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Code Issues Releases Activity

OP-21/Flight Bootloader - Clean up and linker files for the AHRS

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-09-19 18:27:53 +00:00 committed by zedamota
parent 400f832b3c
commit 3ba6372dc4
13 changed files with 155 additions and 25 deletions
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21
flight/AHRS/Makefile
View File

@ -53,12 +53,12 @@ USE_THUMB_MODE = YES
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
MODEL = MD
ifeq ($(USE_BOOTLOADER), YES)
MODEL = MD
BOOT_MODEL = $(MODEL)_BL
else
MODEL = MD
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = Build
@ -216,7 +216,9 @@ DEBUGF = dwarf-2
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -288,7 +290,7 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(BOOT_MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
@ -427,12 +429,19 @@ gccversion :
# @echo $(ALLOBJ)
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool.exe -d 1 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf
@echo "Programming with OPENOCD"
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Create final output file (.hex) from ELF output file.
%.hex: %.elf

6
flight/Bootloaders/AHRS/Makefile
View File

@ -53,11 +53,9 @@ USE_THUMB_MODE = YES
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
ifeq ($(USE_BOOTLOADER), YES)
MODEL = MD
else
MODEL = MD
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = Build

19
flight/Bootloaders/AHRS/main.c
View File

@ -68,15 +68,19 @@ int main() {
/* Delay system */
PIOS_DELAY_Init();
for (uint32_t t = 0; t < 2; ++t) {
for (uint32_t t = 0; t < 10000000; ++t) {
if (NSS_HOLD_STATE == 1)
GO_dfu = TRUE;
else {
GO_dfu = FALSE;
break;
}
PIOS_DELAY_WaitmS(1000);
}
//while(TRUE)
// {
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
// }
//GO_dfu = TRUE;
GO_dfu = GO_dfu;// OR with app boot request
if (GO_dfu == FALSE) {
@ -146,6 +150,7 @@ void process_spi_request(void) {
PIOS_SYS_Reset();
break;
case OPAHRS_MSG_V0_REQ_VERSIONS:
//PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
user_tx_v0.payload.user.v.rsp.versions.hw_version = HW_VERSION;
@ -231,10 +236,12 @@ void process_spi_request(void) {
return;
}
void jump_to_app() {
while (TRUE) {
PIOS_LED_Toggle(LED1);
PIOS_DELAY_WaitmS(1000);
}
//while(TRUE)
//{
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
//}
PIOS_LED_On(LED1);
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);

2
flight/Bootloaders/OpenPilot/Makefile
View File

@ -25,7 +25,7 @@
# Set developer code and compile options
# Set to YES to compile for debugging
DEBUG ?= YES
DEBUG ?= NO
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO

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

@ -153,7 +153,7 @@ int main() {
if (STOPWATCH_ValueGet() > 100 * 50 * 100)
STOPWATCH_Reset();
if ((STOPWATCH_ValueGet() > 70000) && (DeviceState == BLidle))
if ((STOPWATCH_ValueGet() > 60000) && (DeviceState == BLidle))
JumpToApp = TRUE;
processRX();

4
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -470,13 +470,13 @@ void OPDfuIni(uint8_t discover) {
if (discover) {
uint8_t found_spi_device = FALSE;
for (int t = 0; t < 10; ++t) {
for (int t = 0; t < 3; ++t) {
if (PIOS_OPAHRS_bl_resync() == OPAHRS_RESULT_OK) {
found_spi_device = TRUE;
dev.FW_Crc = 0;
break;
}
PIOS_DELAY_WaitmS(50);
PIOS_DELAY_WaitmS(100);
}
if (found_spi_device == TRUE) {
struct opahrs_msg_v0 rsp;

7
flight/OpenPilot/Makefile
View File

@ -605,12 +605,19 @@ gccversion :
# @echo $(ALLOBJ)
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool.exe -d 0 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Create final output file (.hex) from ELF output file.
%.hex: %.elf

4
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -69,14 +69,14 @@ TIM8 | | | |
#define BOOTLOADER_VERSION 0
#define MEM_SIZE 0x20000 //128K
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08003400
#define START_OF_USER_CODE (uint32_t)0x08003000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE
#define BOARD_READABLE FALSE
#define BOARD_WRITABLA TRUE
#define MAX_DEL_RETRYS 3

2
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -74,7 +74,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
#define MEM_SIZE 524288 //512K
#define SIZE_OF_DESCRIPTION (uint8_t) 100
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#define START_OF_USER_CODE 0x0800F000
#define START_OF_USER_CODE (uint32_t)0x08007800//FF00
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD

3
flight/PiOS/Common/pios_opahrs_v0.c
View File

@ -49,7 +49,7 @@ static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(20);
PIOS_DELAY_WaitmS(1);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
@ -166,6 +166,7 @@ static enum opahrs_result PIOS_OPAHRS_v0_simple_req (enum opahrs_msg_v0_tag req_
opahrs_msg_v0_init_user_tx (&req, req_type);
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req (&req);
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */

2
flight/PiOS/STM32F10x/link_stm32f10x_HD_BL.ld
View File

@ -28,7 +28,7 @@
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08006000, LENGTH = 488K
FLASH (rx) : ORIGIN = 0x08007800, LENGTH = 482K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0

54
flight/PiOS/STM32F10x/link_stm32f10x_MD_BL.ld Normal file
View File

@ -0,0 +1,54 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 116K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
}

54
flight/PiOS/STM32F10x/link_stm32f10x_MD_NB.ld Normal file
View File

@ -0,0 +1,54 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
}