Merge remote-tracking branch 'baseorigin/corvuscorax/simposix_firmwareiap' into corvuscorax/sanity_additions

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -108,6 +108,17 @@ int32_t FirmwareIAPInitialize()
 	return 0;
 }
 
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t FirmwareIAPStart(void)
+{
+	/* nothing, no running task */
+	return 0;
+}
+
+
 /*!
  * \brief	FirmwareIAPCallback - callback function for firmware IAP requests
  * \param[in]  ev - pointer objevent

flight/PiOS.posix/inc/pios_bl_helper.h

@@ -0,0 +1,46 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_BOOTLOADER Functions
+ * @brief HAL code to interface to the OpenPilot AHRS module
+ * @{
+ *
+ * @file       pios_bl_helper.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Bootloader Helper Functions
+ * @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 PIOS_BL_HELPER_H_
+#define PIOS_BL_HELPER_H_
+
+extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress);
+
+extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
+
+extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
+
+extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
+
+extern uint8_t PIOS_BL_HELPER_FLASH_Start();
+
+extern void PIOS_BL_HELPER_CRC_Ini();
+
+#endif /* PIOS_BL_HELPER_H_ */

flight/PiOS.posix/inc/pios_board_info.h

@@ -0,0 +1,24 @@
+#ifndef PIOS_BOARD_INFO_H
+#define PIOS_BOARD_INFO_H
+
+#include <stdint.h>		/* uint* */
+
+#define PIOS_BOARD_INFO_BLOB_MAGIC 0xBDBDBDBD
+
+struct pios_board_info {
+  uint32_t magic;
+  uint8_t  board_type;
+  uint8_t  board_rev;
+  uint8_t  bl_rev;
+  uint8_t  hw_type;
+  uint32_t fw_base;
+  uint32_t fw_size;
+  uint32_t desc_base;
+  uint32_t desc_size;
+  uint32_t ee_base;
+  uint32_t ee_size;
+} __attribute__((packed));
+
+extern const struct pios_board_info pios_board_info_blob;
+
+#endif /* PIOS_BOARD_INFO_H */

flight/PiOS.posix/inc/pios_iap.h

@@ -0,0 +1,45 @@
+/*!
+ * 	@File iap.h
+ *	@Brief	Header file for the In-Application-Programming Module
+ *
+ *  Created on: Sep 6, 2010
+ *      Author: joe
+ */
+
+#ifndef PIOS_IAP_H_
+#define PIOS_IAP_H_
+
+
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+
+/*****************************************************************************************
+ *	Public Definitions/Macros
+ ****************************************************************************************/
+#if defined(STM32F4XX)
+#define MAGIC_REG_1     RTC_BKP_DR1
+#define MAGIC_REG_2     RTC_BKP_DR2
+#define IAP_BOOTCOUNT   RTC_BKP_DR3
+#else
+#define MAGIC_REG_1     BKP_DR1
+#define MAGIC_REG_2     BKP_DR2
+#define IAP_BOOTCOUNT   BKP_DR3
+#endif
+
+/****************************************************************************************
+ *  Public Functions
+ ****************************************************************************************/
+void		PIOS_IAP_Init(void);
+uint32_t	PIOS_IAP_CheckRequest( void );
+void		PIOS_IAP_SetRequest1(void);
+void		PIOS_IAP_SetRequest2(void);
+void		PIOS_IAP_ClearRequest(void);
+uint16_t	PIOS_IAP_ReadBootCount(void);
+void		PIOS_IAP_WriteBootCount(uint16_t);
+
+/****************************************************************************************
+ *  Public Data
+ ****************************************************************************************/
+
+#endif /* PIOS_IAP_H_ */

flight/PiOS.posix/inc/pios_sys.h

@@ -1,5 +1,10 @@
 /**
  ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_SYS System Functions
+ * @brief PIOS System Initialization code
+ * @{
  *
  * @file       pios_sys.h  
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@@ -27,9 +32,19 @@
 #ifndef PIOS_SYS_H
 #define PIOS_SYS_H
 
+#define PIOS_SYS_SERIAL_NUM_BINARY_LEN 12
+#define PIOS_SYS_SERIAL_NUM_ASCII_LEN (PIOS_SYS_SERIAL_NUM_BINARY_LEN * 2)
+
 /* Public Functions */
 extern void PIOS_SYS_Init(void);
 extern int32_t PIOS_SYS_Reset(void);
-extern int32_t PIOS_SYS_SerialNumberGet(char *str);
+extern uint32_t PIOS_SYS_getCPUFlashSize(void);
+extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t array[PIOS_SYS_SERIAL_NUM_BINARY_LEN]);
+extern int32_t PIOS_SYS_SerialNumberGet(char str[PIOS_SYS_SERIAL_NUM_ASCII_LEN+1]);
 
 #endif /* PIOS_SYS_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS.posix/pios.h

@@ -68,6 +68,13 @@
 #include <pios_crc.h>
 #include <pios_rcvr.h>
 
+#if defined(PIOS_INCLUDE_IAP)
+#include <pios_iap.h>
+#endif
+#if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_bl_helper.h>
+#endif
+
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 
 #endif /* PIOS_H */

flight/PiOS.posix/posix/pios_bl_helper.c

@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_BOOTLOADER Functions
+ * @brief HAL code to interface to the OpenPilot AHRS module
+ * @{
+ *
+ * @file       pios_bl_helper.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Bootloader Helper Functions
+ * @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
+ */
+
+/* Project Includes */
+#include "pios.h"
+#if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_board_info.h>
+
+uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
+{
+	return 0;
+}
+
+extern const struct fw_version_info fw_version_blob;
+void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
+{
+	uint8_t * desc = (uint8_t *) &fw_version_blob;
+	for (uint32_t i = 0;  i < size; i++) {
+		array[i] = desc[i];
+	}
+}
+
+void PIOS_BL_HELPER_CRC_Ini()
+{
+}
+#endif

flight/PiOS.posix/posix/pios_board_info.c

@@ -0,0 +1,20 @@
+#include <pios.h>
+#include <pios_board.h>
+
+#include "pios_board_info.h"
+
+const struct pios_board_info pios_board_info_blob = {
+  .magic      = PIOS_BOARD_INFO_BLOB_MAGIC,
+  .board_type = BOARD_TYPE,
+  .board_rev  = BOARD_REVISION,
+  .bl_rev     = BOOTLOADER_VERSION,
+  .hw_type    = HW_TYPE,
+  .fw_base    = FW_BANK_BASE,
+  .fw_size    = FW_BANK_SIZE - FW_DESC_SIZE,
+  .desc_base  = FW_BANK_BASE + FW_BANK_SIZE - FW_DESC_SIZE,
+  .desc_size  = FW_DESC_SIZE,
+#ifdef EE_BANK_BASE
+  .ee_base    = EE_BANK_BASE,
+  .ee_size    = EE_BANK_SIZE,
+#endif
+};

flight/PiOS.posix/posix/pios_iap.c

@@ -0,0 +1,69 @@
+/*!
+ * 	@File iap.c
+ *	@Brief	
+ *
+ *  Created on: Sep 6, 2010
+ *      Author: joe
+ */
+
+
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+#include <pios.h>
+
+/*!
+ * \brief	PIOS_IAP_Init - performs required initializations for iap module.
+ * \param   none.
+ * \return	none.
+ * \retval	none.
+ *
+ *	Created: Sep 8, 2010 10:10:48 PM by joe
+ */
+void PIOS_IAP_Init( void )
+{
+
+}
+
+/*!
+ * \brief     Determines if an In-Application-Programming request has been made.
+ * \param   *comm - Which communication stream to use for the IAP (USB, Telemetry, I2C, SPI, etc)
+ * \return    TRUE - if correct sequence found, along with 'comm' updated.
+ * 			FALSE - Note that 'comm' will have an invalid comm identifier.
+ * \retval
+ *
+ */
+uint32_t	PIOS_IAP_CheckRequest( void )
+{
+
+	return false;
+}
+
+
+
+/*!
+ * \brief   Sets the 1st word of the request sequence.
+ * \param   n/a
+ * \return  n/a
+ * \retval
+ */
+void	PIOS_IAP_SetRequest1(void)
+{
+}
+
+void	PIOS_IAP_SetRequest2(void)
+{
+}
+
+void	PIOS_IAP_ClearRequest(void)
+{
+}
+
+uint16_t PIOS_IAP_ReadBootCount(void)
+{
+	return 0;
+}
+
+void PIOS_IAP_WriteBootCount (uint16_t boot_count)
+{
+}

flight/PiOS.posix/posix/pios_sys.c

@@ -110,6 +110,23 @@ int32_t PIOS_SYS_Reset(void)
 	return -1;
 }
 
+/**
+* Returns the serial number as a string
+* param[out] uint8_t pointer to a string which can store at least 12 bytes
+* (12 bytes returned for STM32)
+* return < 0 if feature not supported
+*/
+int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
+{
+	/* Stored in the so called "electronic signature" */
+	for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
+		array[i] = 0xff;
+	}
+
+	/* No error */
+	return 0;
+}
+
 /**
 * Returns the serial number as a string
 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
@@ -118,19 +135,12 @@ int32_t PIOS_SYS_Reset(void)
 */
 int32_t PIOS_SYS_SerialNumberGet(char *str)
 {
-	int i;
-
 	/* Stored in the so called "electronic signature" */
-	for(i=0; i<24; ++i) {
+	int i;
-		//uint8_t b = MEM8(0x1ffff7e8 + (i/2));
+	for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
-		//if( !(i & 1) )
+		str[i] = 'F';
-		//b >>= 4;
-		//b &= 0x0f;
-
-		//str[i] = ((b > 9) ? ('A'-10) : '0') + b;
-		str[i]='6';
 	}
-	str[i] = 0;
+	str[i] = '\0';
 
 	/* No error */
 	return 0;

flight/SimPosix/Makefile

@@ -55,6 +55,7 @@ FLASH_TOOL = OPENOCD
 MODULES = ManualControl Stabilization GPS
 MODULES += CameraStab
 MODULES += Telemetry
+MODULES += FirmwareIAP
 #MODULES += OveroSync
 PYMODULES = 
 #FlightPlan
@@ -242,6 +243,19 @@ EXTRA_LIBS =
 # 0 = turn off optimization. s = optimize for size.
 # (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
 
+
+BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+
+# Since we are simulating all this firmware the code needs to know what the BL would
+# normally contain
+CFLAGS += $(BLONLY_CDEFS)
+
 ifeq ($(DEBUG),YES)
 CFLAGS += -O0
 CFLAGS += -DGENERAL_COV
@@ -370,7 +384,7 @@ ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
 
 # Define all object files.
-ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE) uavobjectsinit.o.firmwareinfo ))
 
 # Define all listing files (used for make clean).
 LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
@@ -426,6 +440,8 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/uavobjectsinit.o,$(BOARD_TYPE),$(BOARD_REVISION)))
+
 # Add jtag targets (program and wipe)
 $(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 

flight/SimPosix/System/inc/pios_config.h

@@ -84,6 +84,8 @@
 #define PIOS_INCLUDE_PPM
 #define PIOS_INCLUDE_PWM
 //#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_BL_HELPER
 
 #define PIOS_INCLUDE_SETTINGS
 #define PIOS_INCLUDE_FLASH

make/boards/simposix/board-info.mk

@@ -13,12 +13,12 @@ OPENOCD_JTAG_CONFIG :=
 OPENOCD_CONFIG      := 
 
 # Note: These must match the values in link_$(BOARD)_memory.ld
-#BL_BANK_BASE        := 0x08000000  # Start of bootloader flash
+BL_BANK_BASE        := 0x08000000  # Start of bootloader flash
-#BL_BANK_SIZE        := 0x00008000  # Should include BD_INFO region
+BL_BANK_SIZE        := 0x00008000  # Should include BD_INFO region
-#FW_BANK_BASE        := 0x08008000  # Start of firmware flash
+FW_BANK_BASE        := 0x08008000  # Start of firmware flash
-#FW_BANK_SIZE        := 0x00038000  # Should include FW_DESC_SIZE
+FW_BANK_SIZE        := 0x00038000  # Should include FW_DESC_SIZE
 
-#FW_DESC_SIZE        := 0x00000064
+FW_DESC_SIZE        := 0x00000064
 
 OSCILLATOR_FREQ     :=   8000000
 SYSCLK_FREQ         := 168000000