Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2

flight/Bootloaders/BootloaderUpdater/main.c

@@ -28,6 +28,7 @@
 /* Bootloader Includes */
 #include <pios.h>
 #include <stdbool.h>
+#include "pios_board_info.h"
 
 #define MAX_WRI_RETRYS 3
 /* Prototype of PIOS_Board_Init() function */
@@ -56,6 +57,31 @@ int main() {
 	if ((0x08000000 + embedded_image_size) > base_address)
 		error();
 	///
+
+	/*
+	 * Make sure the bootloader we're carrying is for the same
+	 * board type and board revision as the one we're running on.
+	 *
+	 * Assume the bootloader in flash and the bootloader contained in
+	 * the updater both carry a board_info_blob at the end of the image.
+	 */
+
+	/* Calculate how far the board_info_blob is from the beginning of the bootloader */
+	uint32_t board_info_blob_offset = (uint32_t)&pios_board_info_blob - (uint32_t)0x08000000;
+
+	/* Use the same offset into our embedded bootloader image */
+	struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
+		((uint32_t)embedded_image_start + board_info_blob_offset);
+
+	/* Compare the two board info blobs to make sure they're for the same HW revision */
+	if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
+		(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
+		(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
+		error();
+	}
+
+	/* Embedded bootloader looks like it's the right one for this HW, proceed... */
+
 	FLASH_Unlock();
 
 	/// Bootloader memory space erase

flight/Bootloaders/CopterControl/main.c

@@ -74,7 +74,7 @@ int main() {
 	PIOS_Board_Init();
 	PIOS_IAP_Init();
 	
-	USB_connected = PIOS_USB_CheckAvailable(0);
+	USB_connected = PIOS_USB_CableConnected(0);
 
 	if (PIOS_IAP_CheckRequest() == TRUE) {
 		PIOS_DELAY_WaitmS(1000);

flight/PiOS/STM32F10x/pios_usb.c

@@ -40,7 +40,7 @@
 #if defined(PIOS_INCLUDE_USB_HID)
 
 /* Rx/Tx status */
-static uint8_t transfer_possible = 0;
+static bool transfer_possible = false;
 
 enum pios_usb_dev_magic {
 	PIOS_USB_DEV_MAGIC = 0x17365904,
@@ -152,7 +152,7 @@ int32_t PIOS_USB_ChangeConnectionState(bool Connected)
 {
 	// In all cases: re-initialise USB HID driver
 	if (Connected) {
-		transfer_possible = 1;
+		transfer_possible = true;
 
 		//TODO: Check SetEPRxValid(ENDP1);
 
@@ -161,7 +161,7 @@ int32_t PIOS_USB_ChangeConnectionState(bool Connected)
 #endif
 	} else {
 		// Cable disconnected: disable transfers
-		transfer_possible = 0;
+		transfer_possible = false;
 
 #if defined(USB_LED_OFF)
 		USB_LED_OFF;	// turn the USB led off
@@ -207,22 +207,30 @@ int32_t PIOS_USB_Reenumerate()
 	return 0;
 }
 
+bool PIOS_USB_CableConnected(uint8_t id)
+{
+	struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
+
+	if (PIOS_USB_validate(usb_dev) != 0)
+		return false;
+
+	return usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin;
+}
+
 /**
  * This function returns the connection status of the USB HID interface
  * \return 1: interface available
  * \return 0: interface not available
  * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
  */
-uint32_t usb_found;
 bool PIOS_USB_CheckAvailable(uint8_t id)
 {
 	struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
 
-	if(PIOS_USB_validate(usb_dev) != 0)
-		return 0;
+	if (PIOS_USB_validate(usb_dev) != 0)
+		return false;
 
-	usb_found = (usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin);
-	return usb_found != 0 && transfer_possible ? 1 : 0;
+	return PIOS_USB_CableConnected(id) && transfer_possible;
 }
 
 #endif

flight/PiOS/inc/pios_usb.h

@@ -35,6 +35,7 @@
 /* Global functions */
 extern int32_t PIOS_USB_Reenumerate();
 extern int32_t PIOS_USB_ChangeConnectionState(bool connected);
+extern bool PIOS_USB_CableConnected(uint8_t id);
 extern bool PIOS_USB_CheckAvailable(uint8_t id);
 
 #endif /* PIOS_USB_H */