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Code Issues Releases Activity

PIOS: Bootloader Helper functions should sit in HAL, not duplicated in every single architecture.

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This commit is contained in:
Corvus Corax 2011-04-23 19:40:41 +02:00
parent 192e31986d
commit 357bc369db
16 changed files with 35 additions and 82 deletions
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1
flight/AHRS/Makefile
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@ -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

31
flight/AHRS/ahrs.c
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@ -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;
@ -1232,6 +1230,7 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
{
FirmwareIAPObjData firmwareIAPObj;
FirmwareIAPObjGet(&firmwareIAPObj);
CRC_Ini();
if(firmwareIAPObj.ArmReset==0)
reset_count=0;
if(firmwareIAPObj.ArmReset==1)
@ -1249,36 +1248,16 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
}
}
}
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc())
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=FLASH_crc_memory_calc())
{
read_description(firmwareIAPObj.Description);
firmwareIAPObj.crc=iap_calc_crc();
FLASH_read_description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
CRC_Ini();
firmwareIAPObj.crc=FLASH_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 */

4
flight/Bootloaders/AHRS/main.c
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@ -96,7 +96,7 @@ int main() {
}
PIOS_Board_Init();
boot_status = idle;
Fw_crc = crc_memory_calc();
Fw_crc = FLASH_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 = FLASH_crc_memory_calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);

3
flight/Bootloaders/CopterControl/inc/pios_config.h
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@ -31,6 +31,7 @@
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY
@ -61,4 +62,4 @@
/**
* @}
* @}
*/
*/

2
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -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 FLASH_crc_memory_calc();
break;
case Remote_flash_via_spi:
return 0;

3
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
@ -64,4 +65,4 @@
/**
* @}
* @}
*/
*/

2
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -525,7 +525,7 @@ uint32_t CalcFirmCRC() {
struct opahrs_msg_v0 rsp;
switch (currentProgrammingDestination) {
case Self_flash:
return crc_memory_calc();
return FLASH_crc_memory_calc();
break;
case Remote_flash_via_spi:
PIOS_OPAHRS_bl_FwupVerify(&rsp);

3
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
@ -61,4 +62,4 @@
/**
* @}
* @}
*/
*/

2
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -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 FLASH_crc_memory_calc();
break;
case Remote_flash_via_spi:
return 0;

49
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -67,10 +67,6 @@ 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 +93,7 @@ static void resetTask(UAVObjEvent *);
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
read_description(data.Description);
FLASH_read_description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION;
data.ArmReset=0;
@ -131,12 +127,14 @@ 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()))
CRC_Ini();
if((data.BoardType==BOARD_TYPE)&&(data.crc != FLASH_crc_memory_calc()))
{
read_description(data.Description);
FLASH_read_description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION;
data.crc = iap_calc_crc();
CRC_Ini();
data.crc = FLASH_crc_memory_calc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
@ -215,41 +213,6 @@ 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 + FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/**
* Executed by event dispatcher callback to reset INS before resetting OP
*/

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

1
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"

9
flight/PiOS/Common/pios_bl_helper.c
View File

@ -38,6 +38,7 @@ uint8_t *FLASH_If_Read(uint32_t SectorAddress)
return (uint8_t *) (SectorAddress);
}
#if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
uint8_t FLASH_Ini()
{
FLASH_Unlock();
@ -70,18 +71,20 @@ uint8_t FLASH_Start()
return (fail == TRUE) ? 0 : 1;
}
#endif
uint32_t crc_memory_calc()
uint32_t FLASH_crc_memory_calc()
{
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
void read_description(uint8_t * array)
void 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) {
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] = *FLASH_If_Read(i);
++x;
}

4
flight/PiOS/inc/pios_bl_helper.h
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@ -35,9 +35,9 @@ extern uint8_t *FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t FLASH_Ini();
extern uint32_t crc_memory_calc();
extern uint32_t FLASH_crc_memory_calc();
extern void read_description(uint8_t * array);
extern void FLASH_read_description(uint8_t * array, uint8_t size);
extern uint8_t FLASH_Start();