t *); void firmwareiapobj_callback(AhrsObjHandle obj); volatile uint8_t reset_count=0; @@ -1249,36 +1247,15 @@ void firmwareiapobj_callback(AhrsObjHandle obj) } } } - else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc()) + else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc()) { - read_description(firmwareIAPObj.Description); - firmwareIAPObj.crc=iap_calc_crc(); + PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION); + firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc(); firmwareIAPObj.BoardRevision=BOARD_REVISION; FirmwareIAPObjSet(&firmwareIAPObj); } } -static uint32_t iap_calc_crc(void) -{ - RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); - CRC_ResetDR(); - CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2); - return CRC_GetCRC(); -} -static uint8_t *FLASH_If_Read(uint32_t SectorAddress) -{ - return (uint8_t *) (SectorAddress); -} -static void read_description(uint8_t * array) -{ - uint8_t x = 0; - for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) { - array[x] = *FLASH_If_Read(i); - ++x; - } -} - - /** * @} */ diff --git a/flight/AHRS/inc/pios_config.h b/flight/AHRS/inc/pios_config.h index e60544d60..64f3559a0 100644 --- a/flight/AHRS/inc/pios_config.h +++ b/flight/AHRS/inc/pios_config.h @@ -40,5 +40,6 @@ #define PIOS_INCLUDE_HMC5843 #define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_EXTI +#define PIOS_INCLUDE_BL_HELPER #endif /* PIOS_CONFIG_H */ diff --git a/flight/Bootloaders/AHRS/inc/pios_config.h b/flight/Bootloaders/AHRS/inc/pios_config.h index 601701c1e..488d99b83 100644 --- a/flight/Bootloaders/AHRS/inc/pios_config.h +++ b/flight/Bootloaders/AHRS/inc/pios_config.h @@ -35,6 +35,7 @@ #define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_BL_HELPER +#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT #define PIOS_INCLUDE_GPIO #endif /* PIOS_CONFIG_H */ diff --git a/flight/Bootloaders/AHRS/main.c b/flight/Bootloaders/AHRS/main.c index 41d04175a..1a8798702 100644 --- a/flight/Bootloaders/AHRS/main.c +++ b/flight/Bootloaders/AHRS/main.c @@ -96,7 +96,7 @@ int main() { } PIOS_Board_Init(); boot_status = idle; - Fw_crc = crc_memory_calc(); + Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc(); PIOS_LED_On(LED1); while (1) { process_spi_request(); @@ -146,7 +146,7 @@ void process_spi_request(void) { case OPAHRS_MSG_V0_REQ_FWUP_VERIFY: opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS); - Fw_crc = crc_memory_calc(); + Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc(); lfsm_user_set_tx_v0(&user_tx_v0); boot_status = idle; PIOS_LED_Off(LED1); @@ -216,7 +216,7 @@ void process_spi_request(void) { uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress; for(uint8_t x=0;x<4;++x) { - user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x); + user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x); } lfsm_user_set_tx_v0(&user_tx_v0); break; @@ -226,7 +226,7 @@ void process_spi_request(void) { user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status; lfsm_user_set_tx_v0(&user_tx_v0); PIOS_LED_On(LED1); - if (FLASH_Start() == TRUE) { + if (PIOS_BL_HELPER_FLASH_Start() == TRUE) { boot_status = started; PIOS_LED_Off(LED1); } else { diff --git a/flight/Bootloaders/CopterControl/inc/pios_config.h b/flight/Bootloaders/CopterControl/inc/pios_config.h index bfdea4f1a..594029bba 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_config.h +++ b/flight/Bootloaders/CopterControl/inc/pios_config.h @@ -31,6 +31,7 @@ #ifndef PIOS_CONFIG_H #define PIOS_CONFIG_H #define PIOS_INCLUDE_BL_HELPER +#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT #define USB_HID /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DELAY @@ -61,4 +62,4 @@ /** * @} * @} - */ + */ diff --git a/flight/Bootloaders/CopterControl/op_dfu.c b/flight/Bootloaders/CopterControl/op_dfu.c index 3a84d4d16..9da07835b 100644 --- a/flight/Bootloaders/CopterControl/op_dfu.c +++ b/flight/Bootloaders/CopterControl/op_dfu.c @@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) { } break; case Self_flash: - SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset); - SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1); - SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2); - SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3); + SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset); + SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1); + SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2); + SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3); break; } */ @@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) { uint8_t result = 0; switch (currentProgrammingDestination) { case Self_flash: - result = FLASH_Ini(); + result = PIOS_BL_HELPER_FLASH_Ini(); break; case Remote_flash_via_spi: result = TRUE; @@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) { if (TransferType == FW) { switch (currentProgrammingDestination) { case Self_flash: - result = FLASH_Start(); + result = PIOS_BL_HELPER_FLASH_Start(); break; case Remote_flash_via_spi: result = FALSE; @@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) { uint32_t CalcFirmCRC() { switch (currentProgrammingDestination) { case Self_flash: - return crc_memory_calc(); + return PIOS_BL_HELPER_CRC_Memory_Calc(); break; case Remote_flash_via_spi: return 0; @@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) { break; case Self_flash: for (uint8_t x = 0; x < 4; ++x) { - buffer[x] = *FLASH_If_Read(adr + x); + buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x); } return TRUE; break; diff --git a/flight/Bootloaders/OpenPilot/inc/pios_config.h b/flight/Bootloaders/OpenPilot/inc/pios_config.h index f0c46c8ed..4f881c26f 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_config.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_config.h @@ -31,6 +31,7 @@ #ifndef PIOS_CONFIG_H #define PIOS_CONFIG_H #define PIOS_INCLUDE_BL_HELPER +#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT #define USB_HID /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DELAY @@ -64,4 +65,4 @@ /** * @} * @} - */ + */ diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c index 3b3fa159e..92b3c7d7b 100644 --- a/flight/Bootloaders/OpenPilot/op_dfu.c +++ b/flight/Bootloaders/OpenPilot/op_dfu.c @@ -158,7 +158,7 @@ void processComand(uint8_t *xReceive_Buffer) { uint8_t result = 0; switch (currentProgrammingDestination) { case Self_flash: - result = FLASH_Ini(); + result = PIOS_BL_HELPER_FLASH_Ini(); break; case Remote_flash_via_spi: result = TRUE; @@ -195,7 +195,7 @@ void processComand(uint8_t *xReceive_Buffer) { if (TransferType == FW) { switch (currentProgrammingDestination) { case Self_flash: - result = FLASH_Start(); + result = PIOS_BL_HELPER_FLASH_Start(); break; case Remote_flash_via_spi: PIOS_OPAHRS_bl_FwupStart(&rsp); @@ -525,7 +525,7 @@ uint32_t CalcFirmCRC() { struct opahrs_msg_v0 rsp; switch (currentProgrammingDestination) { case Self_flash: - return crc_memory_calc(); + return PIOS_BL_HELPER_CRC_Memory_Calc(); break; case Remote_flash_via_spi: PIOS_OPAHRS_bl_FwupVerify(&rsp); @@ -574,7 +574,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) { break; case Self_flash: for (uint8_t x = 0; x < 4; ++x) { - buffer[x] = *FLASH_If_Read(adr + x); + buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x); } return TRUE; break; diff --git a/flight/Bootloaders/PipXtreme/inc/pios_config.h b/flight/Bootloaders/PipXtreme/inc/pios_config.h index bfdea4f1a..594029bba 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_config.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_config.h @@ -31,6 +31,7 @@ #ifndef PIOS_CONFIG_H #define PIOS_CONFIG_H #define PIOS_INCLUDE_BL_HELPER +#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT #define USB_HID /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DELAY @@ -61,4 +62,4 @@ /** * @} * @} - */ + */ diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c index 3a84d4d16..9da07835b 100644 --- a/flight/Bootloaders/PipXtreme/op_dfu.c +++ b/flight/Bootloaders/PipXtreme/op_dfu.c @@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) { } break; case Self_flash: - SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset); - SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1); - SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2); - SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3); + SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset); + SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1); + SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2); + SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3); break; } */ @@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) { uint8_t result = 0; switch (currentProgrammingDestination) { case Self_flash: - result = FLASH_Ini(); + result = PIOS_BL_HELPER_FLASH_Ini(); break; case Remote_flash_via_spi: result = TRUE; @@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) { if (TransferType == FW) { switch (currentProgrammingDestination) { case Self_flash: - result = FLASH_Start(); + result = PIOS_BL_HELPER_FLASH_Start(); break; case Remote_flash_via_spi: result = FALSE; @@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) { uint32_t CalcFirmCRC() { switch (currentProgrammingDestination) { case Self_flash: - return crc_memory_calc(); + return PIOS_BL_HELPER_CRC_Memory_Calc(); break; case Remote_flash_via_spi: return 0; @@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) { break; case Self_flash: for (uint8_t x = 0; x < 4; ++x) { - buffer[x] = *FLASH_If_Read(adr + x); + buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x); } return TRUE; break; diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index fd846b208..960d7c13c 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -216,6 +216,7 @@ SRC += $(PIOSCOMMON)/pios_adxl345.c SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_i2c_esc.c SRC += $(PIOSCOMMON)/pios_iap.c +SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/printf-stdarg.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index ed4e83aab..67328c0f8 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -65,6 +65,7 @@ #define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_EXTI #define PIOS_INCLUDE_WDG +#define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_ADXL345 #define PIOS_INCLUDE_FLASH diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index 2301363ba..71de8c390 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -47,7 +47,6 @@ #define RESET_DELAY 500 /* delay between sending reset ot INS */ - #define TICKS2MS(t) ((t)/portTICK_RATE_MS) #define MS2TICKS(m) ((m)*portTICK_RATE_MS) @@ -59,18 +58,12 @@ const uint32_t iap_time_3_high_end = 5000; // Private types // Private variables -const static uint8_t version[] = { 0, 0, 1 }; -const static uint16_t SVN = 12345; static uint8_t reset_count = 0; static portTickType lastResetSysTime; // Private functions static void FirmwareIAPCallback(UAVObjEvent* ev); -static uint32_t iap_calc_crc(void); - -static void read_description(uint8_t *); - FirmwareIAPObjData data; static uint32_t get_time(void); @@ -97,7 +90,8 @@ static void resetTask(UAVObjEvent *); int32_t FirmwareIAPInitialize() { data.BoardType= BOARD_TYPE; - read_description(data.Description); + PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM); + PIOS_SYS_SerialNumberGetBinary(data.CPUSerial); data.BoardRevision= BOARD_REVISION; data.ArmReset=0; data.crc = 0; @@ -130,11 +124,12 @@ static void FirmwareIAPCallback(UAVObjEvent* ev) this_time = get_time(); delta = this_time - last_time; last_time = this_time; - if((data.BoardType==BOARD_TYPE)&&(data.crc != iap_calc_crc())) + if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc())) { - read_description(data.Description); + PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM); + PIOS_SYS_SerialNumberGetBinary(data.CPUSerial); data.BoardRevision=BOARD_REVISION; - data.crc = iap_calc_crc(); + data.crc = PIOS_BL_HELPER_CRC_Memory_Calc(); FirmwareIAPObjSet( &data ); } if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING)) @@ -213,41 +208,6 @@ static uint32_t get_time(void) return TICKS2MS(ticks); } - - -/*! - * \brief Calculate the CRC value of the code in flash. - * \param None - * \return calculated CRC value using STM32's builtin CRC hardware - * - * \note - * I copied this function as the function crc calc function in pios_bl_helper.c - * is only included when the PIOS_BL_HELPER is defined, but this also includes - * the flash unlock and erase functions. It is safer to only have the flash - * functions in the bootloader. - * - */ - -static uint32_t iap_calc_crc(void) -{ - RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); - CRC_ResetDR(); - CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2); - return CRC_GetCRC(); -} -static uint8_t *FLASH_If_Read(uint32_t SectorAddress) -{ - return (uint8_t *) (SectorAddress); -} -static void read_description(uint8_t * array) -{ - uint8_t x = 0; - for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) { - array[x] = *FLASH_If_Read(i); - ++x; - } -} - /** * Executed by event dispatcher callback to reset INS before resetting OP */ diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 7878e90dd..d649de994 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -53,8 +53,11 @@ // Private functions static void gpsTask(void *parameters); + +#ifdef PIOS_GPS_SETS_HOMELOCATION static void setHomeLocation(GPSPositionData * gpsData); static float GravityAccel(float latitude, float longitude, float altitude); +#endif // **************** // Private constants @@ -65,11 +68,19 @@ static float GravityAccel(float latitude, float longitude, float altitude); #define GPS_TIMEOUT_MS 500 #define GPS_COMMAND_RESEND_TIMEOUT_MS 2000 +#ifdef PIOS_GPS_SETS_HOMELOCATION // Unfortunately need a good size stack for the WMM calculation -#ifdef ENABLE_GPS_BINARY_GTOP - #define STACK_SIZE_BYTES 800 + #ifdef ENABLE_GPS_BINARY_GTOP + #define STACK_SIZE_BYTES 800 + #else + #define STACK_SIZE_BYTES 800 + #endif #else - #define STACK_SIZE_BYTES 800 + #ifdef ENABLE_GPS_BINARY_GTOP + #define STACK_SIZE_BYTES 440 + #else + #define STACK_SIZE_BYTES 440 + #endif #endif #define TASK_PRIORITY (tskIDLE_PRIORITY + 1) @@ -311,12 +322,14 @@ static void gpsTask(void *parameters) else { // we appear to be receiving GPS sentences OK, we've had an update +#ifdef PIOS_GPS_SETS_HOMELOCATION HomeLocationData home; HomeLocationGet(&home); GPSPositionGet(&GpsData); if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE)) setHomeLocation(&GpsData); +#endif //criteria for GPS-OK taken from this post... //http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220 @@ -334,6 +347,7 @@ static void gpsTask(void *parameters) } } +#ifdef PIOS_GPS_SETS_HOMELOCATION /* * Estimate the acceleration due to gravity for a particular location in LLA */ @@ -389,6 +403,7 @@ static void setHomeLocation(GPSPositionData * gpsData) } } } +#endif // **************** diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index da1a2e157..7f029c515 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -208,6 +208,7 @@ SRC += $(PIOSCOMMON)/pios_bmp085.c SRC += $(PIOSCOMMON)/pios_hcsr04.c SRC += $(PIOSCOMMON)/pios_i2c_esc.c SRC += $(PIOSCOMMON)/pios_iap.c +SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(FLIGHTLIB)/ahrs_spi_comm.c SRC += $(FLIGHTLIB)/ahrs_comm_objects.c diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 3f4b1e706..f3fe8671b 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -66,6 +66,7 @@ #define PIOS_INCLUDE_RTC #define PIOS_INCLUDE_WDG #define PIOS_INCLUDE_I2C_ESC +#define PIOS_INCLUDE_BL_HELPER /* Defaults for Logging */ #define LOG_FILENAME "PIOS.LOG" @@ -89,6 +90,9 @@ /* Stabilization options */ #define PIOS_QUATERNION_STABILIZATION +/* GPS options */ +#define PIOS_GPS_SETS_HOMELOCATION + #endif /* PIOS_CONFIG_H */ /** diff --git a/flight/PiOS/Common/pios_bl_helper.c b/flight/PiOS/Common/pios_bl_helper.c index 99058b2cb..545a008c6 100644 --- a/flight/PiOS/Common/pios_bl_helper.c +++ b/flight/PiOS/Common/pios_bl_helper.c @@ -33,18 +33,19 @@ #if defined(PIOS_INCLUDE_BL_HELPER) #include "stm32f10x_flash.h" -uint8_t *FLASH_If_Read(uint32_t SectorAddress) +uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress) { return (uint8_t *) (SectorAddress); } -uint8_t FLASH_Ini() +#if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT) +uint8_t PIOS_BL_HELPER_FLASH_Ini() { FLASH_Unlock(); return 1; } -uint8_t FLASH_Start() +uint8_t PIOS_BL_HELPER_FLASH_Start() { uint32_t pageAdress; pageAdress = START_OF_USER_CODE; @@ -70,24 +71,27 @@ uint8_t FLASH_Start() return (fail == TRUE) ? 0 : 1; } +#endif -uint32_t crc_memory_calc() +uint32_t PIOS_BL_HELPER_CRC_Memory_Calc() { + PIOS_BL_HELPER_CRC_Ini(); CRC_ResetDR(); CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2); return CRC_GetCRC(); } -void read_description(uint8_t * array) +void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size) { uint8_t x = 0; - for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) { - array[x] = *FLASH_If_Read(i); + if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION; + for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) { + array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i); ++x; } } -void CRC_Ini() +void PIOS_BL_HELPER_CRC_Ini() { RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); } diff --git a/flight/PiOS/STM32F10x/pios_sys.c b/flight/PiOS/STM32F10x/pios_sys.c index a6d67e701..2170c7811 100644 --- a/flight/PiOS/STM32F10x/pios_sys.c +++ b/flight/PiOS/STM32F10x/pios_sys.c @@ -134,6 +134,27 @@ uint32_t PIOS_SYS_getCPUFlashSize(void) return ((uint32_t) MEM16(0x1FFFF7E0) * 1000); } +/** +* Returns the serial number as a string +* param[out] str pointer to a string which can store at least 32 digits + zero terminator! +* (24 digits returned for STM32) +* return < 0 if feature not supported +*/ +int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array) +{ + int i; + + /* Stored in the so called "electronic signature" */ + for (i = 0; i < 12; ++i) { + uint8_t b = MEM8(0x1ffff7e8 + i); + + array[i] = b; + } + + /* No error */ + return 0; +} + /** * Returns the serial number as a string * param[out] str pointer to a string which can store at least 32 digits + zero terminator! diff --git a/flight/PiOS/inc/pios_bl_helper.h b/flight/PiOS/inc/pios_bl_helper.h index ca241c922..e2e9e694e 100644 --- a/flight/PiOS/inc/pios_bl_helper.h +++ b/flight/PiOS/inc/pios_bl_helper.h @@ -31,16 +31,16 @@ #ifndef PIOS_BL_HELPER_H_ #define PIOS_BL_HELPER_H_ -extern uint8_t *FLASH_If_Read(uint32_t SectorAddress); +extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress); -extern uint8_t FLASH_Ini(); +extern uint8_t PIOS_BL_HELPER_FLASH_Ini(); -extern uint32_t crc_memory_calc(); +extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc(); -extern void read_description(uint8_t * array); +extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size); -extern uint8_t FLASH_Start(); +extern uint8_t PIOS_BL_HELPER_FLASH_Start(); -extern void CRC_Ini(); +extern void PIOS_BL_HELPER_CRC_Ini(); #endif /* PIOS_BL_HELPER_H_ */ diff --git a/flight/PiOS/inc/pios_sys.h b/flight/PiOS/inc/pios_sys.h index d1f53f26b..9407fa720 100644 --- a/flight/PiOS/inc/pios_sys.h +++ b/flight/PiOS/inc/pios_sys.h @@ -36,6 +36,7 @@ extern void PIOS_SYS_Init(void); extern int32_t PIOS_SYS_Reset(void); extern uint32_t PIOS_SYS_getCPUFlashSize(void); +extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array); extern int32_t PIOS_SYS_SerialNumberGet(char *str); #endif /* PIOS_SYS_H */ diff --git a/shared/uavobjectdefinition/firmwareiapobj.xml b/shared/uavobjectdefinition/firmwareiapobj.xml index 1b167cc3d..51438395e 100644 --- a/shared/uavobjectdefinition/firmwareiapobj.xml +++ b/shared/uavobjectdefinition/firmwareiapobj.xml @@ -1,8 +1,9 @@ - Firmware IAP + Queries board for SN, model, revision, and sends reset command - + +