mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
revo bl: remove unneeded code from revo BL
Clean up BL source tree and makefile.
This commit is contained in:
Stacey Sheldon
parent
c854c3f4a4
commit
b8fcbad297
@ -46,10 +46,8 @@ else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# Paths
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REVO_BL = ./
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REVO_BL = $(WHEREAMI)
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REVO_BLINC = $(REVO_BL)/inc
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PIOS = ../../PiOS
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PIOSINC = $(PIOS)/inc
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@ -64,16 +62,8 @@ STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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OPDIR = ../OpenPilot
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPSYSINC = $(OPDIR)/System/inc
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BOOT = ../Bootloaders/Revolution
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BOOTINC = $(BOOT)/inc
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HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
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OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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@ -81,16 +71,11 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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SRC += main.c
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SRC += pios_board.c
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SRC += pios_usb_board_data.c
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SRC += bl_fsm.c
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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## Library files
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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# PIOS Hardware (Common)
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#SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_board_info.c
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SRC += $(PIOSCOMMON)/pios_com_msg.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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@ -121,7 +106,6 @@ EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(REVO_BLINC)
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EXTRAINCDIRS += $(BOOTINC)
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EXTRAINCDIRS += $(HWDEFSINC)
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# List any extra directories to look for library files here.
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@ -1,34 +0,0 @@
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#include "ahrs_bl.h"
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#include "ahrs_spi_program.h"
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uint8_t buf[256];
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bool StartProgramming(void) {
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Started programming\r\n");
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return (true);
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}
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bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) {
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if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
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return (false);
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}
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Wrote %d bytes to %d\r\n",
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size, offset);
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memcpy(buf, buffer, size);
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PIOS_LED_Toggle(LED1);
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return (true);
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}
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bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) {
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if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
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return (false);
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}
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Read %d bytes from %d\r\n",
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size, offset);
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memcpy(buffer, buf, size);
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PIOS_LED_Toggle(LED1);
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return (true);
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}
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@ -1,65 +0,0 @@
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#include <stdint.h>
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#include "ahrs_spi_program.h"
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// Static CRC polynomial table
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static uint32_t crcTable[256] = { 0x00000000, 0x77073096, 0xEE0E612C,
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0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 0x0EDB8832,
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0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07,
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0x90BF1D91, 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D,
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0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0x136C9856, 0x646BA8C0, 0xFD62F97A,
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0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8,
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0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD,
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0xA50AB56B, 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3,
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0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 0x26D930AC, 0x51DE003A, 0xC8D75180,
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0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, 0x2802B89E,
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0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB,
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0xB6662D3D,
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0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F,
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0x9FBFE4A5, 0xE8B8D433, 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
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0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 0x6B6B51F4, 0x1C6C6162,
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0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
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0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49,
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0x8CD37CF3, 0xFBD44C65, 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
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0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A, 0x346ED9FC,
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0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
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0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3,
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0xB966D409, 0xCE61E49F, 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
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0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
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0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF,
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0x04DB2615, 0x73DC1683, 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
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0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 0xF00F9344, 0x8708A3D2,
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0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
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0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9,
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0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
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0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 0xD80D2BDA, 0xAF0A1B4C,
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0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
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0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703,
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0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
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0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
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0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F,
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0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
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0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242,
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0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
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0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69,
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0x616BFFD3, 0x166CCF45, 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
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0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC,
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0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
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0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693,
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0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
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0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D, };
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/**generate CRC32 from a program packet
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this is slightly overkill but we want to be sure
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*/
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uint32_t GenerateCRC(AhrsProgramPacket * packet) {
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uint8_t * ptr = (uint8_t *) packet;
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int size = ((int) &packet->crc) - (int) packet;
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uint32_t crc = 0xFFFFFFFF;
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for (int ct = 0; ct < size; ct++) {
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crc = ((crc) >> 8) ^ crcTable[(*ptr++) ^ ((crc) & 0x000000FF)];
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}
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return (~crc);
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}
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@ -1,131 +0,0 @@
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/**
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******************************************************************************
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*
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* @file ahrs_spi_program_master.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief AHRS programming over SPI link - master(OpenPilot) end.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "ahrs_spi_program_master.h"
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#include "ahrs_spi_program.h"
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#include "pios_spi.h"
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PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
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AhrsProgramPacket *rxBuf);
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#define MAX_CONNECT_TRIES 500 //half a second
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bool AhrsProgramConnect(uint32_t spi_id) {
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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memcpy(&txBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH);
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for (int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
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PIOS_SPI_RC_PinSet(spi_id, 0);
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uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) &txBuf,
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(uint8_t *) &rxBuf, SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
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PIOS_SPI_RC_PinSet(spi_id, 1);
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if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK,
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SPI_PROGRAM_REQUEST_LENGTH) == 0) {
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return (true);
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}
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vTaskDelay(1 / portTICK_RATE_MS);
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}
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return (false);
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}
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PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
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uint32_t size) {
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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memcpy(txBuf.data, data, size);
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txBuf.size = size;
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txBuf.type = PROGRAM_WRITE;
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txBuf.address = address;
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PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
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if (ret != PROGRAM_ERR_OK) {
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return (ret);
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}
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return (PROGRAM_ERR_OK);
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}
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PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
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uint32_t size) {
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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txBuf.size = size;
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txBuf.type = PROGRAM_READ;
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txBuf.address = address;
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PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
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if (ret != PROGRAM_ERR_OK) {
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return (ret);
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}
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memcpy(data, rxBuf.data, size);
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return (PROGRAM_ERR_OK);
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}
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PROGERR AhrsProgramReboot(uint32_t spi_id) {
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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txBuf.type = PROGRAM_REBOOT;
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memcpy(txBuf.data, REBOOT_CONFIRMATION, REBOOT_CONFIRMATION_LENGTH);
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PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
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//If AHRS has rebooted we will get comms errors
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if (ret == PROGRAM_ERR_LINK) {
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return (PROGRAM_ERR_OK);
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}
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return (PROGRAM_ERR_FUNCTION);
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}
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PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
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AhrsProgramPacket *rxBuf) {
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static uint32_t pktId = 0;
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pktId++;
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txBuf->packetId = pktId;
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txBuf->crc = GenerateCRC(txBuf);
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int ct = 0;
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for (; ct < MAX_CONNECT_TRIES; ct++) {
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PIOS_SPI_RC_PinSet(spi_id, 0);
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uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) txBuf,
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(uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL);
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PIOS_SPI_RC_PinSet(spi_id, 1);
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if (res == 0) {
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if (rxBuf->type != PROGRAM_NULL && rxBuf->crc == GenerateCRC(rxBuf)
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&& rxBuf->packetId == pktId) {
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break;
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}
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}
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vTaskDelay(1 / portTICK_RATE_MS);
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}
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if (ct == MAX_CONNECT_TRIES) {
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return (PROGRAM_ERR_LINK);
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}
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if (rxBuf->type != PROGRAM_ACK) {
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return (PROGRAM_ERR_FUNCTION);
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}
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return (PROGRAM_ERR_OK);
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}
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@ -1,137 +0,0 @@
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/**
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******************************************************************************
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*
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* @file ahrs_spi_program_slave.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief AHRS programming over SPI link - slave(AHRS) end.
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*
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||||
* @see The GNU Public License (GPL) Version 3
|
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*
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*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
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#include <stdint.h>
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#include <string.h>
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#include "pios_opahrs_proto.h"
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#include "pios_spi.h"
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#include "pios_board.h"
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#include "ahrs_bl.h"
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#include "ahrs_spi_program_slave.h"
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#include "ahrs_spi_program.h"
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static AhrsProgramPacket txBuf;
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static AhrsProgramPacket rxBuf;
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static bool done = false;
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static void ProcessPacket();
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#define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high
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//Number of crc failures to allow before giving up
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#define PROGRAM_PACKET_TRIES 4
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void AhrsProgramReceive(uint32_t spi_id) {
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done = false;
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memset(&txBuf, 0, sizeof(AhrsProgramPacket));
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//wait for a program request
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int count = PROGRAM_PACKET_TRIES;
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while (1) {
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WAIT_IF_RECEIVING();
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while ((PIOS_SPI_Busy(spi_id) != 0)) {
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};
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memset(&rxBuf, 'a', sizeof(AhrsProgramPacket));
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int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf,
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SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
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if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_REQUEST,
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SPI_PROGRAM_REQUEST_LENGTH) == 0) {
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break;
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}
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if (count-- == 0) {
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return;
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}
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}
|
||||
|
||||
if (!StartProgramming()) {
|
||||
//Couldn't erase FLASH. Nothing we can do.
|
||||
return;
|
||||
}
|
||||
|
||||
//send ack
|
||||
memcpy(&txBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH);
|
||||
WAIT_IF_RECEIVING();
|
||||
while (0 != PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf, NULL,
|
||||
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {
|
||||
};
|
||||
|
||||
txBuf.type = PROGRAM_NULL;
|
||||
|
||||
while (!done) {
|
||||
WAIT_IF_RECEIVING();
|
||||
if (0 == PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf,
|
||||
(uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {
|
||||
|
||||
uint32_t crc = GenerateCRC(&rxBuf);
|
||||
if (crc != rxBuf.crc || txBuf.packetId == rxBuf.packetId) {
|
||||
continue;
|
||||
}
|
||||
ProcessPacket();
|
||||
txBuf.packetId = rxBuf.packetId;
|
||||
txBuf.crc = GenerateCRC(&txBuf);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ProcessPacket() {
|
||||
switch (rxBuf.type) {
|
||||
case PROGRAM_NULL:
|
||||
txBuf.type = PROGRAM_NULL;
|
||||
break;
|
||||
|
||||
case PROGRAM_WRITE:
|
||||
if (WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
|
||||
txBuf.type = PROGRAM_ACK;
|
||||
txBuf.size = rxBuf.size;
|
||||
} else {
|
||||
txBuf.type = PROGRAM_ERR;
|
||||
}
|
||||
break;
|
||||
|
||||
case PROGRAM_READ:
|
||||
if (ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
|
||||
txBuf.type = PROGRAM_ACK;
|
||||
txBuf.size = rxBuf.size;
|
||||
} else {
|
||||
txBuf.type = PROGRAM_ERR;
|
||||
}
|
||||
break;
|
||||
|
||||
case PROGRAM_REBOOT:
|
||||
if (0 == memcmp(rxBuf.data, REBOOT_CONFIRMATION,
|
||||
REBOOT_CONFIRMATION_LENGTH)) {
|
||||
done = true;
|
||||
txBuf.type = PROGRAM_ACK;
|
||||
} else {
|
||||
txBuf.type = PROGRAM_ERR;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
txBuf.type = PROGRAM_ERR;
|
||||
}
|
||||
}
|
||||
@ -1,591 +0,0 @@
|
||||
#include <stdint.h> /* uint*_t */
|
||||
#include <stddef.h> /* NULL */
|
||||
|
||||
#include "bl_fsm.h"
|
||||
|
||||
#include "pios_opahrs_proto.h"
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
struct lfsm_context {
|
||||
enum lfsm_state curr_state;
|
||||
enum opahrs_msg_link_state link_state;
|
||||
enum opahrs_msg_type user_payload_type;
|
||||
uint32_t user_payload_len;
|
||||
|
||||
uint32_t errors;
|
||||
|
||||
uint8_t * rx;
|
||||
uint8_t * tx;
|
||||
|
||||
uint8_t * link_rx;
|
||||
uint8_t * link_tx;
|
||||
|
||||
uint8_t * user_rx;
|
||||
uint8_t * user_tx;
|
||||
|
||||
struct lfsm_link_stats stats;
|
||||
};
|
||||
|
||||
static struct lfsm_context context = { 0 };
|
||||
|
||||
static void lfsm_update_link_tx(struct lfsm_context * context);
|
||||
static void lfsm_init_rx(struct lfsm_context * context);
|
||||
|
||||
static uint32_t PIOS_SPI_OP;
|
||||
void lfsm_attach(uint32_t spi_id) {
|
||||
PIOS_SPI_OP = spi_id;
|
||||
}
|
||||
|
||||
/*
|
||||
*
|
||||
* Link Finite State Machine
|
||||
*
|
||||
*/
|
||||
|
||||
struct lfsm_transition {
|
||||
void (*entry_fn)(struct lfsm_context * context);
|
||||
enum lfsm_state next_state[LFSM_EVENT_NUM_EVENTS];
|
||||
};
|
||||
|
||||
static void go_faulted(struct lfsm_context * context);
|
||||
static void go_stopped(struct lfsm_context * context);
|
||||
static void go_stopping(struct lfsm_context * context);
|
||||
static void go_inactive(struct lfsm_context * context);
|
||||
static void go_user_busy(struct lfsm_context * context);
|
||||
static void go_user_busy_rx_pending(struct lfsm_context * context);
|
||||
static void go_user_busy_tx_pending(struct lfsm_context * context);
|
||||
static void go_user_busy_rxtx_pending(struct lfsm_context * context);
|
||||
static void go_user_rx_pending(struct lfsm_context * context);
|
||||
static void go_user_tx_pending(struct lfsm_context * context);
|
||||
static void go_user_rxtx_pending(struct lfsm_context * context);
|
||||
static void go_user_rx_active(struct lfsm_context * context);
|
||||
static void go_user_tx_active(struct lfsm_context * context);
|
||||
static void go_user_rxtx_active(struct lfsm_context * context);
|
||||
|
||||
const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
|
||||
[LFSM_STATE_FAULTED] = {
|
||||
.entry_fn = go_faulted,
|
||||
}, [LFSM_STATE_STOPPED] = {
|
||||
.entry_fn = go_stopped,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_INIT_LINK] = LFSM_STATE_INACTIVE,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
|
||||
},
|
||||
}, [LFSM_STATE_STOPPING] = {
|
||||
.entry_fn = go_stopping,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_STOPPED,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_STOPPED,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
|
||||
},
|
||||
}, [LFSM_STATE_INACTIVE] = {
|
||||
.entry_fn = go_inactive,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
|
||||
[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
|
||||
},
|
||||
}, [LFSM_STATE_USER_BUSY] = {
|
||||
.entry_fn = go_user_busy,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
|
||||
[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
[LFSM_EVENT_USER_DONE] = LFSM_STATE_INACTIVE,
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY,
|
||||
},
|
||||
}, [LFSM_STATE_USER_BUSY_RX_PENDING] = {
|
||||
.entry_fn = go_user_busy_rx_pending,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RX_PENDING,
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
},
|
||||
}, [LFSM_STATE_USER_BUSY_TX_PENDING] = {
|
||||
.entry_fn = go_user_busy_tx_pending,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_TX_PENDING,
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
},
|
||||
}, [LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
|
||||
.entry_fn = go_user_busy_rxtx_pending,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RXTX_PENDING,
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
},
|
||||
}, [LFSM_STATE_USER_RX_PENDING] = {
|
||||
.entry_fn = go_user_rx_pending,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
},
|
||||
}, [LFSM_STATE_USER_TX_PENDING] = {
|
||||
.entry_fn = go_user_tx_pending,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_TX_ACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_TX_ACTIVE,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_TX_ACTIVE,
|
||||
},
|
||||
}, [LFSM_STATE_USER_RXTX_PENDING] = {
|
||||
.entry_fn = go_user_rxtx_pending,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RXTX_ACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RXTX_ACTIVE,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RXTX_ACTIVE,
|
||||
},
|
||||
}, [LFSM_STATE_USER_RX_ACTIVE] = {
|
||||
.entry_fn = go_user_rx_active,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
},
|
||||
}, [LFSM_STATE_USER_TX_ACTIVE] = {
|
||||
.entry_fn = go_user_tx_active,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
|
||||
},
|
||||
}, [LFSM_STATE_USER_RXTX_ACTIVE] = {
|
||||
.entry_fn = go_user_rxtx_active,
|
||||
.next_state = {
|
||||
[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
|
||||
[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
|
||||
},
|
||||
}, };
|
||||
|
||||
/*
|
||||
* FSM State Entry Functions
|
||||
*/
|
||||
|
||||
static void go_faulted(struct lfsm_context * context) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
static void go_stopped(struct lfsm_context * context) {
|
||||
#if 0
|
||||
PIOS_SPI_Stop(PIOS_SPI_OP);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void go_stopping(struct lfsm_context * context) {
|
||||
context->link_tx = NULL;
|
||||
context->tx = NULL;
|
||||
}
|
||||
|
||||
static void go_inactive(struct lfsm_context * context) {
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_INACTIVE;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->user_rx = NULL;
|
||||
context->user_tx = NULL;
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_busy(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx);
|
||||
|
||||
context->user_rx = NULL;
|
||||
context->user_tx = NULL;
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_busy_rx_pending(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_busy_tx_pending(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_tx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_busy_rxtx_pending(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_rx_pending(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_tx_pending(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_tx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_rxtx_pending(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
lfsm_update_link_tx(context);
|
||||
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->link_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_rx_active(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx);
|
||||
|
||||
context->rx = context->user_rx;
|
||||
context->tx = context->link_tx;
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_READY;
|
||||
|
||||
lfsm_update_link_tx(context);
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_tx_active(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_tx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
|
||||
context->rx = context->link_rx;
|
||||
context->tx = context->user_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
static void go_user_rxtx_active(struct lfsm_context * context) {
|
||||
/* Sanity checks */
|
||||
PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
|
||||
|
||||
context->link_state = OPAHRS_MSG_LINK_STATE_READY;
|
||||
context->rx = context->user_rx;
|
||||
context->tx = context->user_tx;
|
||||
|
||||
lfsm_init_rx(context);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
|
||||
context->user_payload_len, lfsm_irq_callback);
|
||||
}
|
||||
|
||||
/*
|
||||
*
|
||||
* Misc Helper Functions
|
||||
*
|
||||
*/
|
||||
|
||||
static void lfsm_update_link_tx_v0(struct opahrs_msg_v0 * msg,
|
||||
enum opahrs_msg_link_state state, uint16_t errors) {
|
||||
opahrs_msg_v0_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
msg->payload.link.state = state;
|
||||
msg->payload.link.errors = errors;
|
||||
}
|
||||
|
||||
static void lfsm_update_link_tx_v1(struct opahrs_msg_v1 * msg,
|
||||
enum opahrs_msg_link_state state, uint16_t errors) {
|
||||
opahrs_msg_v1_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
msg->payload.link.state = state;
|
||||
msg->payload.link.errors = errors;
|
||||
}
|
||||
|
||||
static void lfsm_update_link_tx(struct lfsm_context * context) {
|
||||
PIOS_DEBUG_Assert(context->link_tx);
|
||||
|
||||
switch (context->user_payload_type) {
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
lfsm_update_link_tx_v0((struct opahrs_msg_v0 *) context->link_tx,
|
||||
context->link_state, context->errors);
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
lfsm_update_link_tx_v1((struct opahrs_msg_v1 *) context->link_tx,
|
||||
context->link_state, context->errors);
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
}
|
||||
|
||||
static void lfsm_init_rx(struct lfsm_context * context) {
|
||||
PIOS_DEBUG_Assert(context->rx);
|
||||
|
||||
switch (context->user_payload_type) {
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
opahrs_msg_v0_init_rx((struct opahrs_msg_v0 *) context->rx);
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
opahrs_msg_v1_init_rx((struct opahrs_msg_v1 *) context->rx);
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
*
|
||||
* External API
|
||||
*
|
||||
*/
|
||||
|
||||
void lfsm_inject_event(enum lfsm_event event) {
|
||||
PIOS_IRQ_Disable();
|
||||
|
||||
/*
|
||||
* Move to the next state
|
||||
*
|
||||
* This is done prior to calling the new state's entry function to
|
||||
* guarantee that the entry function never depends on the previous
|
||||
* state. This way, it cannot ever know what the previous state was.
|
||||
*/
|
||||
context.curr_state = lfsm_transitions[context.curr_state].next_state[event];
|
||||
|
||||
/* Call the entry function (if any) for the next state. */
|
||||
if (lfsm_transitions[context.curr_state].entry_fn) {
|
||||
lfsm_transitions[context.curr_state].entry_fn(&context);
|
||||
}
|
||||
PIOS_IRQ_Enable();
|
||||
}
|
||||
|
||||
void lfsm_init(void) {
|
||||
context.curr_state = LFSM_STATE_STOPPED;
|
||||
go_stopped(&context);
|
||||
}
|
||||
|
||||
void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
|
||||
struct opahrs_msg_v0 * link_rx) {
|
||||
PIOS_DEBUG_Assert(link_tx);
|
||||
|
||||
context.link_tx = (uint8_t *) link_tx;
|
||||
context.link_rx = (uint8_t *) link_rx;
|
||||
context.user_payload_type = OPAHRS_MSG_TYPE_USER_V0;
|
||||
context.user_payload_len = sizeof(*link_tx);
|
||||
|
||||
lfsm_update_link_tx_v0(link_tx, context.link_state, context.errors);
|
||||
|
||||
lfsm_inject_event(LFSM_EVENT_INIT_LINK);
|
||||
}
|
||||
|
||||
void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
|
||||
struct opahrs_msg_v1 * link_rx) {
|
||||
PIOS_DEBUG_Assert(link_tx);
|
||||
|
||||
context.link_tx = (uint8_t *) link_tx;
|
||||
context.link_rx = (uint8_t *) link_rx;
|
||||
context.user_payload_type = OPAHRS_MSG_TYPE_USER_V1;
|
||||
context.user_payload_len = sizeof(*link_tx);
|
||||
|
||||
lfsm_update_link_tx_v1(link_tx, context.link_state, context.errors);
|
||||
|
||||
lfsm_inject_event(LFSM_EVENT_INIT_LINK);
|
||||
}
|
||||
|
||||
void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx) {
|
||||
PIOS_DEBUG_Assert(user_tx);
|
||||
|
||||
PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
|
||||
context.user_tx = (uint8_t *) user_tx;
|
||||
|
||||
lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
|
||||
}
|
||||
|
||||
void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx) {
|
||||
PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
|
||||
|
||||
context.user_rx = (uint8_t *) user_rx;
|
||||
|
||||
lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
|
||||
}
|
||||
|
||||
void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx) {
|
||||
PIOS_DEBUG_Assert(user_tx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
|
||||
|
||||
context.user_tx = (uint8_t *) user_tx;
|
||||
|
||||
lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
|
||||
}
|
||||
|
||||
void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx) {
|
||||
PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
|
||||
|
||||
context.user_rx = (uint8_t *) user_rx;
|
||||
|
||||
lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
|
||||
}
|
||||
|
||||
void lfsm_user_done(void) {
|
||||
lfsm_inject_event(LFSM_EVENT_USER_DONE);
|
||||
}
|
||||
|
||||
void lfsm_stop(void) {
|
||||
lfsm_inject_event(LFSM_EVENT_STOP);
|
||||
}
|
||||
|
||||
void lfsm_get_link_stats(struct lfsm_link_stats * stats) {
|
||||
PIOS_DEBUG_Assert(stats);
|
||||
|
||||
*stats = context.stats;
|
||||
}
|
||||
|
||||
enum lfsm_state lfsm_get_state(void) {
|
||||
return context.curr_state;
|
||||
}
|
||||
|
||||
/*
|
||||
*
|
||||
* ISR Callback
|
||||
*
|
||||
*/
|
||||
|
||||
void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val) {
|
||||
if (!crc_ok) {
|
||||
context.stats.rx_badcrc++;
|
||||
lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!context.rx) {
|
||||
/* No way to know what we just received, assume invalid */
|
||||
lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Recover the head and tail pointers from the message */
|
||||
struct opahrs_msg_link_head * head = 0;
|
||||
struct opahrs_msg_link_tail * tail = 0;
|
||||
|
||||
switch (context.user_payload_type) {
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
head = &((struct opahrs_msg_v0 *) context.rx)->head;
|
||||
tail = &((struct opahrs_msg_v0 *) context.rx)->tail;
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
head = &((struct opahrs_msg_v1 *) context.rx)->head;
|
||||
tail = &((struct opahrs_msg_v1 *) context.rx)->tail;
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
/* Should never be rx'ing before the link protocol version is known */
|
||||
PIOS_DEBUG_Assert(0);
|
||||
break;
|
||||
}
|
||||
|
||||
/* Check for bad magic */
|
||||
if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) || (tail->magic
|
||||
!= OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
if (head->magic != OPAHRS_MSG_MAGIC_HEAD) {
|
||||
context.stats.rx_badmagic_head++;
|
||||
}
|
||||
if (tail->magic != OPAHRS_MSG_MAGIC_TAIL) {
|
||||
context.stats.rx_badmagic_tail++;
|
||||
}
|
||||
lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Good magic, find out what type of payload we've got */
|
||||
switch (head->type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
context.stats.rx_link++;
|
||||
lfsm_inject_event(LFSM_EVENT_RX_LINK);
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
if (head->type == context.user_payload_type) {
|
||||
context.stats.rx_user++;
|
||||
lfsm_inject_event(LFSM_EVENT_RX_USER);
|
||||
} else {
|
||||
/* Mismatched user payload type */
|
||||
context.stats.rx_badver++;
|
||||
lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
/* Unidentifiable payload type */
|
||||
context.stats.rx_badtype++;
|
||||
lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
|
||||
}
|
||||
}
|
||||
@ -1,52 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file ahrs_bl.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Main AHRS_BL header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef AHRS_BL_H
|
||||
#define AHRS_BL_H
|
||||
|
||||
/* PIOS Includes */
|
||||
#include <pios.h>
|
||||
|
||||
/** Start programming
|
||||
returns: true if FLASH erased and ready to program
|
||||
*/
|
||||
bool
|
||||
StartProgramming(void);
|
||||
|
||||
/** Write a block to FLASH
|
||||
buffer contains the data to be written
|
||||
returns: true if FLASH programmed correctly
|
||||
*/
|
||||
bool
|
||||
WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
|
||||
|
||||
/** Read a block from FLASH
|
||||
returns: true if FLASH read correctly.
|
||||
Buffer is set to the read data
|
||||
*/
|
||||
bool
|
||||
ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
|
||||
|
||||
#endif /* AHRS_BL_H */
|
||||
@ -1,65 +0,0 @@
|
||||
#ifndef AHRS_SPI_PROGRAM_H
|
||||
#define AHRS_SPI_PROGRAM_H
|
||||
|
||||
/* Special packets to enter programming mode.
|
||||
Note: these must both be SPI_PROGRAM_REQUEST_LENGTH long.
|
||||
Pad with spaces if needed.
|
||||
*/
|
||||
#define SPI_PROGRAM_REQUEST "AHRS START PROGRAMMING "
|
||||
#define SPI_PROGRAM_ACK "AHRS PROGRAMMING STARTED"
|
||||
#define SPI_PROGRAM_REQUEST_LENGTH 24
|
||||
|
||||
/**Proposed programming protocol:
|
||||
In the master:
|
||||
1) Send a AhrsProgramPacket containing the relevant data.
|
||||
Note crc is a CRC32 as the CRC8 used in hardware can be fooled.
|
||||
2) Keep sending PROGRAM_NULL packets and wait for an ack.
|
||||
Time out if we waited too long.
|
||||
3) Compare ack packet with transmitted packet. The data
|
||||
should be the bitwise inverse of the data transmitted.
|
||||
packetId should correspond to the transmitted packet.
|
||||
4) repeat for next packet until finished
|
||||
5) Repeat using verify packets
|
||||
Returned data should be exactly as read from memory
|
||||
|
||||
In the slave:
|
||||
1) Wait for an AhrsProgramPacket
|
||||
2) Check CRC then write to memory
|
||||
3) Bitwise invert data and add it to the return packet
|
||||
4) Copy packetId from received packet
|
||||
5) Transmit packet.
|
||||
6) repeat until we receive a read packet
|
||||
7) read memory as requested until we receive a reboot packet
|
||||
Reboot packets had better have some sort of magic number in the data,
|
||||
just to be absolutely sure
|
||||
|
||||
*/
|
||||
|
||||
typedef enum {
|
||||
PROGRAM_NULL,
|
||||
PROGRAM_WRITE,
|
||||
PROGRAM_READ,
|
||||
PROGRAM_ACK,
|
||||
PROGRAM_REBOOT,
|
||||
PROGRAM_ERR
|
||||
} ProgramType;
|
||||
#define SPI_MAX_PROGRAM_DATA_SIZE (14 * 4) //USB comms uses 14x 32 bit words
|
||||
#define REBOOT_CONFIRMATION "AHRS REBOOT"
|
||||
#define REBOOT_CONFIRMATION_LENGTH 11
|
||||
|
||||
/** Proposed program packet defintion
|
||||
*/
|
||||
|
||||
typedef struct {
|
||||
ProgramType type;
|
||||
uint32_t packetId; //Transmission packet ID
|
||||
uint32_t address; //base address to place data
|
||||
uint32_t size; //Size of data (0 to SPI_MAX_PROGRAM_DATA_SIZE)
|
||||
uint8_t data[SPI_MAX_PROGRAM_DATA_SIZE];
|
||||
uint32_t crc; //CRC32 - hardware CRC8 can be fooled
|
||||
uint8_t dummy; //for some reason comms trashes the last byte sent
|
||||
} AhrsProgramPacket;
|
||||
|
||||
uint32_t GenerateCRC(AhrsProgramPacket * packet);
|
||||
|
||||
#endif
|
||||
@ -1,66 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file ahrs_spi_program_master.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief AHRS programming over SPI link - master(OpenPilot) end.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef AHRS_PROGRAM_MASTER_H
|
||||
#define AHRS_PROGRAM_MASTER_H
|
||||
|
||||
typedef enum {
|
||||
PROGRAM_ERR_OK, //OK
|
||||
PROGRAM_ERR_LINK, //comms error
|
||||
PROGRAM_ERR_FUNCTION,
|
||||
//function failed
|
||||
} PROGERR;
|
||||
|
||||
/** Connect to AHRS and request programming mode
|
||||
* returns: false if failed.
|
||||
*/
|
||||
bool AhrsProgramConnect(uint32_t spi_id);
|
||||
|
||||
/** Write data to AHRS
|
||||
* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
|
||||
* returns: error status
|
||||
*/
|
||||
|
||||
PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
|
||||
uint32_t size);
|
||||
|
||||
/** Read data from AHRS
|
||||
* size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
|
||||
* returns: error status
|
||||
*/
|
||||
|
||||
PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
|
||||
uint32_t size);
|
||||
|
||||
/** reboot AHRS
|
||||
* returns: error status
|
||||
*/
|
||||
|
||||
PROGERR AhrsProgramReboot(uint32_t spi_id);
|
||||
|
||||
//TODO: Implement programming protocol
|
||||
|
||||
#endif //AHRS_PROGRAM_MASTER_H
|
||||
@ -1,35 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file ahrs_spi_program_slave.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief AHRS programming over SPI link - slave(AHRS) end.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef AHRS_SPI_PROGRAM_SLAVE_H
|
||||
#define AHRS_SPI_PROGRAM_SLAVE_H
|
||||
|
||||
/** Check if OpenPilot is trying to program AHRS
|
||||
* If so, it will program the FLASH then return
|
||||
* If not it just returns.
|
||||
*/
|
||||
void AhrsProgramReceive(uint32_t spi_id);
|
||||
#endif //AHRS_PROGRAM_SLAVE_H
|
||||
@ -1,97 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file ahrs_fsm.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef BL_FSM_H
|
||||
#define BL_FSM_H
|
||||
|
||||
#include "pios_opahrs_proto.h"
|
||||
|
||||
enum lfsm_state {
|
||||
LFSM_STATE_FAULTED = 0, /* Must be zero so undefined transitions land here */
|
||||
LFSM_STATE_STOPPED,
|
||||
LFSM_STATE_STOPPING,
|
||||
LFSM_STATE_INACTIVE,
|
||||
LFSM_STATE_USER_BUSY,
|
||||
LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
LFSM_STATE_USER_RX_PENDING,
|
||||
LFSM_STATE_USER_TX_PENDING,
|
||||
LFSM_STATE_USER_RXTX_PENDING,
|
||||
LFSM_STATE_USER_RX_ACTIVE,
|
||||
LFSM_STATE_USER_TX_ACTIVE,
|
||||
LFSM_STATE_USER_RXTX_ACTIVE,
|
||||
|
||||
LFSM_STATE_NUM_STATES
|
||||
/* Must be last */
|
||||
};
|
||||
|
||||
enum lfsm_event {
|
||||
LFSM_EVENT_INIT_LINK,
|
||||
LFSM_EVENT_STOP,
|
||||
LFSM_EVENT_USER_SET_RX,
|
||||
LFSM_EVENT_USER_SET_TX,
|
||||
LFSM_EVENT_USER_DONE,
|
||||
LFSM_EVENT_RX_LINK,
|
||||
LFSM_EVENT_RX_USER,
|
||||
LFSM_EVENT_RX_UNKNOWN,
|
||||
|
||||
LFSM_EVENT_NUM_EVENTS
|
||||
/* Must be last */
|
||||
};
|
||||
|
||||
struct lfsm_link_stats {
|
||||
uint32_t rx_badcrc;
|
||||
uint32_t rx_badmagic_head;
|
||||
uint32_t rx_badmagic_tail;
|
||||
uint32_t rx_link;
|
||||
uint32_t rx_user;
|
||||
uint32_t tx_user;
|
||||
uint32_t rx_badtype;
|
||||
uint32_t rx_badver;
|
||||
};
|
||||
|
||||
extern void lfsm_attach(uint32_t spi_id);
|
||||
extern void lfsm_init(void);
|
||||
extern void lfsm_inject_event(enum lfsm_event event);
|
||||
|
||||
extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
|
||||
|
||||
extern void lfsm_get_link_stats(struct lfsm_link_stats * stats);
|
||||
extern enum lfsm_state lfsm_get_state(void);
|
||||
|
||||
extern void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
|
||||
struct opahrs_msg_v0 * link_rx);
|
||||
extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx);
|
||||
extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx);
|
||||
|
||||
extern void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
|
||||
struct opahrs_msg_v1 * link_rx);
|
||||
extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx);
|
||||
extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx);
|
||||
|
||||
extern void lfsm_user_done(void);
|
||||
|
||||
#endif /* BL_FSM_H */
|
||||
@ -1,53 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file ahrs_bl.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Main AHRS_BL header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
#ifndef INS_BL_H
|
||||
#define INS_BL_H
|
||||
|
||||
|
||||
/* PIOS Includes */
|
||||
#include <pios.h>
|
||||
|
||||
/** Start programming
|
||||
returns: true if FLASH erased and ready to program
|
||||
*/
|
||||
bool StartProgramming(void);
|
||||
|
||||
/** Write a block to FLASH
|
||||
buffer contains the data to be written
|
||||
returns: true if FLASH programmed correctly
|
||||
*/
|
||||
bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
|
||||
|
||||
/** Read a block from FLASH
|
||||
returns: true if FLASH read correctly.
|
||||
Buffer is set to the read data
|
||||
*/
|
||||
bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
|
||||
|
||||
|
||||
|
||||
#endif /* AHRS_BL_H */
|
||||
Loading…
Reference in New Issue
Block a user