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Code Issues Releases Activity

Merge branch 'master' into OP-439_CorvusCorax_Bootloader-Makefile-and-OpenOCD-config-for-Linux

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This commit is contained in:
James Cotton 2011-04-27 23:41:35 -05:00
commit 5f776f0b58
37 changed files with 247 additions and 296 deletions
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1
flight/AHRS/Makefile
View File

@ -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

29
flight/AHRS/ahrs.c
View File

@ -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;
@ -1249,36 +1247,15 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
}
}
}
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc())
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
{
read_description(firmwareIAPObj.Description);
firmwareIAPObj.crc=iap_calc_crc();
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
firmwareIAPObj.crc=PIOS_BL_HELPER_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 */

8
flight/Bootloaders/AHRS/main.c
View File

@ -96,7 +96,7 @@ int main() {
}
PIOS_Board_Init();
boot_status = idle;
Fw_crc = crc_memory_calc();
Fw_crc = PIOS_BL_HELPER_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 = PIOS_BL_HELPER_CRC_Memory_Calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);
@ -216,7 +216,7 @@ void process_spi_request(void) {
uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
for(uint8_t x=0;x<4;++x)
{
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x);
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x);
}
lfsm_user_set_tx_v0(&user_tx_v0);
break;
@ -226,7 +226,7 @@ void process_spi_request(void) {
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
PIOS_LED_On(LED1);
if (FLASH_Start() == TRUE) {
if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
boot_status = started;
PIOS_LED_Off(LED1);
} else {

3
flight/Bootloaders/CopterControl/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 @@
/**
* @}
* @}
*/
*/

16
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
}
break;
case Self_flash:
SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
break;
}
*/
@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Ini();
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = TRUE;
@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Start();
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
result = FALSE;
@ -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 PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
return 0;
@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *FLASH_If_Read(adr + x);
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return TRUE;
break;

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 @@
/**
* @}
* @}
*/
*/

8
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -158,7 +158,7 @@ void processComand(uint8_t *xReceive_Buffer) {
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Ini();
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = TRUE;
@ -195,7 +195,7 @@ void processComand(uint8_t *xReceive_Buffer) {
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Start();
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
PIOS_OPAHRS_bl_FwupStart(&rsp);
@ -525,7 +525,7 @@ uint32_t CalcFirmCRC() {
struct opahrs_msg_v0 rsp;
switch (currentProgrammingDestination) {
case Self_flash:
return crc_memory_calc();
return PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
PIOS_OPAHRS_bl_FwupVerify(&rsp);
@ -574,7 +574,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *FLASH_If_Read(adr + x);
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return TRUE;
break;

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 @@
/**
* @}
* @}
*/
*/

16
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
}
break;
case Self_flash:
SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
break;
}
*/
@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Ini();
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = TRUE;
@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Start();
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
result = FALSE;
@ -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 PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
return 0;
@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *FLASH_If_Read(adr + x);
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return TRUE;
break;

1
flight/CopterControl/Makefile
View File

@ -216,6 +216,7 @@ SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c

1
flight/CopterControl/System/alarms.c
View File

@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
}
// Release lock

1
flight/CopterControl/System/inc/pios_config.h
View File

@ -65,6 +65,7 @@
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH

52
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -47,7 +47,6 @@
#define RESET_DELAY 500 /* delay between sending reset ot INS */
#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
@ -59,18 +58,12 @@ const uint32_t iap_time_3_high_end = 5000;
// Private types
// Private variables
const static uint8_t version[] = { 0, 0, 1 };
const static uint16_t SVN = 12345;
static uint8_t reset_count = 0;
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 +90,8 @@ static void resetTask(UAVObjEvent *);
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
read_description(data.Description);
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION;
data.ArmReset=0;
data.crc = 0;
@ -130,11 +124,12 @@ 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()))
if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{
read_description(data.Description);
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION;
data.crc = iap_calc_crc();
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
@ -213,41 +208,6 @@ 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 + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/**
* Executed by event dispatcher callback to reset INS before resetting OP
*/

24
flight/Modules/GPS/GPS.c
View File

@ -53,8 +53,11 @@
// Private functions
static void gpsTask(void *parameters);
#ifdef PIOS_GPS_SETS_HOMELOCATION
static void setHomeLocation(GPSPositionData * gpsData);
static float GravityAccel(float latitude, float longitude, float altitude);
#endif
// ****************
// Private constants
@ -65,11 +68,19 @@ static float GravityAccel(float latitude, float longitude, float altitude);
#define GPS_TIMEOUT_MS 500
#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 800
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES 800
#endif
#else
#define STACK_SIZE_BYTES 800
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 440
#else
#define STACK_SIZE_BYTES 440
#endif
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
@ -311,12 +322,15 @@ static void gpsTask(void *parameters)
else
{ // we appear to be receiving GPS sentences OK, we've had an update
GPSPositionGet(&GpsData);
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationData home;
HomeLocationGet(&home);
GPSPositionGet(&GpsData);
if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
setHomeLocation(&GpsData);
#endif
//criteria for GPS-OK taken from this post...
//http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
@ -334,6 +348,7 @@ static void gpsTask(void *parameters)
}
}
#ifdef PIOS_GPS_SETS_HOMELOCATION
/*
* Estimate the acceleration due to gravity for a particular location in LLA
*/
@ -389,6 +404,7 @@ static void setHomeLocation(GPSPositionData * gpsData)
}
}
}
#endif
// ****************

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/alarms.c
View File

@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
}
// Release lock

4
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"
@ -89,6 +90,9 @@
/* Stabilization options */
#define PIOS_QUATERNION_STABILIZATION
/* GPS options */
#define PIOS_GPS_SETS_HOMELOCATION
#endif /* PIOS_CONFIG_H */
/**

20
flight/PiOS/Common/pios_bl_helper.c
View File

@ -33,18 +33,19 @@
#if defined(PIOS_INCLUDE_BL_HELPER)
#include "stm32f10x_flash.h"
uint8_t *FLASH_If_Read(uint32_t SectorAddress)
uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
uint8_t FLASH_Ini()
#if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
uint8_t PIOS_BL_HELPER_FLASH_Ini()
{
FLASH_Unlock();
return 1;
}
uint8_t FLASH_Start()
uint8_t PIOS_BL_HELPER_FLASH_Start()
{
uint32_t pageAdress;
pageAdress = START_OF_USER_CODE;
@ -70,24 +71,27 @@ uint8_t FLASH_Start()
return (fail == TRUE) ? 0 : 1;
}
#endif
uint32_t crc_memory_calc()
uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
{
PIOS_BL_HELPER_CRC_Ini();
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
void read_description(uint8_t * array)
void PIOS_BL_HELPER_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) {
array[x] = *FLASH_If_Read(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] = *PIOS_BL_HELPER_FLASH_If_Read(i);
++x;
}
}
void CRC_Ini()
void PIOS_BL_HELPER_CRC_Ini()
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
}

21
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -134,6 +134,27 @@ uint32_t PIOS_SYS_getCPUFlashSize(void)
return ((uint32_t) MEM16(0x1FFFF7E0) * 1000);
}
/**
* Returns the serial number as a string
* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
* (24 digits returned for STM32)
* return < 0 if feature not supported
*/
int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
int i;
/* Stored in the so called "electronic signature" */
for (i = 0; i < 12; ++i) {
uint8_t b = MEM8(0x1ffff7e8 + i);
array[i] = b;
}
/* 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!

12
flight/PiOS/inc/pios_bl_helper.h
View File

@ -31,16 +31,16 @@
#ifndef PIOS_BL_HELPER_H_
#define PIOS_BL_HELPER_H_
extern uint8_t *FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t FLASH_Ini();
extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
extern uint32_t crc_memory_calc();
extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
extern void read_description(uint8_t * array);
extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
extern uint8_t FLASH_Start();
extern uint8_t PIOS_BL_HELPER_FLASH_Start();
extern void CRC_Ini();
extern void PIOS_BL_HELPER_CRC_Ini();
#endif /* PIOS_BL_HELPER_H_ */

1
flight/PiOS/inc/pios_sys.h
View File

@ -36,6 +36,7 @@
extern void PIOS_SYS_Init(void);
extern int32_t PIOS_SYS_Reset(void);
extern uint32_t PIOS_SYS_getCPUFlashSize(void);
extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array);
extern int32_t PIOS_SYS_SerialNumberGet(char *str);
#endif /* PIOS_SYS_H */

4
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -63,10 +63,10 @@ typedef struct {
uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) UAVObjMetadata;

15
ground/ground.pro
View File

@ -2,21 +2,20 @@
# Top level Qt-Creator project file
#
# This meta-project allows qt-creator users to open
# and configure a single project and to build all
# required software to produce a GCS. This includes
# regenerating all uavobject output.
# This meta-project allows qt-creator users to open and configure a
# single project and to build all required software to produce a GCS.
# This includes regenerating all uavobject output.
#
# NOTE: To use this meta-project, you MUST perform these
# steps once for each SVN checkout:
# NOTE: to use this meta-project, you MUST perform these steps once
# for each source tree checkout:
# - Open <top>/ground/ground.pro in qt-creator
# - Select the "Projects" tab
# - Under Build Settings/General heading, click "Show Details"
# - Activate "Shadow Build"
# - Set your Build Directory to <top>/build/ground
#
# <top> = The full path to the base of your svn tree which should
# contain "flight", "ground", etc.
# <top> = the full path to the base of your git source tree which
# should contain "flight", "ground", etc.
# There is a small problem with dependencies. qmake needs synthetic
# files when it generates GCS Makefiles. But we do not have

86
ground/openpilotgcs/packaging/winx86/make_header.cmd Normal file
View File

@ -0,0 +1,86 @@
@echo off
rem
rem make_header - a workaround to build NSIS version info header from
rem Makefile using different environments (Windows cmd or Unix-like sh)
rem still being more or less portable.
rem
rem This script tries to find any git command line utility on the system.
rem First, it looks at the predefined location of git.exe installed by
rem msysgit package available at http://code.google.com/p/msysgit/
rem If not found, it searches for git executables in the system PATH.
rem If also not found, then it gives up and no commit info will be available.
rem
rem Expected parameters:
rem %1: repository source path
rem %2: header file full path and name
rem
rem FIXME: we should have product version info somewhere else
set OUT_FILE=OpenPilotGCS-%%%%ad-%%%%h-install.exe
set PRODUCT_VERSION=0.0.0.0
set FILE_VERSION=%%%%ad %%BRANCH%%:%%%%h
set BUILD_DESCRIPTION=Built using %%ORIGIN%% as origin, branch %%BRANCH%%, commit %%%%H, committed %%%%ci
set REPO=%1
set HEADER=%2
if "%REPO%" == "" goto NoRepo
if "%HEADER%" == "" goto NoHeader
goto OK
:NoRepo
:NoHeader
echo This script should be called from Makefile only
goto :eof
:Ok
rem Looking for git command line utility at the predefined msysgit location
rem first, and in the PATH last. Also note that we use call command which is
rem required if we execute a .cmd or .bat file instead of .exe
set GIT=%ProgramFiles%\Git\bin\git.exe
if exist "%GIT%" goto Found
for %%G in (git.exe) do set GIT=%%~$PATH:G
if exist "%GIT%" goto Found
for %%G in (git.cmd) do set GIT=%%~$PATH:G
if exist "%GIT%" goto Found
for %%G in (git.bat) do set GIT=%%~$PATH:G
if exist "%GIT%" goto Found
:NotFound
echo git not found, no version info available
goto :eof
:Found
echo Using "%GIT%" to extract version info from "%REPO%"...
rem Getting remote origin name
for /F "usebackq tokens=1-3" %%G in (`call "%GIT%" remote -v`) do (
if "%%G" == "origin" if "%%I" == "(fetch)" set ORIGIN=%%H
)
rem Getting branch name
for /F "usebackq tokens=1,2" %%G in (`call "%GIT%" branch --no-color`) do (
if "%%G" == "*" set BRANCH=%%H
)
rem Getting commit info
set OPTS=-1 --no-color --date=short
set OPTS=%OPTS% "--format=format:
set OPTS=%OPTS%;%%%%n
set OPTS=%OPTS%; AUTOGENERATED HEADER FILE%%%%n
set OPTS=%OPTS%;%%%%n
set OPTS=%OPTS%%%%%n
set OPTS=%OPTS%; Installer file name%%%%n
set OPTS=%OPTS%!define OUT_FILE \"%OUT_FILE%\"%%%%n
set OPTS=%OPTS%%%%%n
set OPTS=%OPTS%; Installer version info%%%%n
set OPTS=%OPTS%!define PRODUCT_VERSION \"%PRODUCT_VERSION%\"%%%%n
set OPTS=%OPTS%!define FILE_VERSION \"%FILE_VERSION%\"%%%%n
set OPTS=%OPTS%!define BUILD_DESCRIPTION \"%BUILD_DESCRIPTION%\"%%%%n"
pushd "%REPO%"
call "%GIT%" log %OPTS% >%HEADER%
popd

5
ground/openpilotgcs/packaging/winx86/Makefile.cmd → ground/openpilotgcs/packaging/winx86/make_installer.cmd
View File

@ -1,16 +1,11 @@
@echo off
rem
rem Project: OpenPilot
rem NSIS installer script file for OpenPilot GCS
rem The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2011.
rem
rem This script requires Unicode NSIS 2.46 or higher:
rem http://www.scratchpaper.com/
rem
rem Optional SVN utility to get currently used SVN revision is SubWCRev.exe,
rem it is a part of TortoiseSVN package or is available separately:
rem http://sourceforge.net/projects/tortoisesvn/files/Tools/1.6.7/SubWCRev-1.6.7.18415.msi/download
rem
rem Set path to NSIS compiler
set NSIS=%ProgramFiles%/NSIS/Unicode

6
ground/openpilotgcs/packaging/winx86/openpilotgcs.nsh
View File

@ -1,11 +1,11 @@
#
# SubWCRev not found, default values used instead.
# git not found, default values used instead.
#
; Installer file name
!define OUT_FILE "OpenPilotGCS-XXXX-install.exe"
!define OUT_FILE "OpenPilotGCS-unreleased-install.exe"
; Installer version info
!define PRODUCT_VERSION "0.0.0.0"
!define FILE_VERSION "0.0.0.0"
!define BUILD_DESCRIPTION "Unknown revision."
!define BUILD_DESCRIPTION "Unreleased version."

9
ground/openpilotgcs/packaging/winx86/openpilotgcs.nsi
View File

@ -20,16 +20,9 @@
# This script requires Unicode NSIS 2.46 or higher:
# http://www.scratchpaper.com/
#
# Optionally used SubWCRev utility to extract SVN info from working copy.
# SubWCRev is a part of TortoiseSVN client distribution:
# http://tortoisesvn.net/
# SubWCRev is also available separately:
# http://sourceforge.net/projects/tortoisesvn/files/Tools/1.6.7/SubWCRev-1.6.7.18415.msi/download
# Features:
# - Installs to the user local appdata path, no admin rights required.
# - Multilingual, needs translations for custom installer strings.
#
# TODO:
# - optionally install for all users (to Program Files with admin rights on Vista/7).
@ -69,7 +62,7 @@
VIProductVersion ${PRODUCT_VERSION}
VIAddVersionKey "ProductName" "${INSTALLER_NAME}"
VIAddVersionKey "FileVersion" ${FILE_VERSION}
VIAddVersionKey "FileVersion" "${FILE_VERSION}"
VIAddVersionKey "Comments" "${INSTALLER_NAME}. ${BUILD_DESCRIPTION}"
VIAddVersionKey "CompanyName" "The OpenPilot Team, http://www.openpilot.org"
VIAddVersionKey "LegalTrademarks" "${PRODUCT_NAME} is a trademark of The OpenPilot Team"

12
ground/openpilotgcs/packaging/winx86/openpilotgcs.tpl
View File

@ -1,12 +0,0 @@
#
# SubWCRev autogenerated file, do not modify.
# Generated using nsis.tpl template.
#
; Installer file name
!define OUT_FILE "OpenPilotGCS-$WCREV$-install.exe"
; Installer version info
!define PRODUCT_VERSION "0.0.0.$WCREV$"
!define FILE_VERSION "0.0.0.$WCREV$"
!define BUILD_DESCRIPTION "Last committed revision $WCREV$ ($WCDATE$) using$WCMIXED? mixed:$ SVN revision range $WCRANGE$$WCMODS? (locally modified):$. Built from $WCURL$ ($WCNOW$)."

37
ground/openpilotgcs/packaging/winx86/svninfo.mk
View File

@ -1,37 +0,0 @@
#
# SubWCRev not found, default values used instead.
# Generated using svninfo.tpl template.
#
# Highest committed revision number
WCREV = NA
# Date of highest committed revision
WCDATE = NA
# Mixed update revision state and revision range
WCMIXED = 0
WCMIXED_TXT = NA
WCRANGE = NA
# Repository URL of the working copy
WCURL = NA
# Current system date & time
WCNOW = NA
# Lock status, date, owner, and comment for this item
WCISLOCKED = 0
WCLOCKDATE = NA
WCLOCKOWNER = NA
WCLOCKCOMMENT = NA
# True if local modifications found
WCMODS = 0
WCMODS_TXT = NA
# True if the item is versioned
WCINSVN = 0
# True if the svn:needs-lock property is set
WCNEEDSLOCK = 0

37
ground/openpilotgcs/packaging/winx86/svninfo.tpl
View File

@ -1,37 +0,0 @@
#
# SubWCRev autogenerated file, do not modify.
# Generated using svninfo.tpl template.
#
# Highest committed revision number
WCREV = $WCREV$
# Date of highest committed revision
WCDATE = $WCDATE=%Y/%m/%d %H:%M:%S$
# Mixed update revision state and revision range
WCMIXED = $WCMIXED?1:0$
WCMIXED_TXT = $WCMIXED?(mixed):$
WCRANGE = $WCRANGE$
# Repository URL of the working copy
WCURL = $WCURL$
# Current system date & time
WCNOW = $WCNOW=%Y/%m/%d %H:%M:%S$
# Lock status, date, owner, and comment for this item
WCISLOCKED = $WCISLOCKED?1:0$
WCLOCKDATE = $WCLOCKDATE=%Y/%m/%d %H:%M:%S$
WCLOCKOWNER = $WCLOCKOWNER$
WCLOCKCOMMENT = $WCLOCKCOMMENT$
# True if local modifications found
WCMODS = $WCMODS?1:0$
WCMODS_TXT = $WCMODS?(modified):$
# True if the item is versioned
WCINSVN = $WCINSVN?1:0$
# True if the svn:needs-lock property is set
WCNEEDSLOCK = $WCNEEDSLOCK?1:0$

89
ground/openpilotgcs/packaging/winx86/winx86.pro
View File

@ -5,67 +5,46 @@ TEMPLATE = subdirs
# Some Windows packaging magic (for release build only)
equals(copydata, 1):win32:CONFIG(release, debug|release) {
WINX86_PATH = packaging/winx86
SVN_INFO_TEMPLATE = svninfo.tpl
SVN_INFO_MAKEFILE = svninfo.mk
NSIS_TEMPLATE = openpilotgcs.tpl
NSIS_HEADER = openpilotgcs.nsh
# Check for SubWCRev.exe executable required to get some useful SVN repository info.
# For example, currently checked out SVN revision (highest for the working copy).
# SubWCRev is a part of TortoiseSVN client distribution:
# http://tortoisesvn.net/
# SubWCRev is also available separately:
# http://sourceforge.net/projects/tortoisesvn/files/Tools/1.6.7/SubWCRev-1.6.7.18415.msi/download
# Default location is TortoiseSVN bin folder.
# FIXME: it should try to find in the PATH first, and use hardcoded reference last
SUBWCREV_EXE = $$targetPath(\"$$(ProgramFiles)/TortoiseSVN/bin/SubWCRev.exe\")
exists($$SUBWCREV_EXE) {
message("SubWCRev found: $${SUBWCREV_EXE}")
svninfo.commands += @echo Copying stubs... $$addNewline()
svninfo.commands += $(COPY_FILE)
svninfo.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
svninfo.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
svninfo.commands += $$addNewline()
svninfo.commands += $(COPY_FILE)
svninfo.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
svninfo.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
svninfo.commands += $$addNewline()
svninfo.commands += @echo Executing $${SUBWCREV_EXE} $$SVN_INFO_TEMPLATE $$SVN_INFO_MAKEFILE $$addNewline()
svninfo.commands += -@$$SUBWCREV_EXE $$targetPath($$GCS_SOURCE_TREE)
svninfo.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$SVN_INFO_TEMPLATE)
svninfo.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
svninfo.commands += $$addNewline()
svninfo.commands += @echo Executing $${SUBWCREV_EXE} $$NSIS_TEMPLATE $$NSIS_HEADER $$addNewline()
svninfo.commands += -@$$SUBWCREV_EXE $$targetPath($$GCS_SOURCE_TREE)
svninfo.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_TEMPLATE)
svninfo.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
svninfo.commands += $$addNewline()
} else {
message("SubWCRev not found, SVN info is not available")
svninfo.commands += $(COPY_FILE)
svninfo.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
svninfo.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
svninfo.commands += $$addNewline()
svninfo.commands += $(COPY_FILE)
svninfo.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
svninfo.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
svninfo.commands += $$addNewline()
# We need this Windows macro since building under Unix-like shell the top level
# targetPath macro will use forward slashes which don't work for such Windows
# commands like pushd, etc. But note that we still use targetPath for $(COPY_FILE)
# parameters because this command is different under native Windows and Unix-like
# build environments.
defineReplace(winTargetPath) {
return($$replace(1, /, \\))
}
svninfo.target = svninfo.dummy
QMAKE_EXTRA_TARGETS += svninfo
force.depends += svninfo
# Some file locations
WINX86_PATH = packaging/winx86
NSIS_HEADER = openpilotgcs.nsh
HEADER_MAKER = make_header.cmd
INSTALLER_MAKER = make_installer.cmd
# copy defaults first (will be used if no git available)
git.commands += @echo Copying default version info... $$addNewline()
git.commands += $(COPY_FILE)
git.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
git.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
git.commands += $$addNewline()
# extract repository info if command line git is available
git.commands += $$winTargetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$HEADER_MAKER)
git.commands += $$winTargetPath($$GCS_SOURCE_TREE)
git.commands += $$winTargetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
git.commands += $$addNewline()
git.target = git.dummy
QMAKE_EXTRA_TARGETS += git
force.depends += git
# Redefine FORCE target to collect data every time
force.target = FORCE
QMAKE_EXTRA_TARGETS += force
# Create installer build target - this WILL NOT run during build, run it by hand
message("Run \"make installer\" in $$GCS_BUILD_TREE/$$WINX86_PATH to build Windows installer (Unicode NSIS 2.46+ required)")
nsis.target = installer
nsis.depends = svninfo
nsis.commands += @$$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/Makefile.cmd)
message("Run \"make gcs_installer\" in $$GCS_BUILD_TREE/$$WINX86_PATH to build Windows installer (Unicode NSIS 2.46+ required)")
nsis.target = gcs_installer
nsis.depends = git
nsis.commands += @$$winTargetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$INSTALLER_MAKER)
QMAKE_EXTRA_TARGETS += nsis
}

6
ground/openpilotgcs/share/share.pro
View File

@ -8,14 +8,8 @@ DATACOLLECTIONS = dials models pfd sounds diagrams mapicons
equals(copydata, 1) {
for(dir, DATACOLLECTIONS) {
exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
# remove r/o and hidden attributes from .svn/* files from old build: they prevent copy over with cp -rp
win32:data_copy.commands += -@attrib -R -S -H $$targetPath(\"$$GCS_DATA_PATH/$$dir/*\") /S /D >nul 2>&1 $$addNewline()
macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
!macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
# remove r/o and hidden attributes from .svn/* files: they prevent cleaning with rm -rf
win32:data_copy.commands += attrib -R -S -H $$targetPath(\"$$GCS_DATA_PATH/$$dir/*\") /S /D $$addNewline()
}
}

2
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -408,7 +408,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES? true : false);
bool allInstances = (instId == ALL_INSTANCES);
// Process message type
switch (type) {

5
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -1,8 +1,9 @@
<xml>
<object name="FirmwareIAPObj" singleinstance="true" settings="false">
<description>Firmware IAP</description>
<description>Queries board for SN, model, revision, and sends reset command</description>
<field name="Command" units="" type="uint16" elements="1"/>
<field name="Description" units="" type="uint8" elements="100"/>
<field name="Description" units="" type="uint8" elements="40"/>
<field name="CPUSerial" units="" type="uint8" elements="12" />
<field name="BoardRevision" units="" type="uint16" elements="1"/>
<field name="BoardType" units="" type="uint8" elements="1"/>
<field name="ArmReset" units="" type="uint8" elements="1"/>

2
shared/uavobjectdefinition/systemalarms.xml
View File

@ -5,7 +5,7 @@
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="4000"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>