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OP-185 Flight - support files for Firmware IAP object
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
kokomojoe
kokomojoe
parent
20c6e2292a
commit
2fe266650f
203
flight/OpenPilot/Modules/FirmwareIAP/firmwareiap.c
Normal file
203
flight/OpenPilot/Modules/FirmwareIAP/firmwareiap.c
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@ -0,0 +1,203 @@
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/**
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******************************************************************************
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*
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* @file firmwareiap.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief In Application Programming module to support firmware upgrades by
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* providing a means to enter the bootloader.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <stdint.h>
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#include "openpilot.h"
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#include "firmwareiap.h"
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#include "firmwareiapobj.h"
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#include "pios_iap.h"
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#include "STM3210E_OP.h"
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// Private constants
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#define IAP_CMD_STEP_1 1122
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#define IAP_CMD_STEP_2 2233
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#define IAP_CMD_STEP_3 3344
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#define IAP_CMD_CRC 100
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#define IAP_CMD_VERIFY 101
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#define IAP_CMD_VERSION 102
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#define IAP_STATE_READY 0
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#define IAP_STATE_STEP_1 1
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#define IAP_STATE_STEP_2 2
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#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
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#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
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const uint32_t iap_time_2_low_end = 500;
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const uint32_t iap_time_2_high_end = 5000;
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const uint32_t iap_time_3_low_end = 500;
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const uint32_t iap_time_3_high_end = 5000;
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// Private types
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// Private variables
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const static uint8_t version[] = { 0, 0, 1 };
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const static uint16_t SVN = 12345;
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// Private functions
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static void FirmwareIAPCallback(UAVObjEvent* ev);
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static uint32_t iap_calc_crc(void);
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FirmwareIAPObjData data;
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static uint32_t get_time(void);
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/**
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* Initialise the module, called on startup.
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* \returns 0 on success or -1 if initialisation failed
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*/
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/*!
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* \brief Performs object initialization functions.
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* \param None.
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* \return 0 - under all cases
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*
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* \note
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*
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*/
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int32_t FirmwareIAPInitialize()
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{
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data.Version[0] = version[0];
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data.Version[1] = version[1];
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data.Version[2] = version[2];
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data.SVN = SVN;
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data.crc = iap_calc_crc();
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FirmwareIAPObjSet( &data );
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FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
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return 0;
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}
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/*!
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* \brief FirmwareIAPCallback - callback function for firmware IAP requests
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* \param[in] ev - pointer objevent
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* \retval None.
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*
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* \note
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*
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*/
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static void FirmwareIAPCallback(UAVObjEvent* ev)
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{
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static uint32_t last_time = 0;
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static uint16_t iap_state = IAP_STATE_READY;
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uint32_t this_time;
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uint32_t delta;
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if ( ev->obj == FirmwareIAPObjHandle() ) {
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// Get the input object data
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FirmwareIAPObjGet(&data);
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this_time = get_time();
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delta = this_time - last_time;
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last_time = this_time;
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switch(iap_state) {
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case IAP_STATE_READY:
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if( data.Command == IAP_CMD_STEP_1 ) {
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iap_state = IAP_STATE_STEP_1;
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} break;
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case IAP_STATE_STEP_1:
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if( data.Command == IAP_CMD_STEP_2 ) {
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if( delta > iap_time_2_low_end && delta < iap_time_2_high_end ) {
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iap_state = IAP_STATE_STEP_2;
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} else {
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iap_state = IAP_STATE_READY;
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}
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} else {
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iap_state = IAP_STATE_READY;
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}
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break;
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case IAP_STATE_STEP_2:
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if( data.Command == IAP_CMD_STEP_3 ) {
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if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
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// we've met the three sequence of command numbers
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// we've met the time requirements.
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PIOS_IAP_SetRequest1();
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PIOS_IAP_SetRequest2();
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// goodbye cruel world...
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PIOS_SYS_Reset();
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} else {
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iap_state = IAP_STATE_READY;
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}
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} else {
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iap_state = IAP_STATE_READY;
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}
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break;
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default:
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iap_state = IAP_STATE_READY;
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break;
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}
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}
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}
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// Returns number of milliseconds from the start of the kernel.
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/*!
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* \brief Returns number of milliseconds from the start of the kernel
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* \param None.
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* \return number of milliseconds from the start of the kernel.
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*
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* \note
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*
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*/
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static uint32_t get_time(void)
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{
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portTickType ticks;
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ticks = xTaskGetTickCount();
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return TICKS2MS(ticks);
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}
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/*!
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* \brief Calculate the CRC value of the code in flash.
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* \param None
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* \return calculated CRC value using STM32's builtin CRC hardware
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*
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* \note
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* I copied this function as the function crc calc function in pios_bl_helper.c
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* is only included when the PIOS_BL_HELPER is defined, but this also includes
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* the flash unlock and erase functions. It is safer to only have the flash
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* functions in the bootloader.
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*
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*/
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static uint32_t iap_calc_crc(void)
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{
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
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CRC_ResetDR();
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CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
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return CRC_GetCRC();
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}
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32
flight/OpenPilot/Modules/FirmwareIAP/inc/firmwareiap.h
Normal file
32
flight/OpenPilot/Modules/FirmwareIAP/inc/firmwareiap.h
Normal file
@ -0,0 +1,32 @@
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/**
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******************************************************************************
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*
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* @file firmwareiap.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Example module to be used as a template for actual modules.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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|
* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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|
* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef FIRMWAREIAP_H
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#define FIRMWAREIAP_H
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int32_t FirmwareIAPInitialize();
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#endif // FIRMWAREIAP_H
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111
flight/OpenPilot/UAVObjects/firmwareiapobj.c
Normal file
111
flight/OpenPilot/UAVObjects/firmwareiapobj.c
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/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup FirmwareIAPObj FirmwareIAPObj
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* @brief Firmware IAP
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*
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* Autogenerated files and functions for FirmwareIAPObj Object
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* @{
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*
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* @file firmwareiapobj.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the FirmwareIAPObj object. This file has been
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* automatically generated by the UAVObjectGenerator.
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*
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* @note Object definition file: firmwareiap.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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|
* 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.
|
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|
*
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|
* This program is distributed in the hope that it will be useful, but
|
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|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
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|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
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|
* 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.,
|
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|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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|
*/
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#include "openpilot.h"
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#include "firmwareiapobj.h"
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// Private variables
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static UAVObjHandle handle;
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// Private functions
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static void setDefaults(UAVObjHandle obj, uint16_t instId);
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/**
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* Initialize object.
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* \return 0 Success
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* \return -1 Failure
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*/
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int32_t FirmwareIAPObjInitialize()
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{
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// Register object with the object manager
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handle = UAVObjRegister(FIRMWAREIAPOBJ_OBJID, FIRMWAREIAPOBJ_NAME, FIRMWAREIAPOBJ_METANAME, 0,
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FIRMWAREIAPOBJ_ISSINGLEINST, FIRMWAREIAPOBJ_ISSETTINGS, FIRMWAREIAPOBJ_NUMBYTES, &setDefaults);
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// Done
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if (handle != 0)
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{
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Initialize object fields and metadata with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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|
*/
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static void setDefaults(UAVObjHandle obj, uint16_t instId)
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{
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|
FirmwareIAPObjData data;
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UAVObjMetadata metadata;
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// Initialize object fields to their default values
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UAVObjGetInstanceData(obj, instId, &data);
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memset(&data, 0, sizeof(FirmwareIAPObjData));
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|
|
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|
UAVObjSetInstanceData(obj, instId, &data);
|
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|
|
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|
// Initialize object metadata to their default values
|
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|
metadata.access = ACCESS_READWRITE;
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|
metadata.gcsAccess = ACCESS_READWRITE;
|
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|
metadata.telemetryAcked = 1;
|
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|
metadata.telemetryUpdateMode = UPDATEMODE_MANUAL;
|
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|
metadata.telemetryUpdatePeriod = 0;
|
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|
metadata.gcsTelemetryAcked = 1;
|
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|
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
|
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|
metadata.gcsTelemetryUpdatePeriod = 0;
|
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|
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
|
||||||
|
metadata.loggingUpdatePeriod = 0;
|
||||||
|
UAVObjSetMetadata(obj, &metadata);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get object handle
|
||||||
|
*/
|
||||||
|
UAVObjHandle FirmwareIAPObjHandle()
|
||||||
|
{
|
||||||
|
return handle;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
101
flight/OpenPilot/UAVObjects/inc/firmwareiapobj.h
Normal file
101
flight/OpenPilot/UAVObjects/inc/firmwareiapobj.h
Normal file
@ -0,0 +1,101 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||||
|
* @{
|
||||||
|
* @addtogroup FirmwareIAPObj FirmwareIAPObj
|
||||||
|
* @brief Firmware IAP
|
||||||
|
*
|
||||||
|
* Autogenerated files and functions for FirmwareIAPObj Object
|
||||||
|
|
||||||
|
* @{
|
||||||
|
*
|
||||||
|
* @file firmwareiapobj.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Implementation of the FirmwareIAPObj object. This file has been
|
||||||
|
* automatically generated by the UAVObjectGenerator.
|
||||||
|
*
|
||||||
|
* @note Object definition file: firmwareiap.xml.
|
||||||
|
* This is an automatically generated file.
|
||||||
|
* DO NOT modify manually.
|
||||||
|
*
|
||||||
|
* @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 FIRMWAREIAPOBJ_H
|
||||||
|
#define FIRMWAREIAPOBJ_H
|
||||||
|
|
||||||
|
// Object constants
|
||||||
|
#define FIRMWAREIAPOBJ_OBJID 1075803696U
|
||||||
|
#define FIRMWAREIAPOBJ_NAME "FirmwareIAPObj"
|
||||||
|
#define FIRMWAREIAPOBJ_METANAME "FirmwareIAPObjMeta"
|
||||||
|
#define FIRMWAREIAPOBJ_ISSINGLEINST 1
|
||||||
|
#define FIRMWAREIAPOBJ_ISSETTINGS 0
|
||||||
|
#define FIRMWAREIAPOBJ_NUMBYTES sizeof(FirmwareIAPObjData)
|
||||||
|
|
||||||
|
// Object access macros
|
||||||
|
/**
|
||||||
|
* @function FirmwareIAPObjGet(dataOut)
|
||||||
|
* @brief Populate a FirmwareIAPObjData object
|
||||||
|
* @param[out] dataOut
|
||||||
|
*/
|
||||||
|
#define FirmwareIAPObjGet(dataOut) UAVObjGetData(FirmwareIAPObjHandle(), dataOut)
|
||||||
|
#define FirmwareIAPObjSet(dataIn) UAVObjSetData(FirmwareIAPObjHandle(), dataIn)
|
||||||
|
#define FirmwareIAPObjInstGet(instId, dataOut) UAVObjGetInstanceData(FirmwareIAPObjHandle(), instId, dataOut)
|
||||||
|
#define FirmwareIAPObjInstSet(instId, dataIn) UAVObjSetInstanceData(FirmwareIAPObjHandle(), instId, dataIn)
|
||||||
|
#define FirmwareIAPObjConnectQueue(queue) UAVObjConnectQueue(FirmwareIAPObjHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||||
|
#define FirmwareIAPObjConnectCallback(cb) UAVObjConnectCallback(FirmwareIAPObjHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||||
|
#define FirmwareIAPObjCreateInstance() UAVObjCreateInstance(FirmwareIAPObjHandle())
|
||||||
|
#define FirmwareIAPObjRequestUpdate() UAVObjRequestUpdate(FirmwareIAPObjHandle())
|
||||||
|
#define FirmwareIAPObjRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(FirmwareIAPObjHandle(), instId)
|
||||||
|
#define FirmwareIAPObjUpdated() UAVObjUpdated(FirmwareIAPObjHandle())
|
||||||
|
#define FirmwareIAPObjInstUpdated(instId) UAVObjUpdated(FirmwareIAPObjHandle(), instId)
|
||||||
|
#define FirmwareIAPObjGetMetadata(dataOut) UAVObjGetMetadata(FirmwareIAPObjHandle(), dataOut)
|
||||||
|
#define FirmwareIAPObjSetMetadata(dataIn) UAVObjSetMetadata(FirmwareIAPObjHandle(), dataIn)
|
||||||
|
#define FirmwareIAPObjReadOnly(dataIn) UAVObjReadOnly(FirmwareIAPObjHandle())
|
||||||
|
|
||||||
|
// Object data
|
||||||
|
typedef struct {
|
||||||
|
uint16_t Command;
|
||||||
|
uint32_t Port;
|
||||||
|
uint8_t Version[3];
|
||||||
|
uint16_t SVN;
|
||||||
|
uint32_t crc;
|
||||||
|
|
||||||
|
} __attribute__((packed)) FirmwareIAPObjData;
|
||||||
|
|
||||||
|
// Field information
|
||||||
|
// Field Command information
|
||||||
|
// Field Port information
|
||||||
|
// Field Version information
|
||||||
|
/* Number of elements for field Version */
|
||||||
|
#define FIRMWAREIAPOBJ_VERSION_NUMELEM 3
|
||||||
|
// Field SVN information
|
||||||
|
// Field crc information
|
||||||
|
|
||||||
|
|
||||||
|
// Generic interface functions
|
||||||
|
int32_t FirmwareIAPObjInitialize();
|
||||||
|
UAVObjHandle FirmwareIAPObjHandle();
|
||||||
|
|
||||||
|
#endif // FIRMWAREIAPOBJ_H
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
@ -92,6 +92,7 @@
|
|||||||
#if defined(PIOS_INCLUDE_HMC5843)
|
#if defined(PIOS_INCLUDE_HMC5843)
|
||||||
#include <pios_hmc5843.h>
|
#include <pios_hmc5843.h>
|
||||||
#endif
|
#endif
|
||||||
|
#include <pios_iap.h>
|
||||||
|
|
||||||
#if defined(PIOS_INCLUDE_BL_HELPER)
|
#if defined(PIOS_INCLUDE_BL_HELPER)
|
||||||
#include <pios_bl_helper.h>
|
#include <pios_bl_helper.h>
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user