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Code Issues Releases Activity

OP-21/Flight PC app - CRC use

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1648 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-09-15 18:07:25 +00:00 committed by zedamota
parent 4d0d865c31
commit 63805b8f3b
3 changed files with 144 additions and 92 deletions
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47
ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
View File

@ -4,10 +4,12 @@
#include "op_dfu.h"
#include <QStringList>
#define PRIVATE false
#define PRIVATE true
int main(int argc, char *argv[])
{
// OP_DFU dfu(false);
// dfu.test();
QCoreApplication a(argc, argv);
if(argc>1||!PRIVATE)
{
@ -37,7 +39,7 @@ int main(int argc, char *argv[])
cout<<"| -d <number Of Device : (requires: -p or -dn) |\n";
cout<<"| -w <description> : (requires: -p) |\n";
cout<<"| -ca <file> : compares byte by byte current firmware with file|\n";
cout<<"| -ch <file> : compares hash of current firmware with file |\n";
cout<<"| -cc <file> : compares CRC of current firmware with file |\n";
cout<<"| -s : requests status of device |\n";
cout<<"| -r : resets the device |\n";
cout<<"| -j : exits bootloader and jumps to user FW |\n";
@ -55,17 +57,7 @@ int main(int argc, char *argv[])
}
// else if(args.contains(DOWNDESCRIPTION))
// {
// action=OP_DFU::downdesc;
// if(args.contains(DEVICE))
// {
// if(args.indexOf(DEVICE)+1<args.length())
// {
// device=(args[args.indexOf(DEVICE)+1]).toInt();
// }
// }
// }
else if(args.contains(PROGRAMFW))
{
if(args.contains(VERIFY))
@ -205,8 +197,10 @@ int main(int argc, char *argv[])
cout<<"Device Readable="<<dfu.devices[x].Readable<<"\n";
cout<<"Device Writable="<<dfu.devices[x].Writable<<"\n";
cout<<"Device SizeOfCode="<<dfu.devices[x].SizeOfCode<<"\n";
cout<<"Device SizeOfHash="<<dfu.devices[x].SizeOfHash<<"\n";
cout<<"BL Version="<<dfu.devices[x].BL_Version<<"\n";
cout<<"Device SizeOfDesc="<<dfu.devices[x].SizeOfDesc<<"\n";
cout<<"FW CRC="<<dfu.devices[x].FW_CRC<<"\n";
int size=((OP_DFU::device)dfu.devices[x]).SizeOfDesc;
cout<<"Description:"<<dfu.DownloadDescription(size).toLatin1().data()<<"\n";
cout<<"\n";
@ -225,10 +219,10 @@ int main(int argc, char *argv[])
}
if (action==OP_DFU::actionProgram)
{
OP_DFU::Status retstatus=dfu.UploadFirmware(file.toAscii(),verify);
OP_DFU::Status retstatus=dfu.UploadFirmware(file.toAscii(),verify, device);
if(retstatus!=OP_DFU::Last_operation_Success)
{
cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).data();
cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).toLatin1().data();
return -1;
}
if(!description.isEmpty())
@ -280,27 +274,10 @@ int main(int argc, char *argv[])
return 0;
}
OP_DFU dfu(true);
dfu.enterDFU(0);
// dfu.enterDFU(1);
// dfu.StartUpload(4,OP_DFU::Descript);
// QByteArray array;
// array[0]=11;
// array[1]=2;
// array[2]=3;
// array[3]=4;
// array[4]=5;
// array[5]=6;
// array[6]=7;
// array[7]=8;
// dfu.UploadData(8,array);
// dfu.UploadDescription(1,"jose manuel");
// QString str=dfu.DownloadDescription(1,12);
// dfu.JumpToApp();
//OP_DFU dfu(false);
//dfu.findDevices();
dfu.UploadFirmware("c:/openpilot.bin",true);
//dfu.UploadFirmware("c:/openpilot.bin",true,0);
// dfu.UploadDescription("josemanuel");
// QString str=dfu.DownloadDescription(12);
// dfu.JumpToApp();

170
ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
View File

@ -64,7 +64,7 @@ bool OP_DFU::enterDFU(int const &devNumber)
qDebug() << result << " bytes sent";
return true;
}
bool OP_DFU::StartUpload(qint32 const & numberOfBytes, TransferTypes const & type)
bool OP_DFU::StartUpload(qint32 const & numberOfBytes, TransferTypes const & type,quint32 crc)
{
int lastPacketCount;
qint32 numberOfPackets=numberOfBytes/4/14;
@ -87,8 +87,11 @@ bool OP_DFU::StartUpload(qint32 const & numberOfBytes, TransferTypes const & typ
buf[5] = numberOfPackets;//DFU Count
buf[6] = (int)type;//DFU Data0
buf[7] = lastPacketCount;//DFU Data1
buf[8] = 1;//DFU Data2
buf[9] = 1;//DFU Data3
buf[8] = crc>>24;
buf[9] = crc>>16;
buf[10] = crc>>8;
buf[11] = crc;
qDebug()<<"Number of packets:"<<numberOfPackets<<" Size of last packet:"<<lastPacketCount;
int result = hidHandle.send(0,buf, BUF_LEN, 5000);
if(debug)
@ -101,6 +104,7 @@ bool OP_DFU::StartUpload(qint32 const & numberOfBytes, TransferTypes const & typ
}
bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray & data)
{
qDebug()<<(int)data[0];
int lastPacketCount;
qint32 numberOfPackets=numberOfBytes/4/14;
int pad=(numberOfBytes-numberOfPackets*4*14)/4;
@ -147,6 +151,7 @@ bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray & data)
// }
// qDebug()<<" Data0="<<(int)data[0]<<" Data0="<<(int)data[1]<<" Data0="<<(int)data[2]<<" Data0="<<(int)data[3]<<" buf6="<<(int)buf[6]<<" buf7="<<(int)buf[7]<<" buf8="<<(int)buf[8]<<" buf9="<<(int)buf[9];
int result = hidHandle.send(0,buf, BUF_LEN, 5000);
if(result<1)
{
@ -170,7 +175,7 @@ OP_DFU::Status OP_DFU::UploadDescription(QString & description)
padding.fill(' ',pad);
description.append(padding);
}
if(!StartUpload(description.length(),OP_DFU::Descript))
if(!StartUpload(description.length(),OP_DFU::Descript,0))
return OP_DFU::abort;
QByteArray array=description.toAscii();
if(!UploadData(description.length(),array))
@ -181,10 +186,11 @@ OP_DFU::Status OP_DFU::UploadDescription(QString & description)
{
return OP_DFU::abort;
}
OP_DFU::Status ret=StatusRequest();
int ret=StatusRequest();
qDebug()<<"------"<<ret;
if(debug)
qDebug()<<"Upload description Status="<<ret;
return ret;
return (OP_DFU::Status)ret;
}
QString OP_DFU::DownloadDescription(int const & numberOfChars)
{
@ -194,6 +200,27 @@ QString OP_DFU::DownloadDescription(int const & numberOfChars)
return str;
}
void OP_DFU::test()
{
char buf[BUF_LEN];
int result;
buf[0]=0x02;
buf[1]=11;
buf[2]=11;
buf[63]=333;
while(true)
{
buf[0]=0x02;
++buf[1];
++buf[2];
++buf[63];
hidHandle.send(0,buf,BUF_LEN,5000);
result = hidHandle.receive(0,buf,BUF_LEN,5000);
qDebug()<<"Result="<<result;
qDebug()<<(int)buf[0]<<":"<<(int)buf[1]<<":"<<(int)buf[2]<<":"<<(int)buf[63];
}}
QByteArray OP_DFU::StartDownload(qint32 const & numberOfBytes, TransferTypes const & type)
{
int lastPacketCount;
@ -359,9 +386,18 @@ bool OP_DFU::findDevices()
int result = hidHandle.send(0,buf, BUF_LEN, 5000);
result = hidHandle.receive(0,buf,BUF_LEN,5000);
devices[x].ID=buf[9];
devices[x].SizeOfHash=buf[7];
devices[x].BL_Version=buf[7];
devices[x].SizeOfDesc=buf[8];
quint32 aux;
aux=(quint8)buf[10];
aux=aux<<8 |(quint8)buf[11];
aux=aux<<8 |(quint8)buf[12];
aux=aux<<8 |(quint8)buf[13];
devices[x].FW_CRC=aux;
aux=(quint8)buf[2];
aux=aux<<8 |(quint8)buf[3];
aux=aux<<8 |(quint8)buf[4];
@ -378,8 +414,9 @@ bool OP_DFU::findDevices()
qDebug()<<"Device Readable="<<devices[x].Readable;
qDebug()<<"Device Writable="<<devices[x].Writable;
qDebug()<<"Device SizeOfCode="<<devices[x].SizeOfCode;
qDebug()<<"Device SizeOfHash="<<devices[x].SizeOfHash;
qDebug()<<"Device SizeOfDesc="<<devices[x].SizeOfDesc;
qDebug()<<"BL Version="<<devices[x].BL_Version;
qDebug()<<"FW CRC="<<devices[x].FW_CRC;
}
}
}
@ -407,7 +444,7 @@ bool OP_DFU::EndOperation()
return true;
return false;
}
OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify)
OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify,int device)
{
cout<<"Starting Firmware Uploading...\n";
QFile file(sfile);
@ -419,9 +456,7 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify)
return OP_DFU::abort;
}
QByteArray arr=file.readAll();
QByteArray hash=QCryptographicHash::hash(arr,QCryptographicHash::Sha1);
if(debug)
qDebug()<<"hash size="<<hash.length()<<" -"<<hash;
if(debug)
qDebug()<<"Bytes Loaded="<<arr.length();
if(arr.length()%4!=0)
@ -432,12 +467,22 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify)
pad=pad-arr.length();
arr.append(QByteArray(pad,255));
}
if(!StartUpload(arr.length(),FW))
quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode);
if(!StartUpload(arr.length(),FW,crc))
{
if(debug)
qDebug()<<"StartUpload failed";
return OP_DFU::abort;
}
cout<<"Erasing memory";
for(int x=0;x<3;++x)
{
OP_DFU::Status ret=StatusRequest();
if (ret==OP_DFU::uploading)
break;
else
return OP_DFU::abort;
}
if(!UploadData(arr.length(),arr))
{
if(debug)
@ -469,7 +514,6 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify)
cout<<"Verify:FAILED\n";
return OP_DFU::abort;
}
}
else
{
@ -477,34 +521,7 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify)
}
if(debug)
qDebug()<<"Status="<<ret;
if(!StartUpload(hash.length(),Hash))
{
if(debug)
qDebug()<<"StartUpload failed";
return OP_DFU::abort;
}
cout<<"Firmware Uploading succeeded...going to upload hash\n";
if(!UploadData(hash.length(),hash))
{
if(debug)
qDebug()<<"Upload failed";
return OP_DFU::abort;
}
if(!EndOperation())
{
{
if(debug)
qDebug()<<"Upload failed";
return OP_DFU::abort;
}
}
ret=StatusRequest();
if(debug)
qDebug()<<"Status="<<ret;
if(ret==OP_DFU::Last_operation_Success)
{
cout<<"Hash Uploading succeeded...\n";
}
cout<<"Firmware Uploading succeeded\n";
return ret;
}
OP_DFU::Status OP_DFU::CompareFirmware(const QString &sfile, const CompareType &type)
@ -533,15 +550,15 @@ OP_DFU::Status OP_DFU::CompareFirmware(const QString &sfile, const CompareType &
}
if(type==OP_DFU::hashcompare)
{
if(hash==StartDownload(hash.length(),OP_DFU::Hash))
{
cout<<"Compare Successfull Hashes MATCH!\n";
}
else
{
cout<<"Compare failed Hashes DONT MATCH!\n";
}
return StatusRequest();
// if(hash==StartDownload(hash.length(),OP_DFU::Hash))
// {
// cout<<"Compare Successfull Hashes MATCH!\n";
// }
// else
// {
// cout<<"Compare failed Hashes DONT MATCH!\n";
// }
// return StatusRequest();
}
else
{
@ -591,6 +608,10 @@ QString OP_DFU::StatusToString(OP_DFU::Status const & status)
return "Last_operation_failed";
case outsideDevCapabilities:
return "outsideDevCapabilities";
case CRC_Fail:
return "CRC check FAILED";
case failed_jump:
return "Jmp to user FW failed";
case abort:
return "abort";
default:
@ -615,3 +636,50 @@ void OP_DFU::printProgBar( int const & percent,QString const& label){
std::cout.width( 3 );
std::cout<< percent << "% " << std::flush;
}
quint32 OP_DFU::CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer)
{
//Size = Size >> 2; // /4 Size passed in as a byte count, assumed to be a multiple of 4
while(Size--)
{
static const quint32 CrcTable[16] = { // Nibble lookup table for 0x04C11DB7 polynomial
0x00000000,0x04C11DB7,0x09823B6E,0x0D4326D9,0x130476DC,0x17C56B6B,0x1A864DB2,0x1E475005,
0x2608EDB8,0x22C9F00F,0x2F8AD6D6,0x2B4BCB61,0x350C9B64,0x31CD86D3,0x3C8EA00A,0x384FBDBD };
Crc = Crc ^ *((quint32 *)Buffer); // Apply all 32-bits
Buffer += 1;
// Process 32-bits, 4 at a time, or 8 rounds
Crc = (Crc << 4) ^ CrcTable[Crc >> 28]; // Assumes 32-bit reg, masking index to 4-bits
Crc = (Crc << 4) ^ CrcTable[Crc >> 28]; // 0x04C11DB7 Polynomial used in STM32
Crc = (Crc << 4) ^ CrcTable[Crc >> 28];
Crc = (Crc << 4) ^ CrcTable[Crc >> 28];
Crc = (Crc << 4) ^ CrcTable[Crc >> 28];
Crc = (Crc << 4) ^ CrcTable[Crc >> 28];
Crc = (Crc << 4) ^ CrcTable[Crc >> 28];
Crc = (Crc << 4) ^ CrcTable[Crc >> 28];
}
return(Crc);
}
quint32 OP_DFU::CRCFromQBArray(QByteArray array, quint32 Size)
{
int pad=Size-array.length();
array.append(QByteArray(pad,255));
quint32 t[Size/4];
for(int x=0;x<array.length()/4;x++)
{
quint32 aux=0;
aux=(char)array[x*4+3]&0xFF;
aux=aux<<8;
aux+=(char)array[x*4+2]&0xFF;
aux=aux<<8;
aux+=(char)array[x*4+1]&0xFF;
aux=aux<<8;
aux+=(char)array[x*4+0]&0xFF;
t[x]=aux;
}
return CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t);
}

17
ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
View File

@ -18,7 +18,7 @@ using namespace std;
#define PROGRAMFW "-p" //done
#define PROGRAMDESC "-w" //done
#define VERIFY "-v" //done
#define COMPAREHASH "-ch"
#define COMPAREHASH "-cc"
#define COMPAREALL "-ca"
#define STATUSREQUEST "-s" //done
#define LISTDEVICES "-ls" //done
@ -31,7 +31,6 @@ public:
enum TransferTypes
{
FW,
Hash,
Descript
};
enum CompareType
@ -52,6 +51,8 @@ public:
idle,
Last_operation_failed,
outsideDevCapabilities,
CRC_Fail,
failed_jump,
abort
};
@ -88,7 +89,8 @@ public:
struct device
{
int ID;
int SizeOfHash;
quint32 FW_CRC;
int BL_Version;
int SizeOfDesc;
quint32 SizeOfCode;
bool Readable;
@ -98,10 +100,10 @@ public:
void JumpToApp();
void ResetDevice(void);
bool enterDFU(int const &devNumber);
bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type);
bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type,quint32 crc);
bool UploadData(qint32 const & numberOfPackets,QByteArray & data);
Status UploadDescription(QString & description);
Status UploadFirmware(const QString &sfile, const bool &verify);
Status UploadFirmware(const QString &sfile, const bool &verify,int device);
Status StatusRequest();
bool EndOperation();
void printProgBar( int const & percent,QString const& label);
@ -116,6 +118,9 @@ public:
int numberOfDevices;
QString StatusToString(OP_DFU::Status const & status);
OP_DFU::Status CompareFirmware(const QString &sfile, const CompareType &type);
quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
quint32 CRCFromQBArray(QByteArray array, quint32 Size);
void test();
private:
bool debug;
int RWFlags;
@ -124,4 +129,6 @@ private:
int setStartBit(int command){return command|0x20;}
};
#endif // OP_DFU_H