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Code Issues Releases Activity

Merge branch 'master' into OP-438_os_Windows-installer

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This commit is contained in:
Corvus Corax 2011-04-25 17:19:52 +02:00
commit 207e6f93b1
22 changed files with 110 additions and 118 deletions
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1
flight/AHRS/Makefile
View File

@ -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

29
flight/AHRS/ahrs.c
View File

@ -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;
}
}
/**
* @}
*/

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

@ -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 */

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

@ -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 */

8
flight/Bootloaders/AHRS/main.c
View File

@ -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 {

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

@ -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

16
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -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;

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

@ -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

8
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -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;

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

@ -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

16
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -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;

1
flight/CopterControl/Makefile
View File

@ -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

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

@ -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

52
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -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
*/

19
flight/Modules/GPS/GPS.c
View File

@ -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
#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
// ****************

1
flight/OpenPilot/Makefile
View File

@ -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

4
flight/OpenPilot/System/inc/pios_config.h
View File

@ -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 */
/**

20
flight/PiOS/Common/pios_bl_helper.c
View File

@ -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);
}

21
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -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!

12
flight/PiOS/inc/pios_bl_helper.h
View File

@ -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_ */

1
flight/PiOS/inc/pios_sys.h
View File

@ -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 */

5
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -1,8 +1,9 @@
<xml>
<object name="FirmwareIAPObj" singleinstance="true" settings="false">
<description>Firmware IAP</description>
<description>Queries board for SN, model, revision, and sends reset command</description>
<field name="Command" units="" type="uint16" elements="1"/>
<field name="Description" units="" type="uint8" elements="100"/>
<field name="Description" units="" type="uint8" elements="40"/>
<field name="CPUSerial" units="" type="uint8" elements="12" />
<field name="BoardRevision" units="" type="uint16" elements="1"/>
<field name="BoardType" units="" type="uint8" elements="1"/>
<field name="ArmReset" units="" type="uint8" elements="1"/>