mirror of
https://bitbucket.org/librepilot/librepilot.git
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OP-21/Flight Bootloader - Various fixes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1678 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota
zedamota
parent
35c36da060
commit
97b44ffb04
@ -56,6 +56,12 @@ int main() {
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uint8_t GO_dfu = false;
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Enable Prefetch Buffer */
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FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
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/* Delay system */
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PIOS_DELAY_Init();
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for (uint32_t t = 0; t < 20000000; ++t) {
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@ -66,6 +72,7 @@ int main() {
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break;
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}
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}
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GO_dfu=TRUE;
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GO_dfu = GO_dfu;// OR with app boot request
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if (GO_dfu == FALSE) {
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jump_to_app();
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@ -119,12 +126,14 @@ void process_spi_request(void) {
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return;
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}
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switch (user_rx_v0.payload.user.t) {
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case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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Fw_crc = crc_memory_calc();
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lfsm_user_set_tx_v0(&user_tx_v0);
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//boot_status=idle;
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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break;
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case OPAHRS_MSG_V0_REQ_RESET:
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@ -132,7 +141,7 @@ void process_spi_request(void) {
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PIOS_SYS_Reset();
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break;
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case OPAHRS_MSG_V0_REQ_VERSIONS:
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PIOS_LED_Toggle(LED1);
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//PIOS_LED_Toggle(LED1);
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
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user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
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user_tx_v0.payload.user.v.rsp.versions.hw_version = HW_VERSION;
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@ -162,8 +171,14 @@ void process_spi_request(void) {
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lfsm_user_set_tx_v0(&user_tx_v0);
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//PIOS_LED_Toggle(LED1);
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break;
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case OPAHRS_MSG_V0_REQ_FWUP_STATUS:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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user_tx_v0.payload.user.v.rsp.fwup_status.status=boot_status;
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lfsm_user_set_tx_v0(&user_tx_v0);
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PIOS_LED_Toggle(LED1);
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break;
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case OPAHRS_MSG_V0_REQ_FWUP_DATA:
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_REQ_FWUP_DATA);
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
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< START_OF_USER_CODE)) {
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if (FLASH_ProgramWord(
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@ -180,16 +195,20 @@ void process_spi_request(void) {
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_FWUP_START:
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FLASH_Unlock();
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opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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lfsm_user_set_tx_v0(&user_tx_v0);
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PIOS_LED_On(LED1);
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if (FLASH_Start() == TRUE) {
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boot_status = started;
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PIOS_LED_Off(LED1);
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} else {
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boot_status = start_failed;
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break;
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}
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user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
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lfsm_user_set_tx_v0(&user_tx_v0);
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break;
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case OPAHRS_MSG_V0_REQ_BOOT:
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PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.boot.boot_delay_in_ms);
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@ -203,6 +222,7 @@ void process_spi_request(void) {
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/* Finished processing the received message, requeue it */
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lfsm_user_set_rx_v0(&user_rx_v0);
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lfsm_user_done();
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return;
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}
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void jump_to_app() {
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if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
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@ -29,6 +29,7 @@
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#include <pios_spi_priv.h>
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/* OP Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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@ -93,6 +93,7 @@ PIOS = ../../PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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@ -137,7 +138,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
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SRC += $(PIOSSTM32F10X)/pios_debug.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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#SRC += $(PIOSSTM32F10X)/pios_exti.c
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SRC += $(PIOSSTM32F10X)/pios_wdg.c
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#SRC += $(PIOSSTM32F10X)/pios_wdg.c
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# PIOS USB related files (seperated to make code maintenance more easy)
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@ -151,7 +152,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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## PIOS Hardware (Common)
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#SRC += $(PIOSCOMMON)/pios_sdcard.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_bmp085.c
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#SRC += $(PIOSCOMMON)/pios_bmp085.c
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SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
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SRC += $(PIOSCOMMON)/pios_bl_helper.c
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@ -160,23 +161,21 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/buffer.c
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#SRC += $(FLIGHTLIB)/WorldMagModel.c
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#SRC += $(FLIGHTLIB)/CoordinateConversions.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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@ -195,27 +194,6 @@ SRC += $(STMUSBSRCDIR)/usb_mem.c
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SRC += $(STMUSBSRCDIR)/usb_regs.c
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SRC += $(STMUSBSRCDIR)/usb_sil.c
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## RTOS
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#SRC += $(RTOSSRCDIR)/list.c
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#SRC += $(RTOSSRCDIR)/queue.c
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#SRC += $(RTOSSRCDIR)/tasks.c
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## RTOS Portable
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#SRC += $(RTOSSRCDIR)/portable/GCC/ARM_CM3/port.c
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#SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
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## Dosfs file system
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#SRC += $(DOSFSDIR)/dosfs.c
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#SRC += $(DOSFSDIR)/dfs_sdcard.c
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## Mass Storage Device
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#SRC += $(MSDDIR)/msd.c
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#SRC += $(MSDDIR)/msd_bot.c
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#SRC += $(MSDDIR)/msd_desc.c
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#SRC += $(MSDDIR)/msd_memory.c
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#SRC += $(MSDDIR)/msd_scsi.c
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#SRC += $(MSDDIR)/msd_scsi_data.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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@ -255,6 +233,7 @@ EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(STMUSBINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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@ -403,9 +382,9 @@ OOCD_CL=-d0
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# interface and board/target settings (using the OOCD target-library here)
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UNAME := $(shell uname)
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ifeq ($(UNAME), Darwin)
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
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OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
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else
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
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OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
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endif
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# initialize
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OOCD_CL+=-c init
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@ -30,8 +30,8 @@ typedef enum {
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Last_operation_failed, //8
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uploadingStarting, //9
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outsideDevCapabilities, //10
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CRC_Fail,
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failed_jump,
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CRC_Fail,//11
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failed_jump,//12
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} DFUStates;
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/**************************************************/
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/* OP_DFU commands */
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@ -53,7 +53,7 @@
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#define PIOS_INCLUDE_OPAHRS
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#define PIOS_INCLUDE_COM
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//#define PIOS_INCLUDE_SDCARD
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#define PIOS_INCLUDE_SETTINGS
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//#define PIOS_INCLUDE_SETTINGS
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//#define PIOS_INCLUDE_FREERTOS
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#define PIOS_INCLUDE_GPIO
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//#define PIOS_INCLUDE_EXTI
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@ -60,10 +60,10 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
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/* Extern variables ----------------------------------------------------------*/
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DFUStates DeviceState;
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uint8_t JumpToApp = FALSE;
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uint8_t GO_dfu = false;
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uint8_t USB_connected = false;
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uint8_t User_DFU_request = false;
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uint8_t Receive_Buffer[64];
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uint8_t GO_dfu = FALSE;
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uint8_t USB_connected = FALSE;
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uint8_t User_DFU_request = FALSE;
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static uint8_t mReceive_Buffer[64];
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/* Private function prototypes -----------------------------------------------*/
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uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
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uint8_t processRX();
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@ -81,7 +81,7 @@ int main() {
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if (BSL_HOLD_STATE == 0)
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USB_connected = TRUE;
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GO_dfu = USB_connected | User_DFU_request;
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GO_dfu = USB_connected || User_DFU_request;
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if (GO_dfu == TRUE) {
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PIOS_Board_Init();
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PIOS_OPAHRS_Init();
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@ -89,14 +89,14 @@ int main() {
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STOPWATCH_Init(100);
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USB_connected = TRUE;
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PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
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OPDfuIni(false);
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//OPDfuIni(false);
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} else
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JumpToApp = TRUE;
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STOPWATCH_Reset();
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while (TRUE) {
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if (JumpToApp == TRUE)
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jump_to_app();
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//pwm_period = 50; // *100 uS -> 5 mS
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@ -193,17 +193,13 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
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}
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uint8_t processRX() {
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uint32_t n = 0;
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n = PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB);
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if (n != 0) {
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n = (n > 63) ? 63 : n;
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for (int32_t x = 0; x < n; ++x) {
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Receive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
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while(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB)>=63)
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{
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for (int32_t x = 0; x < 63; ++x) {
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mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
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}
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processComand(Receive_Buffer);
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return TRUE;
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//PIOS_IRQ_Enable();
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processComand(mReceive_Buffer);
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}
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return FALSE;
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return TRUE;
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}
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@ -62,7 +62,7 @@ uint8_t Data2;
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uint8_t Data3;
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uint8_t offset = 0;
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uint32_t aux;
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uint8_t spi_dev_desc[200];
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uint8_t spi_dev_desc[200]={0};
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//Download vars
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uint32_t downSizeOfLastPacket = 0;
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uint32_t downPacketTotal = 0;
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@ -81,6 +81,7 @@ void DataDownload(DownloadAction action) {
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uint8_t packetSize;
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uint32_t offset;
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uint32_t partoffset;
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SendBuffer[0] = 0x01;
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SendBuffer[1] = Download;
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SendBuffer[2] = downPacketCurrent >> 24;
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@ -93,23 +94,23 @@ void DataDownload(DownloadAction action) {
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packetSize = 14;
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}
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for (uint8_t x = 0; x < packetSize; ++x) {
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offset = baseOfAdressType(downType) + (downPacketCurrent * 14 * 4)
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+ (x * 4);
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partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
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offset = baseOfAdressType(downType) + partoffset;
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switch (currentProgrammingDestination) {
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case Self_flash:
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SendBuffer[6 + (x * 4)] = spi_dev_desc[offset];
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SendBuffer[7 + (x * 4)] = spi_dev_desc[offset + 1];
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SendBuffer[8 + (x * 4)] = spi_dev_desc[offset + 2];
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SendBuffer[9 + (x * 4)] = spi_dev_desc[offset + 3];
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break;
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case Remote_flash_via_spi:
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if (downType == Descript) {
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SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
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SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
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SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
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SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
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break;
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SendBuffer[6 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset];
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SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset + 1];
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SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset + 2];
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SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset + 3];
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}
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break;
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case Self_flash:
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SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
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SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
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SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
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SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
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break;
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}
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}
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@ -125,24 +126,25 @@ void DataDownload(DownloadAction action) {
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}
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}
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void processComand(uint8_t *Receive_Buffer) {
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void processComand(uint8_t *xReceive_Buffer) {
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Command = Receive_Buffer[COMMAND];
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Command = xReceive_Buffer[COMMAND];
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EchoReqFlag = (Command >> 7);
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EchoAnsFlag = (Command >> 6) & 0x01;
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StartFlag = (Command >> 5) & 0x01;
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Count = Receive_Buffer[COUNT] << 24;
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Count += Receive_Buffer[COUNT + 1] << 16;
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Count += Receive_Buffer[COUNT + 2] << 8;
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Count += Receive_Buffer[COUNT + 3];
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Data = Receive_Buffer[DATA] << 24;
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Data += Receive_Buffer[DATA + 1] << 16;
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Data += Receive_Buffer[DATA + 2] << 8;
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Data += Receive_Buffer[DATA + 3];
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Data0 = Receive_Buffer[DATA];
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Data1 = Receive_Buffer[DATA + 1];
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Data2 = Receive_Buffer[DATA + 2];
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Data3 = Receive_Buffer[DATA + 3];
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Count = xReceive_Buffer[COUNT] << 24;
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Count += xReceive_Buffer[COUNT + 1] << 16;
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Count += xReceive_Buffer[COUNT + 2] << 8;
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Count += xReceive_Buffer[COUNT + 3];
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Data = xReceive_Buffer[DATA] << 24;
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Data += xReceive_Buffer[DATA + 1] << 16;
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Data += xReceive_Buffer[DATA + 2] << 8;
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Data += xReceive_Buffer[DATA + 3];
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Data0 = xReceive_Buffer[DATA];
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Data1 = xReceive_Buffer[DATA + 1];
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||||
Data2 = xReceive_Buffer[DATA + 2];
|
||||
Data3 = xReceive_Buffer[DATA + 3];
|
||||
Command = Command & 0b00011111;
|
||||
|
||||
if (EchoReqFlag == 1) {
|
||||
@ -152,7 +154,7 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
case EnterDFU:
|
||||
if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
|
||||
|| (DeviceState == DFUidle)) {
|
||||
if(Data0>0)
|
||||
if (Data0 > 0)
|
||||
OPDfuIni(TRUE);
|
||||
DeviceState = DFUidle;
|
||||
currentProgrammingDestination = devicesTable[Data0].programmingType;
|
||||
@ -166,7 +168,7 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
result = FLASH_Ini();
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
//TODO result=SPI_FLASH();
|
||||
result = TRUE;
|
||||
break;
|
||||
default:
|
||||
DeviceState = Last_operation_failed;
|
||||
@ -176,9 +178,6 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint32_t) Command;
|
||||
}
|
||||
} else {
|
||||
DeviceState = outsideDevCapabilities;
|
||||
Aditionals = (uint32_t) Command;
|
||||
}
|
||||
break;
|
||||
case Upload:
|
||||
@ -189,8 +188,8 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
Next_Packet = 1;
|
||||
Expected_CRC = Data2 << 24;
|
||||
Expected_CRC += Data3 << 16;
|
||||
Expected_CRC += Receive_Buffer[DATA + 4] << 8;
|
||||
Expected_CRC += Receive_Buffer[DATA + 5];
|
||||
Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
|
||||
Expected_CRC += xReceive_Buffer[DATA + 5];
|
||||
SizeOfLastPacket = Data1;
|
||||
|
||||
if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
|
||||
@ -206,15 +205,23 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
result = FLASH_Start();
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
if (PIOS_OPAHRS_bl_FwupVerify(&rsp)
|
||||
== OPAHRS_RESULT_OK) {
|
||||
if (rsp.payload.user.v.rsp.fwup_status.status
|
||||
== started) {
|
||||
result = TRUE;
|
||||
} else
|
||||
result = FALSE;
|
||||
} else
|
||||
result = FALSE;
|
||||
PIOS_OPAHRS_bl_FwupStart(&rsp);
|
||||
result = FALSE;
|
||||
for (int i = 0; i < 5; ++i) {
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
PIOS_OPAHRS_bl_resync();
|
||||
if (PIOS_OPAHRS_bl_FwupStatus(&rsp)
|
||||
== OPAHRS_RESULT_OK) {
|
||||
if (rsp.payload.user.v.rsp.fwup_status.status
|
||||
== started) {
|
||||
result = TRUE;
|
||||
break;
|
||||
} else {
|
||||
result = FALSE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
|
||||
@ -241,15 +248,15 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
}
|
||||
for (uint8_t x = 0; x < numberOfWords; ++x) {
|
||||
offset = 4 * x;
|
||||
Data = Receive_Buffer[DATA + offset] << 24;
|
||||
Data += Receive_Buffer[DATA + 1 + offset] << 16;
|
||||
Data += Receive_Buffer[DATA + 2 + offset] << 8;
|
||||
Data += Receive_Buffer[DATA + 3 + offset];
|
||||
Data = xReceive_Buffer[DATA + offset] << 24;
|
||||
Data += xReceive_Buffer[DATA + 1 + offset] << 16;
|
||||
Data += xReceive_Buffer[DATA + 2 + offset] << 8;
|
||||
Data += xReceive_Buffer[DATA + 3 + offset];
|
||||
aux = baseOfAdressType(TransferType) + (uint32_t)(Count
|
||||
* 14 * 4 + x * 4);
|
||||
uint8_t result = 0;
|
||||
struct opahrs_msg_v0 rsp;
|
||||
struct opahrs_msg_v0 req;
|
||||
struct opahrs_msg_v0 req;
|
||||
switch (currentProgrammingDestination) {
|
||||
case Self_flash:
|
||||
for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
|
||||
@ -372,9 +379,10 @@ void processComand(uint8_t *Receive_Buffer) {
|
||||
DeviceState = outsideDevCapabilities;
|
||||
Aditionals = (uint32_t) Command;
|
||||
|
||||
} else
|
||||
} else {
|
||||
downPacketCurrent = 0;
|
||||
DeviceState = downloading;
|
||||
DeviceState = downloading;
|
||||
}
|
||||
} else {
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint32_t) Command;
|
||||
@ -441,7 +449,7 @@ void OPDfuIni(uint8_t discover) {
|
||||
dev.FW_Crc = 0;
|
||||
break;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(500);
|
||||
PIOS_DELAY_WaitmS(50);
|
||||
}
|
||||
if (found_spi_device == TRUE) {
|
||||
struct opahrs_msg_v0 rsp;
|
||||
@ -450,9 +458,11 @@ void OPDfuIni(uint8_t discover) {
|
||||
dev.BL_Version = rsp.payload.user.v.rsp.versions.bl_version;
|
||||
dev.FW_Crc = rsp.payload.user.v.rsp.versions.fw_version;
|
||||
dev.devID = rsp.payload.user.v.rsp.versions.hw_version;
|
||||
memcpy(spi_dev_desc,
|
||||
rsp.payload.user.v.rsp.versions.description,
|
||||
sizeof(rsp.payload.user.v.rsp.versions.description));
|
||||
for(int x=0;x<200;++x)
|
||||
{
|
||||
spi_dev_desc[x]=(uint8_t)rsp.payload.user.v.rsp.versions.description[x];
|
||||
|
||||
}
|
||||
if (PIOS_OPAHRS_bl_GetMemMap(&rsp) == OPAHRS_RESULT_OK) {
|
||||
dev.readWriteFlags
|
||||
= rsp.payload.user.v.rsp.mem_map.rw_flags;
|
||||
@ -503,11 +513,15 @@ uint32_t CalcFirmCRC() {
|
||||
return crc_memory_calc();
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
if (PIOS_OPAHRS_bl_FwupVerify(&rsp) == OPAHRS_RESULT_OK) {
|
||||
PIOS_OPAHRS_bl_FwupVerify(&rsp);
|
||||
for (int i = 0; i < 5; ++i) {
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
PIOS_OPAHRS_bl_resync();
|
||||
if (PIOS_OPAHRS_bl_GetVersions(&rsp) == OPAHRS_RESULT_OK) {
|
||||
return rsp.payload.user.v.rsp.versions.fw_version;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
break;
|
||||
default:
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user