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Code Issues Releases Activity

OP-21/Bootloader - Changes to the IAPObject. Implements MB and AHRS user mode IAPObject. Added user mode reset command to the CLI. To many changes to bootloading system to write here, a Wiki page will have to be writen.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2238 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-12-15 19:06:28 +00:00 committed by zedamota
parent f7c824cdb8
commit c034a35d2c
19 changed files with 477 additions and 83 deletions
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3
flight/AHRS/Makefile
View File

@ -25,7 +25,7 @@
# Set developer code and compile options # Set developer code and compile options
# Set to YES for debugging # Set to YES for debugging
DEBUG ?= NO DEBUG ?= YES
USE_BOOTLOADER ?= NO USE_BOOTLOADER ?= NO
# Set to YES when using Code Sourcery toolchain # Set to YES when using Code Sourcery toolchain
@ -121,6 +121,7 @@ SRC += $(PIOSSTM32F10X)/pios_exti.c
SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_hmc5843.c SRC += $(PIOSCOMMON)/pios_hmc5843.c
SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_iap.c
## CMSIS for STM32 ## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c SRC += $(CMSISDIR)/core_cm3.c

50
flight/AHRS/ahrs.c
View File

@ -76,7 +76,12 @@ void altitude_callback(AhrsObjHandle obj);
void calibration_callback(AhrsObjHandle obj); void calibration_callback(AhrsObjHandle obj);
void gps_callback(AhrsObjHandle obj); void gps_callback(AhrsObjHandle obj);
void settings_callback(AhrsObjHandle obj); void settings_callback(AhrsObjHandle obj);
/* Bootloader related functions and var*/
static uint32_t iap_calc_crc(void);
static void read_description(uint8_t *);
void firmwareiapobj_callback(AhrsObjHandle obj); void firmwareiapobj_callback(AhrsObjHandle obj);
volatile uint8_t reset_count=0;
/** /**
* @addtogroup AHRS_Global_Data AHRS Global Data * @addtogroup AHRS_Global_Data AHRS Global Data
@ -459,6 +464,8 @@ int main()
/* Communication system */ /* Communication system */
PIOS_COM_Init(); PIOS_COM_Init();
/* IAP System Setup */
PIOS_IAP_Init();
/* ADC system */ /* ADC system */
AHRS_ADC_Config(adc_oversampling); AHRS_ADC_Config(adc_oversampling);
AHRS_ADC_SetCallback(adc_callback); AHRS_ADC_SetCallback(adc_callback);
@ -1015,10 +1022,51 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
{ {
FirmwareIAPObjData firmwareIAPObj; FirmwareIAPObjData firmwareIAPObj;
FirmwareIAPObjGet(&firmwareIAPObj); FirmwareIAPObjGet(&firmwareIAPObj);
if(firmwareIAPObj.ArmReset==0)
reset_count=0;
if(firmwareIAPObj.ArmReset==1)
{
// float time = timer_counter() / timer_rate(); if((firmwareIAPObj.Target==FUNC_ID) || (firmwareIAPObj.Target==0xFF))
{
++reset_count;
if(reset_count>2)
{
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
PIOS_SYS_Reset();
}
}
}
else if(firmwareIAPObj.Target==FUNC_ID && firmwareIAPObj.crc!=iap_calc_crc())
{
read_description(firmwareIAPObj.Description);
firmwareIAPObj.crc=iap_calc_crc();
firmwareIAPObj.HWVersion=HW_VERSION;
FirmwareIAPObjSet(&firmwareIAPObj);
}
} }
static uint32_t iap_calc_crc(void)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
static void read_description(uint8_t * array)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/** /**

1
flight/Bootloaders/AHRS/Makefile
View File

@ -108,6 +108,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSCOMMON)/pios_opahrs_proto.c SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
## CMSIS for STM32 ## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c SRC += $(CMSISDIR)/core_cm3.c

9
flight/Bootloaders/AHRS/main.c
View File

@ -82,15 +82,22 @@ int main() {
// PIOS_DELAY_WaitmS(1000); // PIOS_DELAY_WaitmS(1000);
// } // }
//GO_dfu = TRUE; //GO_dfu = TRUE;
GO_dfu = GO_dfu;// OR with app boot request PIOS_IAP_Init();
GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
if (GO_dfu == FALSE) { if (GO_dfu == FALSE) {
jump_to_app(); jump_to_app();
} }
if(PIOS_IAP_CheckRequest())
{
PIOS_DELAY_WaitmS(1000);
PIOS_IAP_ClearRequest();
}
/* SPI link to master */ /* SPI link to master */
PIOS_SPI_Init(); PIOS_SPI_Init();
lfsm_init(); lfsm_init();
boot_status = idle; boot_status = idle;
Fw_crc = crc_memory_calc(); Fw_crc = crc_memory_calc();
PIOS_LED_On(LED1);
while (1) { while (1) {
process_spi_request(); process_spi_request();
} }

2
flight/Bootloaders/OpenPilot/Makefile
View File

@ -182,7 +182,7 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c #SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c SRC += $(STMSPDSRCDIR)/misc.c

18
flight/Bootloaders/OpenPilot/main.c
View File

@ -109,11 +109,27 @@ int main() {
USB_connected = TRUE; USB_connected = TRUE;
PIOS_IAP_Init(); PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) { if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE; User_DFU_request = TRUE;
PIOS_IAP_ClearRequest(); PIOS_IAP_ClearRequest();
} }
/*
else
{
PIOS_Board_Init();
for(uint8_t x=0;x<10;++x)
{
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(1000);
}
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
PIOS_SYS_Reset();
}*/
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE); GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) { if (GO_dfu == TRUE) {

1
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -573,6 +573,7 @@ uint32_t CalcFirmCRC() {
void sendData(uint8_t * buf,uint16_t size) void sendData(uint8_t * buf,uint16_t size)
{ {
if (ProgPort == Usb) { if (ProgPort == Usb) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);//FIX+1 PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);//FIX+1
} else if (ProgPort == Serial) { } else if (ProgPort == Serial) {
ssp_SendData(&ssp_port, buf, size); ssp_SendData(&ssp_port, buf, size);

73
flight/OpenPilot/Modules/FirmwareIAP/firmwareiap.c
View File

@ -66,9 +66,24 @@ static void FirmwareIAPCallback(UAVObjEvent* ev);
static uint32_t iap_calc_crc(void); static uint32_t iap_calc_crc(void);
static void read_description(uint8_t *);
FirmwareIAPObjData data; FirmwareIAPObjData data;
static uint32_t get_time(void); static uint32_t get_time(void);
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void resetTask(void *parameters);
/** /**
* Initialise the module, called on startup. * Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed * \returns 0 on success or -1 if initialisation failed
@ -85,11 +100,11 @@ static uint32_t get_time(void);
int32_t FirmwareIAPInitialize() int32_t FirmwareIAPInitialize()
{ {
data.Version[0] = version[0]; data.Target=FUNC_ID;
data.Version[1] = version[1]; read_description(data.Description);
data.Version[2] = version[2]; data.HWVersion=HW_VERSION;
data.SVN = SVN; data.ArmReset=0;
data.crc = iap_calc_crc(); data.crc = 0;
FirmwareIAPObjSet( &data ); FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback ); FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0; return 0;
@ -116,7 +131,18 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
this_time = get_time(); this_time = get_time();
delta = this_time - last_time; delta = this_time - last_time;
last_time = this_time; last_time = this_time;
if((data.Target==FUNC_ID)&&(data.crc != iap_calc_crc()))
{
read_description(data.Description);
data.HWVersion=HW_VERSION;
data.crc = iap_calc_crc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(taskHandle==0))
{
data.ArmReset=0;
FirmwareIAPObjSet( &data );
}
switch(iap_state) { switch(iap_state) {
case IAP_STATE_READY: case IAP_STATE_READY:
if( data.Command == IAP_CMD_STEP_1 ) { if( data.Command == IAP_CMD_STEP_1 ) {
@ -140,8 +166,7 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
// we've met the time requirements. // we've met the time requirements.
PIOS_IAP_SetRequest1(); PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2(); PIOS_IAP_SetRequest2();
// goodbye cruel world... xTaskCreate(resetTask, (signed char *)"Reset", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
PIOS_SYS_Reset();
} else { } else {
iap_state = IAP_STATE_READY; iap_state = IAP_STATE_READY;
} }
@ -200,4 +225,36 @@ static uint32_t iap_calc_crc(void)
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2); CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC(); return CRC_GetCRC();
} }
static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
static void read_description(uint8_t * array)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
static void resetTask(void *parameters)
{
portTickType lastSysTime;
uint8_t count=0;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
data.Target=0xFF;
data.ArmReset=1;
data.crc=count;
FirmwareIAPObjSet(&data);
vTaskDelayUntil(&lastSysTime, 500 / portTICK_RATE_MS);
++count;
if(count>3)
{
PIOS_SYS_Reset();
}
}
}

20
flight/OpenPilot/UAVObjects/inc/firmwareiapobj.h
View File

@ -41,7 +41,7 @@
#define FIRMWAREIAPOBJ_H #define FIRMWAREIAPOBJ_H
// Object constants // Object constants
#define FIRMWAREIAPOBJ_OBJID 1075803696U #define FIRMWAREIAPOBJ_OBJID 879185696U
#define FIRMWAREIAPOBJ_NAME "FirmwareIAPObj" #define FIRMWAREIAPOBJ_NAME "FirmwareIAPObj"
#define FIRMWAREIAPOBJ_METANAME "FirmwareIAPObjMeta" #define FIRMWAREIAPOBJ_METANAME "FirmwareIAPObjMeta"
#define FIRMWAREIAPOBJ_ISSINGLEINST 1 #define FIRMWAREIAPOBJ_ISSINGLEINST 1
@ -72,20 +72,22 @@
// Object data // Object data
typedef struct { typedef struct {
uint16_t Command; uint16_t Command;
uint32_t Port; uint8_t Description[100];
uint8_t Version[3]; uint8_t HWVersion;
uint16_t SVN; uint8_t Target;
uint8_t ArmReset;
uint32_t crc; uint32_t crc;
} __attribute__((packed)) FirmwareIAPObjData; } __attribute__((packed)) FirmwareIAPObjData;
// Field information // Field information
// Field Command information // Field Command information
// Field Port information // Field Description information
// Field Version information /* Number of elements for field Description */
/* Number of elements for field Version */ #define FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM 100
#define FIRMWAREIAPOBJ_VERSION_NUMELEM 3 // Field HWVersion information
// Field SVN information // Field Target information
// Field ArmReset information
// Field crc information // Field crc information

1
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -64,6 +64,7 @@ TIM8 | | | |
//------------------------ //------------------------
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
#define FUNC_ID 2
#define HW_VERSION 69 #define HW_VERSION 69
#define BOOTLOADER_VERSION 0 #define BOOTLOADER_VERSION 0
#define MEM_SIZE 0x20000 //128K #define MEM_SIZE 0x20000 //128K

1
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -69,6 +69,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
#define FUNC_ID 1
#define HW_VERSION 01 #define HW_VERSION 01
#define BOOTLOADER_VERSION 0 #define BOOTLOADER_VERSION 0
#define MEM_SIZE 524288 //512K #define MEM_SIZE 524288 //512K

1
flight/PiOS/Common/pios_iap.c
View File

@ -69,6 +69,7 @@ void PIOS_IAP_Init( void )
/* Clear Tamper pin Event(TE) pending flag */ /* Clear Tamper pin Event(TE) pending flag */
BKP_ClearFlag(); BKP_ClearFlag();
} }
/*! /*!

10
ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
View File

@ -13,8 +13,6 @@ int main(int argc, char *argv[])
///////////////////////////////////////////// /////////////////////////////////////////////
// OP_DFU dfu(false);
// dfu.test();
QCoreApplication a(argc, argv); QCoreApplication a(argc, argv);
// argc=4; // argc=4;
// argv[1]="-ls"; // argv[1]="-ls";
@ -25,6 +23,7 @@ int main(int argc, char *argv[])
bool use_serial=false; bool use_serial=false;
bool verify; bool verify;
bool debug=false; bool debug=false;
bool umodereset=false;
OP_DFU::Actions action; OP_DFU::Actions action;
QString file; QString file;
QString serialport; QString serialport;
@ -37,6 +36,8 @@ int main(int argc, char *argv[])
} }
if(args.contains("-debug")) if(args.contains("-debug"))
debug=true; debug=true;
if(args.contains("-ur"))
umodereset=true;
if(args.contains("-?")||(!PRIVATE && argc==1)) if(args.contains("-?")||(!PRIVATE && argc==1))
{ {
cout<<"_________________________________________________________________________\n"; cout<<"_________________________________________________________________________\n";
@ -55,7 +56,8 @@ int main(int argc, char *argv[])
cout<<"| -r : resets the device |\n"; cout<<"| -r : resets the device |\n";
cout<<"| -j : exits bootloader and jumps to user FW |\n"; cout<<"| -j : exits bootloader and jumps to user FW |\n";
cout<<"| -debug : prints debug information |\n"; cout<<"| -debug : prints debug information |\n";
cout<<"| -t <port> : uses serial port* |\n"; cout<<"| -t <port> : uses serial port(requires:-ur) |\n";
cout<<"| -ur <port> : user mode reset* |\n";
cout<<"| |\n"; cout<<"| |\n";
cout<<"| examples: |\n"; cout<<"| examples: |\n";
cout<<"| |\n"; cout<<"| |\n";
@ -203,7 +205,7 @@ int main(int argc, char *argv[])
} }
///////////////////////////////////ACTIONS START/////////////////////////////////////////////////// ///////////////////////////////////ACTIONS START///////////////////////////////////////////////////
OP_DFU dfu(debug,use_serial,serialport); OP_DFU dfu(debug,use_serial,serialport,umodereset);
if(!dfu.ready()) if(!dfu.ready())
return -1; return -1;

61
ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
View File

@ -3,7 +3,7 @@
#include <qwaitcondition.h> #include <qwaitcondition.h>
#include <QMutex> #include <QMutex>
OP_DFU::OP_DFU(bool _debug,bool _use_serial,QString portname): debug(_debug),use_serial(_use_serial),mready(true) OP_DFU::OP_DFU(bool _debug,bool _use_serial,QString portname,bool umodereset): debug(_debug),use_serial(_use_serial),mready(true)
{ {
if(use_serial) if(use_serial)
{ {
@ -30,6 +30,9 @@ OP_DFU::OP_DFU(bool _debug,bool _use_serial,QString portname): debug(_debug),use
mready=false; mready=false;
return; return;
} }
if(umodereset)
sendReset();
delay::msleep(5000);
serialhandle=new qsspt(info,debug); serialhandle=new qsspt(info,debug);
while(serialhandle->ssp_Synchronise()==false) while(serialhandle->ssp_Synchronise()==false)
@ -64,19 +67,61 @@ OP_DFU::OP_DFU(bool _debug,bool _use_serial,QString portname): debug(_debug),use
} }
if(debug) if(debug)
qDebug() << numDevices << " device(s) opened"; qDebug() << numDevices << " device(s) opened";
//sendReset(); if(umodereset)
{
sendReset();
qDebug()<<"before delay";
delay::msleep(5000);
qDebug()<<"after delay";
if(hidHandle.open(1,0x20a0,0x4117,0,0)==0)
mready=false;
}
} }
} }
void OP_DFU::sendReset(void) void OP_DFU::sendReset(void)
{ {
char b[64]={0x02,0x24,0x3C,0x20,0x17,0x00,0x30,0x76,0x1F,0x40,0x62,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x6C,0x40,0x2E,0x00,0x00,0x1C,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; qDebug()<<"Requesting user mode reset";
sendData(b,64); char aa[255]= {0x02,0x3E,0x3C,0x20,0x75,0x00,0x20,0x4F,0x67,0x34,0x62,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};//63
char ba[255]= {0x02,0x3E,0x3C,0x20,0x75,0x00,0x20,0x4F,0x67,0x34,0xB9,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
char ca[255]= {0x02,0x3E,0x3C,0x20,0x75,0x00,0x20,0x4F,0x67,0x34,0x10,0x0D,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
char bb[255]={0x02,0x3D,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x28,0x8D,0x19,0x00,0x00,0x13};
char ab[255]={0x02,0x3D,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x47,0x1B,0x19,0x00,0x00,0x76};
char cb[255]={0x02,0x3D,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x66,0x78,0x1C,0x00,0x00,0x25};
//125
if(!use_serial)
{
hidHandle.send(0,aa, 64, 5000);
hidHandle.send(0,ab, 64, 5000);
delay::msleep(600); delay::msleep(600);
char bb[64]={0x02,0x24,0x3C,0x20,0x17,0x00,0x30,0x76,0x1F,0x40,0xB9,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x44,0xE8,0x30,0x00,0x00,0x13,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; hidHandle.send(0,ba, 64, 5000);
sendData(bb,64); hidHandle.send(0,bb, 64, 5000);
delay::msleep(600); delay::msleep(600);
char bbb[64]={0x02,0x24,0x3C,0x20,0x17,0x00,0x30,0x76,0x1F,0x40,0x10,0x0D,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF9,0x61,0x34,0x00,0x00,0x13,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; hidHandle.send(0,ca, 64, 5000);
sendData(bbb,64); hidHandle.send(0,cb, 64, 5000);
delay::msleep(100);
hidHandle.close(1);
}
else
{
char a[255];
char b[255];
char c[255];
memcpy (a,aa+2,62);
memcpy (a+62,ab+2,60);
memcpy (b,ba+2,62);
memcpy (b+62,bb+2,60);
memcpy (c,ca+2,62);
memcpy (c+62,cb+2,60);
for(int x=0;x<123;++x)
info->pfSerialWrite(a[x]);
delay::msleep(600);
for(int x=0;x<123;++x)
info->pfSerialWrite(b[x]);
delay::msleep(600);
for(int x=0;x<123;++x)
info->pfSerialWrite(c[x]);
}
} }
bool OP_DFU::SaveByteArrayToFile(QString const & sfile, const QByteArray &array) bool OP_DFU::SaveByteArrayToFile(QString const & sfile, const QByteArray &array)

2
ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
View File

@ -123,7 +123,7 @@ public:
bool SaveByteArrayToFile(QString const & file,QByteArray const &array); bool SaveByteArrayToFile(QString const & file,QByteArray const &array);
void CopyWords(char * source, char* destination, int count); void CopyWords(char * source, char* destination, int count);
// QByteArray DownloadData(int devNumber,int numberOfPackets); // QByteArray DownloadData(int devNumber,int numberOfPackets);
OP_DFU(bool debug,bool use_serial,QString port); OP_DFU(bool debug,bool use_serial,QString port,bool umodereset);
void sendReset(void); void sendReset(void);
bool findDevices(); bool findDevices();
QList<device> devices; QList<device> devices;

122
ground/src/plugins/uavobjects/firmwareiapobj.cpp
View File

@ -45,17 +45,117 @@ FirmwareIAPObj::FirmwareIAPObj(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
QStringList CommandElemNames; QStringList CommandElemNames;
CommandElemNames.append("0"); CommandElemNames.append("0");
fields.append( new UAVObjectField(QString("Command"), QString("na"), UAVObjectField::UINT16, CommandElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("Command"), QString("na"), UAVObjectField::UINT16, CommandElemNames, QStringList()) );
QStringList PortElemNames; QStringList DescriptionElemNames;
PortElemNames.append("0"); DescriptionElemNames.append("0");
fields.append( new UAVObjectField(QString("Port"), QString("na"), UAVObjectField::UINT32, PortElemNames, QStringList()) ); DescriptionElemNames.append("1");
QStringList VersionElemNames; DescriptionElemNames.append("2");
VersionElemNames.append("0"); DescriptionElemNames.append("3");
VersionElemNames.append("1"); DescriptionElemNames.append("4");
VersionElemNames.append("2"); DescriptionElemNames.append("5");
fields.append( new UAVObjectField(QString("Version"), QString("na"), UAVObjectField::UINT8, VersionElemNames, QStringList()) ); DescriptionElemNames.append("6");
QStringList SVNElemNames; DescriptionElemNames.append("7");
SVNElemNames.append("0"); DescriptionElemNames.append("8");
fields.append( new UAVObjectField(QString("SVN"), QString("na"), UAVObjectField::UINT16, SVNElemNames, QStringList()) ); DescriptionElemNames.append("9");
DescriptionElemNames.append("10");
DescriptionElemNames.append("11");
DescriptionElemNames.append("12");
DescriptionElemNames.append("13");
DescriptionElemNames.append("14");
DescriptionElemNames.append("15");
DescriptionElemNames.append("16");
DescriptionElemNames.append("17");
DescriptionElemNames.append("18");
DescriptionElemNames.append("19");
DescriptionElemNames.append("20");
DescriptionElemNames.append("21");
DescriptionElemNames.append("22");
DescriptionElemNames.append("23");
DescriptionElemNames.append("24");
DescriptionElemNames.append("25");
DescriptionElemNames.append("26");
DescriptionElemNames.append("27");
DescriptionElemNames.append("28");
DescriptionElemNames.append("29");
DescriptionElemNames.append("30");
DescriptionElemNames.append("31");
DescriptionElemNames.append("32");
DescriptionElemNames.append("33");
DescriptionElemNames.append("34");
DescriptionElemNames.append("35");
DescriptionElemNames.append("36");
DescriptionElemNames.append("37");
DescriptionElemNames.append("38");
DescriptionElemNames.append("39");
DescriptionElemNames.append("40");
DescriptionElemNames.append("41");
DescriptionElemNames.append("42");
DescriptionElemNames.append("43");
DescriptionElemNames.append("44");
DescriptionElemNames.append("45");
DescriptionElemNames.append("46");
DescriptionElemNames.append("47");
DescriptionElemNames.append("48");
DescriptionElemNames.append("49");
DescriptionElemNames.append("50");
DescriptionElemNames.append("51");
DescriptionElemNames.append("52");
DescriptionElemNames.append("53");
DescriptionElemNames.append("54");
DescriptionElemNames.append("55");
DescriptionElemNames.append("56");
DescriptionElemNames.append("57");
DescriptionElemNames.append("58");
DescriptionElemNames.append("59");
DescriptionElemNames.append("60");
DescriptionElemNames.append("61");
DescriptionElemNames.append("62");
DescriptionElemNames.append("63");
DescriptionElemNames.append("64");
DescriptionElemNames.append("65");
DescriptionElemNames.append("66");
DescriptionElemNames.append("67");
DescriptionElemNames.append("68");
DescriptionElemNames.append("69");
DescriptionElemNames.append("70");
DescriptionElemNames.append("71");
DescriptionElemNames.append("72");
DescriptionElemNames.append("73");
DescriptionElemNames.append("74");
DescriptionElemNames.append("75");
DescriptionElemNames.append("76");
DescriptionElemNames.append("77");
DescriptionElemNames.append("78");
DescriptionElemNames.append("79");
DescriptionElemNames.append("80");
DescriptionElemNames.append("81");
DescriptionElemNames.append("82");
DescriptionElemNames.append("83");
DescriptionElemNames.append("84");
DescriptionElemNames.append("85");
DescriptionElemNames.append("86");
DescriptionElemNames.append("87");
DescriptionElemNames.append("88");
DescriptionElemNames.append("89");
DescriptionElemNames.append("90");
DescriptionElemNames.append("91");
DescriptionElemNames.append("92");
DescriptionElemNames.append("93");
DescriptionElemNames.append("94");
DescriptionElemNames.append("95");
DescriptionElemNames.append("96");
DescriptionElemNames.append("97");
DescriptionElemNames.append("98");
DescriptionElemNames.append("99");
fields.append( new UAVObjectField(QString("Description"), QString("na"), UAVObjectField::UINT8, DescriptionElemNames, QStringList()) );
QStringList HWVersionElemNames;
HWVersionElemNames.append("0");
fields.append( new UAVObjectField(QString("HWVersion"), QString("na"), UAVObjectField::UINT8, HWVersionElemNames, QStringList()) );
QStringList TargetElemNames;
TargetElemNames.append("0");
fields.append( new UAVObjectField(QString("Target"), QString("na"), UAVObjectField::UINT8, TargetElemNames, QStringList()) );
QStringList ArmResetElemNames;
ArmResetElemNames.append("0");
fields.append( new UAVObjectField(QString("ArmReset"), QString("na"), UAVObjectField::UINT8, ArmResetElemNames, QStringList()) );
QStringList crcElemNames; QStringList crcElemNames;
crcElemNames.append("0"); crcElemNames.append("0");
fields.append( new UAVObjectField(QString("crc"), QString("na"), UAVObjectField::UINT32, crcElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("crc"), QString("na"), UAVObjectField::UINT32, crcElemNames, QStringList()) );

20
ground/src/plugins/uavobjects/firmwareiapobj.h
View File

@ -44,25 +44,27 @@ public:
// Field structure // Field structure
typedef struct { typedef struct {
quint16 Command; quint16 Command;
quint32 Port; quint8 Description[100];
quint8 Version[3]; quint8 HWVersion;
quint16 SVN; quint8 Target;
quint8 ArmReset;
quint32 crc; quint32 crc;
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Field information // Field information
// Field Command information // Field Command information
// Field Port information // Field Description information
// Field Version information /* Number of elements for field Description */
/* Number of elements for field Version */ static const quint32 DESCRIPTION_NUMELEM = 100;
static const quint32 VERSION_NUMELEM = 3; // Field HWVersion information
// Field SVN information // Field Target information
// Field ArmReset information
// Field crc information // Field crc information
// Constants // Constants
static const quint32 OBJID = 1075803696U; static const quint32 OBJID = 879185696U;
static const QString NAME; static const QString NAME;
static const bool ISSINGLEINST = 1; static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0; static const bool ISSETTINGS = 0;

125
ground/src/plugins/uavobjects/firmwareiapobj.py
View File

@ -48,8 +48,117 @@ _fields = [ \
} }
), ),
uavobject.UAVObjectField( uavobject.UAVObjectField(
'Port', 'Description',
'I', 'B',
100,
[
'0',
'1',
'2',
'3',
'4',
'5',
'6',
'7',
'8',
'9',
'10',
'11',
'12',
'13',
'14',
'15',
'16',
'17',
'18',
'19',
'20',
'21',
'22',
'23',
'24',
'25',
'26',
'27',
'28',
'29',
'30',
'31',
'32',
'33',
'34',
'35',
'36',
'37',
'38',
'39',
'40',
'41',
'42',
'43',
'44',
'45',
'46',
'47',
'48',
'49',
'50',
'51',
'52',
'53',
'54',
'55',
'56',
'57',
'58',
'59',
'60',
'61',
'62',
'63',
'64',
'65',
'66',
'67',
'68',
'69',
'70',
'71',
'72',
'73',
'74',
'75',
'76',
'77',
'78',
'79',
'80',
'81',
'82',
'83',
'84',
'85',
'86',
'87',
'88',
'89',
'90',
'91',
'92',
'93',
'94',
'95',
'96',
'97',
'98',
'99',
],
{
}
),
uavobject.UAVObjectField(
'HWVersion',
'B',
1, 1,
[ [
'0', '0',
@ -58,20 +167,18 @@ _fields = [ \
} }
), ),
uavobject.UAVObjectField( uavobject.UAVObjectField(
'Version', 'Target',
'B', 'B',
3, 1,
[ [
'0', '0',
'1',
'2',
], ],
{ {
} }
), ),
uavobject.UAVObjectField( uavobject.UAVObjectField(
'SVN', 'ArmReset',
'H', 'B',
1, 1,
[ [
'0', '0',
@ -94,7 +201,7 @@ _fields = [ \
class FirmwareIAPObj(uavobject.UAVObject): class FirmwareIAPObj(uavobject.UAVObject):
## Object constants ## Object constants
OBJID = 1075803696 OBJID = 879185696
NAME = "FirmwareIAPObj" NAME = "FirmwareIAPObj"
METANAME = "FirmwareIAPObjMeta" METANAME = "FirmwareIAPObjMeta"
ISSINGLEINST = 1 ISSINGLEINST = 1

8
ground/src/shared/uavobjectdefinition/firmwareiap.xml
View File

@ -2,9 +2,10 @@
<object name="FirmwareIAPObj" singleinstance="true" settings="false"> <object name="FirmwareIAPObj" singleinstance="true" settings="false">
<description>Firmware IAP</description> <description>Firmware IAP</description>
<field name="Command" units="na" type="uint16" elements="1"/> <field name="Command" units="na" type="uint16" elements="1"/>
<field name="Port" units="na" type="uint32" elements="1"/> <field name="Description" units="na" type="uint8" elements="100"/>
<field name="Version" units="na" type="uint8" elements="3"/> <field name="HWVersion" units="na" type="uint8" elements="1"/>
<field name="SVN" units="na" type="uint16" elements="1"/> <field name="Target" units="na" type="uint8" elements="1"/>
<field name="ArmReset" units="na" type="uint8" elements="1"/>
<field name="crc" units="na" type="uint32" elements="1"/> <field name="crc" units="na" type="uint32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/> <telemetrygcs acked="true" updatemode="manual" period="0"/>
@ -12,3 +13,4 @@
<logging updatemode="never" period="0"/> <logging updatemode="never" period="0"/>
</object> </object>
</xml> </xml>