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Code Issues Releases Activity

Added AHRS boot loader SPI protocol

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1965 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les 2010-10-16 17:54:00 +00:00 committed by les
parent 82c533e914
commit 2125e2479d
13 changed files with 571 additions and 171 deletions
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113
flight/AHRS/Makefile
View File

@ -1,24 +1,24 @@
#####
# Project: OpenPilot AHRS
#
#
#
#
# Makefile for OpenPilot AHRS project
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
#
#
# 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
#
#
# 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
#
# 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.,
#
# 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
#####
@ -42,7 +42,7 @@ endif
FLASH_TOOL = OPENOCD
# YES enables -mthumb option to flags for source-files listed
# YES enables -mthumb option to flags for source-files listed
# in SRC and CPPSRC
USE_THUMB_MODE = YES
@ -85,7 +85,9 @@ CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
OPDIR = ../OpenPilot
OPUAVOBJ = $(OPDIR)/UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPSYSINC = $(OPDIR)/System/inc
OPSYSINC = $(OPDIR)/System/inc
BOOT = ../Bootloaders/AHRS
BOOTINC = $(BOOT)/inc
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
@ -97,7 +99,9 @@ SRC += ahrs_adc.c
SRC += ahrs_timer.c
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
SRC += $(FLIGHTLIB)/ahrs_spi_program_slave.c
SRC += $(BOOT)/ahrs_spi_program_slave.c
SRC += $(BOOT)/ahrs_slave_test.c
SRC += $(BOOT)/ahrs_spi_program.c
SRC += insgps.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
@ -142,16 +146,16 @@ SRC += $(STMSPDSRCDIR)/misc.c
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
# use file-extension c for "c-only"-files
## just for testing, timer.c could be compiled in thumb-mode too
SRCARM =
SRCARM =
# List C++ source files here.
# use file-extension .cpp for C++-files (not .C)
CPPSRC =
CPPSRC =
# List C++ source files here which must be compiled in ARM-Mode.
# use file-extension .cpp for C++-files (not .C)
#CPPSRCARM = $(TARGET).cpp
CPPSRCARM =
CPPSRCARM =
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
@ -163,7 +167,7 @@ CPPSRCARM =
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
ASRCARM =
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
@ -176,17 +180,18 @@ EXTRAINCDIRS += $(PIOSBOARDS)
EXTRAINCDIRS += $(STMSPDINCDIR)
EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(AHRSINC)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(BOOTINC)
# List any extra directories to look for library files here.
# Also add directories where the linker should search for
# includes from linker-script to the list
# Each directory must be seperated by a space.
EXTRA_LIBDIRS =
EXTRA_LIBDIRS =
# Extra Libraries
# Each library-name must be seperated by a space.
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
# EXTRA_LIBS = xyz abc efsl
# for newlib-lpc (file: libnewlibc-lpc.a):
# EXTRA_LIBS = newlib-lpc
@ -195,7 +200,7 @@ EXTRA_LIBS =
# Path to Linker-Scripts
LINKERSCRIPTPATH = $(PIOSSTM32F10X)
# Optimization level, can be [0, 1, 2, 3, s].
# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
@ -207,7 +212,7 @@ CFLAGS += -Os
endif
# Output format. (can be ihex or binary or both)
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
# ihex to create a load-image in Intel hex format
#LOADFORMAT = ihex
#LOADFORMAT = binary
@ -216,7 +221,7 @@ LOADFORMAT = both
# Debugging format.
DEBUGF = dwarf-2
# Place project-specific -D (define) and/or
# Place project-specific -D (define) and/or
# -U options for C here.
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
@ -225,7 +230,7 @@ CDEFS += -DIN_AHRS
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
ADEFS = -D__ASSEMBLY__
@ -258,7 +263,7 @@ CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
@ -271,7 +276,7 @@ CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basen
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
# flags only for C
#CONLYFLAGS += -Wnested-externs
#CONLYFLAGS += -Wnested-externs
CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
@ -293,7 +298,7 @@ LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(BOOT_MODEL).ld
@ -320,10 +325,10 @@ OOCD_CL+=-c init
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
# reset target
@ -351,7 +356,7 @@ REMOVE = $(REMOVE_CMD) -f
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
MSG_END = -------- end --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after build:
MSG_LOAD_FILE = Creating load file:
MSG_EXTENDED_LISTING = Creating Extended Listing/Disassembly:
@ -382,7 +387,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
@ -393,13 +398,13 @@ all: begin gccversion build sizeafter finished end
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
else
else
ifeq ($(LOADFORMAT),binary)
build: elf bin lss sym
else
else
ifeq ($(LOADFORMAT),both)
build: elf hex bin lss sym
else
else
$(error "$(MSG_FORMATERROR) $(FORMAT)")
endif
endif
@ -428,9 +433,9 @@ sizeafter:
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
@echo $(MSG_SIZE_AFTER)
$(ELFSIZE)
# Display compiler version information.
gccversion :
gccversion :
@$(CC) --version
# @echo $(ALLOBJ)
@ -454,7 +459,7 @@ endif
## @echo
@echo $(MSG_LOAD_FILE) $@
$(OBJCOPY) -O ihex $< $@
# Create final output file (.bin) from ELF output file.
%.bin: %.elf
## @echo
@ -491,18 +496,18 @@ define ASSEMBLE_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_ASSEMBLING) $$< "->" $$@
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
endef
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
# Assemble: create object files from assembler source files. ARM-only
define ASSEMBLE_ARM_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_ASSEMBLING_ARM) $$< "->" $$@
$(CC) -c $$(ASFLAGS) $$< -o $$@
$(CC) -c $$(ASFLAGS) $$< -o $$@
endef
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
# Compile: create object files from C source files.
@ -510,18 +515,18 @@ define COMPILE_C_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILING) $$< "->" $$@
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
# Compile: create object files from C source files. ARM-only
define COMPILE_C_ARM_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILING_ARM) $$< "->" $$@
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
# Compile: create object files from C++ source files.
@ -529,18 +534,18 @@ define COMPILE_CPP_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILINGCPP) $$< "->" $$@
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
endef
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
# Compile: create object files from C++ source files. ARM-only
define COMPILE_CPP_ARM_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILINGCPP_ARM) $$< "->" $$@
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
endef
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
# Compile: create assembler files from C source files. ARM/Thumb
@ -556,7 +561,7 @@ $(SRCARM:.c=.s) : %.s : %.c
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Target: clean project.
clean: begin clean_list finished end

38
flight/Bootloaders/AHRS/ahrs_slave_test.c Normal file
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@ -0,0 +1,38 @@
#include "ahrs_bl.h"
#include "ahrs_spi_program.h"
uint8_t buf[256];
bool StartProgramming(void)
{
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Started programming\r\n");
return(true);
}
bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size)
{
if(size > SPI_MAX_PROGRAM_DATA_SIZE)
{
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"oversize: %d\r\n", size);
return(false);
}
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Wrote %d bytes to %d\r\n", size, offset);
memcpy(buf,buffer,size);
PIOS_LED_Toggle(LED1);
return(true);
}
bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size)
{
if(size > SPI_MAX_PROGRAM_DATA_SIZE)
{
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"oversize: %d\r\n", size);
return(false);
}
PIOS_COM_SendFormattedString(PIOS_COM_AUX,"Read %d bytes from %d\r\n", size, offset);
memcpy(buffer,buf,size);
PIOS_LED_Toggle(LED1);
return(true);
}

89
flight/Bootloaders/AHRS/ahrs_spi_program.c Normal file
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@ -0,0 +1,89 @@
#include <stdint.h>
#include "ahrs_spi_program.h"
// Static CRC polynomial table
static uint32_t crcTable[256] =
{
0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA,
0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988,
0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE,
0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC,
0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172,
0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
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,
0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E,
0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C,
0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0,
0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086,
0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A,
0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE,
0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC,
0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60,
0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236,
0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A,
0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E,
0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C,
0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0,
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
this is slightly overkill but we want to be sure
*/
uint32_t GenerateCRC (AhrsProgramPacket * packet)
{
uint8_t * ptr = (uint8_t *)packet;
int size = ((int)&packet->crc) - (int)packet;
uint32_t crc = 0xFFFFFFFF;
for(int ct=0; ct< size; ct++)
{
crc = ((crc) >> 8) ^ crcTable[(*ptr++) ^ ((crc) & 0x000000FF)];
}
return(~crc);
}

137
flight/Bootloaders/AHRS/ahrs_spi_program_master.c Normal file
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@ -0,0 +1,137 @@
/**
******************************************************************************
*
* @file ahrs_spi_program_master.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS programming over SPI link - master(OpenPilot) end.
*
* @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 "openpilot.h"
#include "ahrs_spi_program_master.h"
#include "ahrs_spi_program.h"
#include "pios_spi.h"
PROGERR TransferPacket(AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf);
#define MAX_CONNECT_TRIES 500 //half a second
bool AhrsProgramConnect(void)
{
AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
memcpy(&txBuf,SPI_PROGRAM_REQUEST,SPI_PROGRAM_REQUEST_LENGTH);
for(int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
uint32_t res = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) &txBuf,
(uint8_t *) & rxBuf, SPI_PROGRAM_REQUEST_LENGTH +1, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
if(res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
return (true);
}
vTaskDelay(1 / portTICK_RATE_MS);
}
return (false);
}
PROGERR AhrsProgramWrite(uint32_t address, void * data, uint32_t size)
{
AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
memcpy(txBuf.data,data,size);
txBuf.size = size;
txBuf.type = PROGRAM_WRITE;
txBuf.address = address;
PROGERR ret = TransferPacket(&txBuf, &rxBuf);
if(ret != PROGRAM_ERR_OK) {
return(ret);
}
return(PROGRAM_ERR_OK);
}
PROGERR AhrsProgramRead(uint32_t address, void * data, uint32_t size)
{
AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
txBuf.size = size;
txBuf.type = PROGRAM_READ;
txBuf.address = address;
PROGERR ret = TransferPacket(&txBuf, &rxBuf);
if(ret != PROGRAM_ERR_OK) {
return(ret);
}
memcpy(data, rxBuf.data, size);
return(PROGRAM_ERR_OK);
}
PROGERR AhrsProgramReboot(void)
{
AhrsProgramPacket rxBuf;
AhrsProgramPacket txBuf;
memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
txBuf.type = PROGRAM_REBOOT;
memcpy(txBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH);
PROGERR ret = TransferPacket(&txBuf, &rxBuf);
//If AHRS has rebooted we will get comms errors
if(ret == PROGRAM_ERR_LINK) {
return(PROGRAM_ERR_OK);
}
return(PROGRAM_ERR_FUNCTION);
}
PROGERR TransferPacket(AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf)
{
static uint32_t pktId = 0;
pktId++;
txBuf->packetId = pktId;
txBuf->crc = GenerateCRC(txBuf);
int ct = 0;
for(; ct < MAX_CONNECT_TRIES; ct++) {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
uint32_t res = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) txBuf,
(uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
if(res == 0) {
if(rxBuf->type != PROGRAM_NULL &&
rxBuf->crc == GenerateCRC(rxBuf) &&
rxBuf->packetId == pktId) {
break;
}
}
vTaskDelay(1 / portTICK_RATE_MS);
}
if(ct == MAX_CONNECT_TRIES) {
return (PROGRAM_ERR_LINK);
}
if(rxBuf->type != PROGRAM_ACK) {
return(PROGRAM_ERR_FUNCTION);
}
return(PROGRAM_ERR_OK);
}

142
flight/Bootloaders/AHRS/ahrs_spi_program_slave.c Normal file
View File

@ -0,0 +1,142 @@
/**
******************************************************************************
*
* @file ahrs_spi_program_slave.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS programming over SPI link - slave(AHRS) end.
*
* @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 <stdint.h>
#include <string.h>
#include "pios_opahrs_proto.h"
#include "pios_spi.h"
#include "STM32103CB_AHRS.h"
#include "ahrs_bl.h"
#include "ahrs_spi_program_slave.h"
#include "ahrs_spi_program.h"
static AhrsProgramPacket txBuf;
static AhrsProgramPacket rxBuf;
static bool done = false;
static void ProcessPacket();
#define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high
//Number of crc failures to allow before giving up
#define PROGRAM_PACKET_TRIES 4
void AhrsProgramReceive(void)
{
done = false;
memset(&txBuf,0,sizeof(AhrsProgramPacket));
//wait for a program request
int count = PROGRAM_PACKET_TRIES;
while(1) {
WAIT_IF_RECEIVING();
while((PIOS_SPI_Busy(PIOS_SPI_OP) != 0)){};
memset(&rxBuf,'a',sizeof(AhrsProgramPacket));
int32_t res = PIOS_SPI_TransferBlock(PIOS_SPI_OP, NULL, (uint8_t*) &rxBuf,
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
if(res == 0 &&
memcmp(&rxBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
break;
}
if(count-- == 0) {
return;
}
}
if(!StartProgramming()) {
//Couldn't erase FLASH. Nothing we can do.
return;
}
//send ack
memcpy(&txBuf,SPI_PROGRAM_ACK,SPI_PROGRAM_REQUEST_LENGTH);
WAIT_IF_RECEIVING();
while(0 != PIOS_SPI_TransferBlock(PIOS_SPI_OP,(uint8_t*) &txBuf, NULL,
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {};
txBuf.type = PROGRAM_NULL;
while(!done) {
WAIT_IF_RECEIVING();
if(0 == PIOS_SPI_TransferBlock(PIOS_SPI_OP,(uint8_t*) &txBuf,
(uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {
uint32_t crc = GenerateCRC(&rxBuf);
if(crc != rxBuf.crc ||
txBuf.packetId == rxBuf.packetId) {
continue;
}
ProcessPacket();
txBuf.packetId = rxBuf.packetId;
txBuf.crc = GenerateCRC(&txBuf);
}
}
}
void ProcessPacket()
{
switch(rxBuf.type) {
case PROGRAM_NULL:
txBuf.type = PROGRAM_NULL;
break;
case PROGRAM_WRITE:
if(WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
txBuf.type = PROGRAM_ACK;
txBuf.size = rxBuf.size;
} else {
txBuf.type = PROGRAM_ERR;
}
break;
case PROGRAM_READ:
if(ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
txBuf.type = PROGRAM_ACK;
txBuf.size = rxBuf.size;
} else {
txBuf.type = PROGRAM_ERR;
}
break;
case PROGRAM_REBOOT:
if(0 == memcmp(rxBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH)) {
done = true;
txBuf.type = PROGRAM_ACK;
}else{
txBuf.type = PROGRAM_ERR;
}
break;
default:
txBuf.type = PROGRAM_ERR;
}
}

43
flight/Bootloaders/AHRS/inc/ahrs_bl.h
View File

@ -7,19 +7,19 @@
* @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
/*
* 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
*
* 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.,
*
* 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
*/
@ -29,6 +29,25 @@
/* PIOS Includes */
#include <pios.h>
#include <pios.h>
/** Start programming
returns: true if FLASH erased and ready to program
*/
bool StartProgramming(void);
/** Write a block to FLASH
buffer contains the data to be written
returns: true if FLASH programmed correctly
*/
bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
/** Read a block from FLASH
returns: true if FLASH read correctly.
Buffer is set to the read data
*/
bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
#endif /* AHRS_BL_H */

25
flight/Libraries/inc/ahrs_spi_program.h → flight/Bootloaders/AHRS/inc/ahrs_spi_program.h
View File

@ -17,34 +17,43 @@ Note crc is a CRC32 as the CRC8 used in hardware can be fooled.
Time out if we waited too long.
3) Compare ack packet with transmitted packet. The data
should be the bitwise inverse of the data transmitted.
packetId should correspond to the transmitted packet.
4) repeat for next packet until finished
5) Repeat using verify packets with data all zeros
5) Repeat using verify packets
Returned data should be exactly as read from memory
In the slave:
1) Wait for an AhrsProgramPacket
2) Check CRC then write to memory
3) Bitwise invert data
4) Transmit packet.
5) repeat until we receive a verify packet
6) verify until we receive a reboot packet
3) Bitwise invert data and add it to the return packet
4) Copy packetId from received packet
5) Transmit packet.
6) repeat until we receive a read packet
7) read memory as requested until we receive a reboot packet
Reboot packets had better have some sort of magic number in the data,
just to be absolutely sure
*/
typedef enum { PROGRAM_NULL, PROGRAM_DATA, PROGRAM_ACK, PROGRAM_VERIFY, PROGRAM_REBOOT } ProgramType;
#define SPI_MAX_PROGRAM_DATA_SIZE 256 //max 256 bytes per packet
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 REBOOT_CONFIRMATION "AHRS REBOOT"
#define REBOOT_CONFIRMATION_LENGTH 11
/** Proposed program packet defintion
*/
typedef struct {
ProgramType type;
uint32_t packetId; //Transmission packet ID
uint32_t address; //base address to place data
uint32_t size; //Size of data
uint32_t size; //Size of data (0 to SPI_MAX_PROGRAM_DATA_SIZE)
uint8_t data[SPI_MAX_PROGRAM_DATA_SIZE];
uint32_t crc; //CRC32 - hardware CRC8 can be fooled
uint8_t dummy; //for some reason comms trashes the last byte sent
} AhrsProgramPacket;
uint32_t GenerateCRC (AhrsProgramPacket * packet);
#endif

34
flight/Libraries/inc/ahrs_spi_program_master.h → flight/Bootloaders/AHRS/inc/ahrs_spi_program_master.h
View File

@ -24,13 +24,41 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef AHRS_PROGRAM_MASTER_H
#ifndef AHRS_PROGRAM_MASTER_H
#define AHRS_PROGRAM_MASTER_H
typedef enum {PROGRAM_ERR_OK, //OK
PROGRAM_ERR_LINK, //comms error
PROGRAM_ERR_FUNCTION, //function failed
} PROGERR;
/** Connect to AHRS and request programming mode
* returns: 0 if connected, -1 if failed.
* returns: false if failed.
*/
uint32_t AhrsProgramConnect(void);
bool AhrsProgramConnect(void);
/** Write data to AHRS
* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
* returns: error status
*/
PROGERR AhrsProgramWrite(uint32_t address, void * data, uint32_t size);
/** Read data from AHRS
* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
* returns: error status
*/
PROGERR AhrsProgramRead(uint32_t address, void * data, uint32_t size);
/** reboot AHRS
* returns: error status
*/
PROGERR AhrsProgramReboot(void);
//TODO: Implement programming protocol

4
flight/Libraries/inc/ahrs_spi_program_slave.h → flight/Bootloaders/AHRS/inc/ahrs_spi_program_slave.h
View File

@ -27,5 +27,9 @@
#ifndef AHRS_SPI_PROGRAM_SLAVE_H
#define AHRS_SPI_PROGRAM_SLAVE_H
/** Check if OpenPilot is trying to program AHRS
* If so, it will program the FLASH then return
* If not it just returns.
*/
void AhrsProgramReceive(void);
#endif //AHRS_PROGRAM_SLAVE_H

24
flight/Libraries/ahrs_spi_comm.c
View File

@ -23,7 +23,7 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
#include "ahrs_spi_comm.h"
#include "ahrs_spi_program.h"
@ -49,7 +49,7 @@ CRC8 does not always catch noise from cross-coupling between data lines.
#endif
//packet types
typedef enum { COMMS_NULL, COMMS_OBJECT, COMMS_PROGRAM } COMMSCOMMAND;
typedef enum { COMMS_NULL, COMMS_OBJECT } COMMSCOMMAND;
//The maximum number of objects that can be updated in one cycle.
//Currently the link is capable of sending 3 packets per cycle but 2 is enough
@ -78,6 +78,7 @@ typedef struct {
union { //allow for expansion to other packet types.
ObjectPacketData objects[MAX_UPDATE_OBJECTS];
};
uint8_t dummy; //For some reason comms trashes the last byte
} CommsDataPacket;
static void FillObjectPacket();
@ -125,9 +126,11 @@ static bool callbackPending[MAX_AHRS_OBJECTS];
static uint8_t linkOk = false;
static int okCount = MIN_OK_FRAMES;
static int emptyCount = MIN_EMPTY_OBJECTS;
static bool programReceive = false;
void AhrsInitComms(void)
{
programReceive = false;
AhrsInitHandles();
memset(objCallbacks, 0, sizeof(AhrsEventCallback) * MAX_AHRS_OBJECTS);
memset(callbackPending, 0, sizeof(bool) * MAX_AHRS_OBJECTS);
@ -237,9 +240,6 @@ void HandleRxPacket()
HandleObjectPacket();
break;
case COMMS_PROGRAM: //TODO: programming protocol
break;
default:
txPacket.status.invalidPacket++;
}
@ -313,7 +313,6 @@ void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
}
rxPacket.magicNumber = 0;
if (crc_ok) {
if (!linkOk && okCount > 0) {
okCount--;
@ -326,8 +325,11 @@ void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
HandleRxPacket();
} else {
#ifdef IN_AHRS //AHRS - do we neeed to enter program mode?
if (memcmp(&rxPacket, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
AhrsProgramReceive();
if (memcmp(&rxPacket, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0)
{
rxPacket.magicNumber = 0;
programReceive = true; //flag it to be executed in program space
return;
}
#endif
txPacket.status.crcErrors++;
@ -339,6 +341,7 @@ void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
}
}
}
rxPacket.magicNumber = 0;
#ifdef IN_AHRS
/*queue next frame
If PIOS_SPI_TransferBlock() fails for any reason, comms will stop working.
@ -367,6 +370,11 @@ void PollEvents(void)
#ifdef IN_AHRS
void AhrsPoll()
{
if(programReceive)
{
AhrsProgramReceive();
programReceive = false;
}
PollEvents();
if (PIOS_SPI_Busy(PIOS_SPI_OP) != 0) { //Everything is working correctly
return;

50
flight/Libraries/ahrs_spi_program_master.c
View File

@ -1,50 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_spi_program_master.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS programming over SPI link - master(OpenPilot) end.
*
* @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 "ahrs_program_master.h"
#include "ahrs_program.h"
#include "pios_spi.h"
char connectTxBuf[SPI_PROGRAM_REQUEST_LENGTH] = { SPI_PROGRAM_REQUEST };
char connectRxBuf[SPI_PROGRAM_REQUEST_LENGTH];
#define MAX_CONNECT_TRIES 10
uint32_t AhrsProgramConnect(void)
{
memset(connectRxBuf, 0, SPI_PROGRAM_REQUEST_LENGTH);
for (int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
uint32_t res = PIOS_SPI_TransferBlock(PIOS_SPI_OP, (uint8_t *) & connectTxBuf,
(uint8_t *) & connectRxBuf, SPI_PROGRAM_REQUEST_LENGTH, NULL);
if (res == 0 && memcmp(connectRxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
return (0);
}
vTaskDelay(1 / portTICK_RATE_MS);
}
return (-1);
}

36
flight/Libraries/ahrs_spi_program_slave.c
View File

@ -1,36 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_spi_program_slave.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS programming over SPI link - slave(AHRS) end.
*
* @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 <stdint.h>
#include "ahrs_spi_program_slave.h"
#include "ahrs_spi_program.h"
//TODO:Implement programming protocol
void AhrsProgramReceive(void)
{
}

7
flight/OpenPilot/Makefile
View File

@ -117,6 +117,8 @@ RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
AHRSBOOTLOADER = ../Bootloaders/AHRS/
AHRSBOOTLOADERINC = $(AHRSBOOTLOADER)/inc
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
@ -268,6 +270,10 @@ SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
SRC += $(DOSFSDIR)/dosfs.c
SRC += $(DOSFSDIR)/dfs_sdcard.c
## AHRS boot loader comms
SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c
SRC += $(AHRSBOOTLOADER)/ahrs_spi_program.c
## Mass Storage Device
#SRC += $(MSDDIR)/msd.c
#SRC += $(MSDDIR)/msd_bot.c
@ -324,6 +330,7 @@ EXTRAINCDIRS += $(MSDDIR)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc