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Code Issues Releases Activity

OP-317: Fixed the FirmwareIAP resetting the AHRS board. Sorry this took me so

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long to do.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3029 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-03-12 09:08:12 +00:00 committed by peabody124
parent c3732bad93
commit b76a235940
1 changed files with 27 additions and 25 deletions
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52
flight/Modules/FirmwareIAP/firmwareiap.c
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@ -38,11 +38,12 @@
#define IAP_CMD_CRC 100
#define IAP_CMD_VERIFY 101
#define IAP_CMD_VERSION 102
#define IAP_CMD_VERSION 102
#define IAP_STATE_READY 0
#define IAP_STATE_STEP_1 1
#define IAP_STATE_STEP_2 2
#define IAP_STATE_RESETTING 3
#define RESET_DELAY 500 /* delay between sending reset ot INS */
@ -60,6 +61,8 @@ const uint32_t iap_time_3_high_end = 5000;
// 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);
@ -74,9 +77,6 @@ static uint32_t get_time(void);
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void resetTask(UAVObjEvent *);
@ -114,12 +114,15 @@ int32_t FirmwareIAPInitialize()
* \note
*
*/
static uint8_t iap_state = IAP_STATE_READY;
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
static uint32_t last_time = 0;
static uint16_t iap_state = IAP_STATE_READY;
uint32_t this_time;
uint32_t delta;
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
if(iap_state == IAP_STATE_RESETTING)
return;
if ( ev->obj == FirmwareIAPObjHandle() ) {
// Get the input object data
@ -134,7 +137,7 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
data.crc = iap_calc_crc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(taskHandle==0))
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
{
data.ArmReset=0;
FirmwareIAPObjSet( &data );
@ -164,9 +167,12 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
PIOS_IAP_SetRequest2();
/* Note: Cant just wait timeout value, because first time is randomized */
reset_count = 0;
lastResetSysTime = xTaskGetTickCount();
UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
memset(ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(ev, resetTask, 10);
EventPeriodicCallbackCreate(ev, resetTask, 100);
iap_state = IAP_STATE_RESETTING;
} else {
iap_state = IAP_STATE_READY;
}
@ -174,6 +180,9 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_RESETTING:
// stay here permanentally, should reboot
break;
default:
iap_state = IAP_STATE_READY;
break;
@ -242,25 +251,18 @@ static void read_description(uint8_t * array)
* Executed by event dispatcher callback to reset INS before resetting OP
*/
static void resetTask(UAVObjEvent * ev)
{
static portTickType lastSysTime;
static uint8_t count = 0;
static uint8_t first = 1;
{
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
if(first == 1) { /* Initialize */
lastSysTime = xTaskGetTickCount();
first = 0;
}
if((portTickType) (xTaskGetTickCount() - lastSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastSysTime = xTaskGetTickCount();
if((portTickType) (xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastResetSysTime = xTaskGetTickCount();
data.BoardType=0xFF;
data.ArmReset=1;
data.crc=count; /* Must change a value for this to get to INS */
data.crc=reset_count; /* Must change a value for this to get to INS */
FirmwareIAPObjSet(&data);
++count;
if(count>3)
++reset_count;
if(reset_count>3)
{
PIOS_SYS_Reset();
}