rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-05 21:52:10 +01:00
Code Issues Releases Activity

OP-21/Flight Bootloader - Added more Led status modes. Fixed downloading for bigger packet format.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1436 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-08-27 20:03:51 +00:00 committed by zedamota
parent 16361dea12
commit 2142467751
2 changed files with 102 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

97
flight/Bootloaders/OpenPilot/main.c
View File

@ -32,9 +32,11 @@ typedef void (*pFunction)(void);
pFunction Jump_To_Application; pFunction Jump_To_Application;
uint32_t JumpAddress; uint32_t JumpAddress;
uint32_t cnt; /// LEDs PWM
uint32_t pwm_period; uint32_t period1 = 50; // *100 uS -> 5 mS
uint32_t pwm_sweep_steps; uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
/* Extern variables ----------------------------------------------------------*/ /* Extern variables ----------------------------------------------------------*/
uint8_t DeviceState; uint8_t DeviceState;
@ -42,6 +44,7 @@ uint8_t JumpToApp = 0;
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void Delay(__IO uint32_t nCount); void Delay(__IO uint32_t nCount);
void DelayWithDown(__IO uint32_t nCount); void DelayWithDown(__IO uint32_t nCount);
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
/* Private functions ---------------------------------------------------------*/ /* Private functions ---------------------------------------------------------*/
/******************************************************************************* /*******************************************************************************
@ -61,30 +64,69 @@ int main(void) {
USB_Init(); USB_Init();
DeviceState = idle; DeviceState = idle;
STOPWATCH_Init(100); STOPWATCH_Init(100);
} } else
else
JumpToApp = TRUE; JumpToApp = TRUE;
STOPWATCH_Reset(); STOPWATCH_Reset();
while (JumpToApp == 0) { while (JumpToApp == 0) {
cnt = STOPWATCH_ValueGet(); // the reference counter (incremented each 100 uS) //pwm_period = 50; // *100 uS -> 5 mS
pwm_period = 50; // *100 uS -> 5 mS //pwm_sweep_steps =100; // * 5 mS -> 500 mS
pwm_sweep_steps =100; // * 5 mS -> 500 mS
uint32_t pwm_duty = ((cnt / pwm_period) % pwm_sweep_steps) switch (DeviceState) {
/ (pwm_sweep_steps / pwm_period); case Last_operation_Success:
if ((cnt % (2 * pwm_period * pwm_sweep_steps)) > pwm_period case uploadingStarting:
* pwm_sweep_steps) case DFUidle:
pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks period1 = 50;
uint32_t led_on = ((cnt % pwm_period) > pwm_duty) ? 1 : 0; sweep_steps1 = 100;
if(led_on==0) STM_EVAL_LEDOff(LED2);
period2 = 0;
break;
case uploading:
period1 = 50;
sweep_steps1 = 100;
period2 = 25;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
sweep_steps1 = 50;
STM_EVAL_LEDOff(LED2);
period2 = 0;
break;
case idle:
period1 = 0;
STM_EVAL_LEDOn(LED1);
period2=0;
break;
default://error
period1 = 50;
sweep_steps1 = 100;
period2 = 50;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet()))
STM_EVAL_LEDOn(LED1); STM_EVAL_LEDOn(LED1);
else else
STM_EVAL_LEDOff(LED1); STM_EVAL_LEDOff(LED1);
if(STOPWATCH_ValueGet()>100*pwm_period*pwm_sweep_steps) } else
STM_EVAL_LEDOn(LED1);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet()))
STM_EVAL_LEDOn(LED2);
else
STM_EVAL_LEDOff(LED2);
} else
STM_EVAL_LEDOff(LED2);
if (STOPWATCH_ValueGet() > 100 * 50 * 100)
STOPWATCH_Reset(); STOPWATCH_Reset();
if(STOPWATCH_ValueGet()>50000 && DeviceState == idle) if ((STOPWATCH_ValueGet() > 60000) && (DeviceState == idle))
JumpToApp = TRUE; JumpToApp = TRUE;
FLASH_Download();
//DelayWithDown(10);//1000000); //DelayWithDown(10);//1000000);
} }
if (((*(__IO uint32_t*) StartOfUserCode) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */ if (((*(__IO uint32_t*) StartOfUserCode) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
@ -104,12 +146,27 @@ int main(void) {
} }
while (1) { while (1) {
STM_EVAL_LEDToggle(LED1); if (LedPWM(50, 100, STOPWATCH_ValueGet())) {
STM_EVAL_LEDToggle(LED2); STM_EVAL_LEDOn(LED2);
Delay(1000000); STM_EVAL_LEDOff(LED1);
} else {
STM_EVAL_LEDOn(LED1);
STM_EVAL_LEDOff(LED2);
} }
if (STOPWATCH_ValueGet() > 2*50 * 100)
STOPWATCH_Reset();
FLASH_Download();
} }
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
/ (pwm_sweep_steps / pwm_period);
if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
* pwm_sweep_steps)
pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
}
/******************************************************************************* /*******************************************************************************
* Function Name : Delay * Function Name : Delay
* Description : Inserts a delay time. * Description : Inserts a delay time.

28
flight/Bootloaders/OpenPilot/usb_endp.c
View File

@ -52,7 +52,7 @@ uint32_t aux;
volatile uint32_t downPacketCurrent=0; volatile uint32_t downPacketCurrent=0;
uint32_t downPacketTotal=0; uint32_t downPacketTotal=0;
uint8_t downType=0; uint8_t downType=0;
uint32_t downSizeOfLastPacket=0;
uint32_t MemLocations[3]= uint32_t MemLocations[3]=
{ {
StartOfUserCode, StartOfUserCode-SizeOfHash, StartOfUserCode-SizeOfHash-SizeOfDescription StartOfUserCode, StartOfUserCode-SizeOfHash, StartOfUserCode-SizeOfHash-SizeOfDescription
@ -67,22 +67,34 @@ uint8_t *FLASH_If_Read (uint32_t SectorAddress, uint32_t DataLength)
return (uint8_t*)(SectorAddress); return (uint8_t*)(SectorAddress);
} }
void FLASH_Download() { void FLASH_Download() {
if (DeviceState == downloading) { if ((DeviceState == downloading) && (GetEPTxStatus(ENDP1)==EP_TX_NAK)) {
uint8_t packetSize;
Buffer[0] = 0x01; Buffer[0] = 0x01;
Buffer[1] = Download; Buffer[1] = Download;
Buffer[2] = downPacketCurrent >> 24; Buffer[2] = downPacketCurrent >> 24;
Buffer[3] = downPacketCurrent >> 16; Buffer[3] = downPacketCurrent >> 16;
Buffer[4] = downPacketCurrent >> 8; Buffer[4] = downPacketCurrent >> 8;
Buffer[5] = downPacketCurrent; Buffer[5] = downPacketCurrent;
Buffer[6] = *FLASH_If_Read(MemLocations[downType]+downPacketCurrent*4, 0); if(downPacketCurrent==downPacketTotal)
Buffer[7] = *FLASH_If_Read(MemLocations[downType] + 1+downPacketCurrent*4, 0); {
Buffer[8] = *FLASH_If_Read(MemLocations[downType] + 2+downPacketCurrent*4, 0); packetSize=downSizeOfLastPacket;
Buffer[9] = *FLASH_If_Read(MemLocations[downType] + 3+downPacketCurrent*4, 0); }
else
{
packetSize=14;
}
for(int x=0;x<packetSize;++x)
{
Buffer[6+x*4] = *FLASH_If_Read(MemLocations[downType]+ downPacketCurrent*4+x*4, 0);
Buffer[7+x*4] = *FLASH_If_Read(MemLocations[downType] + 1+downPacketCurrent*4+x*4, 0);
Buffer[8+x*4] = *FLASH_If_Read(MemLocations[downType] + 2+downPacketCurrent*4+x*4, 0);
Buffer[9+x*4] = *FLASH_If_Read(MemLocations[downType] + 3+downPacketCurrent*4+x*4, 0);
}
USB_SIL_Write(EP1_IN, (uint8_t*) Buffer, 64); USB_SIL_Write(EP1_IN, (uint8_t*) Buffer, 64);
downPacketCurrent=downPacketCurrent+1; downPacketCurrent=downPacketCurrent+1;
if(downPacketCurrent>downPacketTotal) if(downPacketCurrent>downPacketTotal)
{ {
STM_EVAL_LEDOn(LED2); // STM_EVAL_LEDOn(LED2);
DeviceState=Last_operation_Success; DeviceState=Last_operation_Success;
Aditionals=(uint32_t)Download; Aditionals=(uint32_t)Download;
} }
@ -103,7 +115,6 @@ void EP1_OUT_Callback(void)
/* Read received data (2 bytes) */ /* Read received data (2 bytes) */
USB_SIL_Read(EP1_OUT, Receive_Buffer); USB_SIL_Read(EP1_OUT, Receive_Buffer);
Command=Receive_Buffer[1]; Command=Receive_Buffer[1];
EchoReqFlag=(Command>>7); EchoReqFlag=(Command>>7);
EchoAnsFlag=(Command>>6) & 0x01; EchoAnsFlag=(Command>>6) & 0x01;
@ -225,6 +236,7 @@ void EP1_OUT_Callback(void)
downPacketCurrent=0; downPacketCurrent=0;
downPacketTotal=Count; downPacketTotal=Count;
DeviceState=downloading; DeviceState=downloading;
downSizeOfLastPacket=Data1;
} }
else else
{ {