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OP-21/Bootloader - NOT FUNCTIONAL

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Implements RS232(Telemetry) uploads using Kokomo's protocol.
This is a test version, the code will never timeout and jump to user space code.
If USB is connected on Power Up it will be used, if not RS232 will be used instead.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2211 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-12-10 19:11:29 +00:00 committed by zedamota
parent 771173a492
commit cc5a4c2bb9
12 changed files with 462 additions and 102 deletions
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6
flight/Bootloaders/OpenPilot/Makefile
View File

@ -118,8 +118,8 @@ SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(OPSYSTEM)/stopwatch.c
SRC += $(OPSYSTEM)/ssp_timer.c
SRC += $(OPSYSTEM)/ssp.c
## PIOS Hardware (STM32F10x)
@ -329,7 +329,7 @@ endif
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -fdata-sections -ffunction-sections
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb

30
flight/Bootloaders/OpenPilot/inc/common.h
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@ -1,10 +1,30 @@
/*
* common.h
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @brief These files contain the code to the OpenPilot MB Bootloader.
*
* Created on: 2010/08/18
* Author: Programacao
* @{
* @file common.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This file contains various common defines for the BootLoader
* @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 COMMON_H_
#define COMMON_H_

38
flight/Bootloaders/OpenPilot/inc/op_dfu.h
View File

@ -1,17 +1,27 @@
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_desc.h
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Descriptor Header for Custom HID Demo
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/**
******************************************************************************
*
* @file op_dfu.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
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __OP_DFU_H

7
flight/Bootloaders/OpenPilot/inc/pios_config.h
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@ -1,10 +1,7 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
@ -47,7 +44,7 @@
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPIO
#define PIOS_NO_GPS
//#define DEBUG_SSP
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"

55
flight/Bootloaders/OpenPilot/inc/ssp_timer.h Normal file
View File

@ -0,0 +1,55 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file ssp_timer.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions to be used with the SSP.
* @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 _SSP_TIMER_H
#define _SSP_TIMER_H
/////////////////////////////////////////////////////////////////////////////
// Global definitions
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Global Types
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Prototypes
/////////////////////////////////////////////////////////////////////////////
extern s32 SSP_TIMER_Init(u32 resolution);
extern s32 SSP_TIMER_Reset(void);
extern u32 SSP_TIMER_ValueGet(void);
/////////////////////////////////////////////////////////////////////////////
// Export global variables
/////////////////////////////////////////////////////////////////////////////
#endif /* _SSP_TIMER_H */

26
flight/Bootloaders/OpenPilot/inc/stopwatch.h
View File

@ -1,3 +1,29 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file stopwatch.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions for the LED PWM.
* @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 _STOPWATCH_H
#define _STOPWATCH_H

135
flight/Bootloaders/OpenPilot/main.c
View File

@ -1,17 +1,12 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @brief These files are the core system files of OpenPilot.
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
* in the main() function of openpilot.c
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @brief These files contain the code to the OpenPilot MB Bootloader.
*
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @brief This is where the OP firmware starts. Those files also define the compile-time
* options of the firmware.
* @{
* @file openpilot.c
* @file main.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up and runs main OpenPilot tasks.
* @brief This is the file with the main function of the OpenPilot BootLoader
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -30,15 +25,16 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
//#include "openpilot.h"
/* Bootloader Includes */
#include <pios.h>
#include "pios_opahrs.h"
#include "stopwatch.h"
#include "ssp_timer.h"
#include "op_dfu.h"
#include "usb_lib.h"
#include "pios_iap.h"
#include "ssp.h"
#include "fifo_buffer.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -58,9 +54,37 @@ uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
////////////////////////////////////////
uint8_t tempcount=0;
/// SSP SECTION
/// SSP TIME SOURCE
uint32_t ssp_time;
#define MAX_PACKET_DATA_LEN 255
#define MAX_PACKET_BUF_SIZE (1+1+MAX_PACKET_DATA_LEN+2)
#define UART_BUFFER_SIZE 1024
uint8_t rx_buffer[UART_BUFFER_SIZE] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement;
// master buffers...
uint8_t SSP_TxBuf[MAX_PACKET_BUF_SIZE];
uint8_t SSP_RxBuf[MAX_PACKET_BUF_SIZE];
void SSP_CallBack(uint8_t *buf, uint16_t len);
int16_t SSP_SerialRead(void);
void SSP_SerialWrite( uint8_t);
uint32_t SSP_GetTime(void);
PortConfig_t SSP_PortConfig = { .rxBuf = SSP_RxBuf,
.rxBufSize = MAX_PACKET_DATA_LEN, .txBuf = SSP_TxBuf,
.txBufSize = MAX_PACKET_DATA_LEN, .max_retry = 10, .timeoutLen = 1000,
.pfCallBack = SSP_CallBack, .pfSerialRead = SSP_SerialRead,
.pfSerialWrite = SSP_SerialWrite, .pfGetTime = SSP_GetTime, };
Port_t ssp_port;
t_fifo_buffer ssp_buffer;
/* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState;
DFUPort ProgPort;
int16_t status=0;
uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
@ -70,6 +94,7 @@ static uint8_t mReceive_Buffer[64];
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
uint32_t sspTimeSource();
#define BLUE LED1
#define RED LED2
@ -84,29 +109,47 @@ int main() {
USB_connected = TRUE;
PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {
//if (PIOS_IAP_CheckRequest() == TRUE) {
{
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected==TRUE) || (User_DFU_request==TRUE);
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
if(USB_connected)
ProgPort=Usb;
if (USB_connected)
ProgPort = Usb;
else
ProgPort=Serial;
ProgPort = Serial;
//ProgPort = Serial;
PIOS_Board_Init();
PIOS_OPAHRS_Init();
DeviceState = BLidle;
if(User_DFU_request == TRUE)
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100);
if (ProgPort == Serial) {
fifoBuf_init(&ssp_buffer,rx_buffer,UART_BUFFER_SIZE);
SSP_TIMER_Init(100);
SSP_TIMER_Reset();
ssp_Init(&ssp_port, &SSP_PortConfig);
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
//OPDfuIni(false);
} else
JumpToApp = TRUE;
STOPWATCH_Reset();
while (TRUE) {
if (ProgPort == Serial) {
ssp_ReceiveProcess(&ssp_port);
status=ssp_SendProcess(&ssp_port);
while((status!=SSP_TX_IDLE) && (status!=SSP_TX_ACKED)){
ssp_ReceiveProcess(&ssp_port);
status=ssp_SendProcess(&ssp_port);
}
}
if (JumpToApp == TRUE)
jump_to_app();
//pwm_period = 50; // *100 uS -> 5 mS
@ -172,7 +215,6 @@ int main() {
}
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
@ -203,13 +245,48 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
}
uint8_t processRX() {
while(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB)>=63)
{
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (ProgPort == Usb) {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
}
//PIOS_IRQ_Enable();
processComand(mReceive_Buffer);
}
} else if (ProgPort == Serial) {
if (fifoBuf_getUsed(&ssp_buffer) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = fifoBuf_getByte(&ssp_buffer);
}
processComand(mReceive_Buffer);
}
//PIOS_IRQ_Enable();
processComand(mReceive_Buffer);
}
return TRUE;
}
uint32_t sspTimeSource() {
if (SSP_TIMER_ValueGet() > 5000) {
++ssp_time;
SSP_TIMER_Reset();
}
return ssp_time;
}
void SSP_CallBack(uint8_t *buf, uint16_t len) {
fifoBuf_putData(&ssp_buffer, buf, len);
}
int16_t SSP_SerialRead(void) {
if(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF)>0)
{
return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF);
}
else
return -1;
}
void SSP_SerialWrite(uint8_t value) {
PIOS_COM_SendChar(PIOS_COM_TELEM_RF,value);
}
uint32_t SSP_GetTime(void) {
return sspTimeSource();
}

95
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -1,37 +1,41 @@
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_endp.c
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Endpoint routines
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @brief These files contain the code to the OpenPilot MB Bootloader.
*
* @{
* @file op_dfu.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This file contains the DFU commands handling code
* @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
*/
/* Includes ------------------------------------------------------------------*/
//#include "platform_config.h"
#include "pios.h"
//#include "stm32f10x.h"
//#include "usb_lib.h"
//#include "usb_istr.h"
//#include "stm32_eval.h"
//#include "stm32f10x_flash.h"
//#include "stm32f10x_crc.h"
//#include "hw_config.h"
//#include <string.h>
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_opahrs.h"
#include "ssp.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
//programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;
@ -71,9 +75,11 @@ DFUTransfer downType = 0;
/* Extern variables ----------------------------------------------------------*/
extern DFUStates DeviceState;
extern uint8_t JumpToApp;
extern Port_t ssp_port;
extern DFUPort ProgPort;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
void sendData(uint8_t * buf,uint16_t size);
uint32_t CalcFirmCRC(void);
void DataDownload(DownloadAction action) {
@ -125,14 +131,17 @@ void DataDownload(DownloadAction action) {
DeviceState = Last_operation_Success;
Aditionals = (uint32_t) Download;
}
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, SendBuffer + 1, 63);//FIX+1
//PIOS SetEPTxValid(ENDP1);
sendData(SendBuffer+1,63);
}
}
void processComand(uint8_t *xReceive_Buffer) {
Command = xReceive_Buffer[COMMAND];
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Received COMMAND:%d|",Command);
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
EchoReqFlag = (Command >> 7);
EchoAnsFlag = (Command >> 6) & 0x01;
StartFlag = (Command >> 5) & 0x01;
@ -352,8 +361,8 @@ void processComand(uint8_t *xReceive_Buffer) {
Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
}
//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) Buffer, 64);
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
sendData(Buffer + 1, 63);
//PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
break;
case JumpFW:
if (numberOfDevices > 1) {
@ -397,7 +406,14 @@ void processComand(uint8_t *xReceive_Buffer) {
break;
case Download_Req:
#ifdef DEBUG_SSP
sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
if (DeviceState == DFUidle) {
#ifdef DEBUG_SSP
PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
#endif
downType = Data0;
downPacketTotal = Count;
downSizeOfLastPacket = Data1;
@ -434,9 +450,7 @@ void processComand(uint8_t *xReceive_Buffer) {
Buffer[7] = 0;
Buffer[8] = 0;
Buffer[9] = 0;
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) Buffer, 64);
//PIOS SetEPTxValid(ENDP1);
sendData(Buffer + 1, 63);
if (DeviceState == Last_operation_Success) {
DeviceState = DFUidle;
}
@ -448,9 +462,7 @@ void processComand(uint8_t *xReceive_Buffer) {
}
if (EchoReqFlag == 1) {
echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, echoBuffer, 63);
//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) echoBuffer, 64);
//PIOS SetEPTxValid(ENDP1);
sendData(echoBuffer + 1, 63);
}
return;
}
@ -504,8 +516,7 @@ void OPDfuIni(uint8_t discover) {
devicesTable[1] = dev;
}
}
}
else
} else
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
}
//TODO check other devices trough spi or whatever
@ -559,3 +570,11 @@ uint32_t CalcFirmCRC() {
}
}
void sendData(uint8_t * buf,uint16_t size)
{
if (ProgPort == Usb) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);//FIX+1
} else if (ProgPort == Serial) {
ssp_SendData(&ssp_port, buf, size);
}
}

8
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -1,13 +1,11 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the OpenPilot board.
* @brief Defines board specific static initialisers for hardware for the OpenPilot board.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -64,7 +62,7 @@ void PIOS_Board_Init(void) {
PIOS_USB_HID_Init(0);
#endif
//PIOS_I2C_Init();
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
}
/* MicroSD Interface

38
flight/Bootloaders/OpenPilot/ssp.c
View File

@ -72,9 +72,8 @@
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <pios.h>
#include "ssp.h"
/** PRIVATE DEFINITIONS **/
#define SYNC 225 // Sync character used in Serial Protocol
#define ESC 224 // ESC character used in Serial Protocol
@ -230,6 +229,11 @@ int16_t ssp_SendProcess( Port_t *thisport )
value = SSP_TX_WAITING;
} else {
// Give up, # of trys has exceded the limit
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Send Timeout|");
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
value = SSP_TX_TIMEOUT;
CLEARBIT( thisport->flags, ACK_RECEIVED);
thisport->SendState = SSP_IDLE;
@ -381,9 +385,19 @@ int16_t ssp_SendData( Port_t *thisport, const uint8_t *data, const uint16_t leng
sf_MakePacket( thisport->txBuf, data, length, thisport->txSeqNo );
sf_SendPacket( thisport ); // punch out the packet to the serial port
sf_SetSendTimeout( thisport ); // do the timeout values
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Sent DATA PACKET:%d|",thisport->txSeqNo);
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
} else {
// error we are already sending a packet. Need to wait for the current packet to be acked or timeout.
value = SSP_TX_BUSY;
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Error sending TX was busy|");
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
value = SSP_TX_BUSY;
}
return value;
}
@ -513,6 +527,11 @@ void sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint
static void sf_SendAckPacket( Port_t *thisport, uint8_t seqNumber)
{
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Sent ACK PACKET:%d|",seqNumber);
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
uint8_t AckSeqNumber = SETBIT( seqNumber, ACK_BIT );
// create the packet, note we pass AckSequenceNumber directly
@ -778,12 +797,20 @@ static int16_t sf_ReceivePacket(Port_t *thisport)
// It matches the last packet sent by us
SETBIT( thisport->txSeqNo, ACK_BIT );
thisport->SendState = SSP_ACKED;
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Received ACK:%d|",(thisport->txSeqNo & 0x7F));
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
value = FALSE;
}
// else ignore the ACK packet
} else {
// Received a 'data' packet, figure out what type of packet we received...
if( thisport->rxBuf[SEQNUM] == 0 ) {
#ifdef DEBUG_SSP
PIOS_COM_SendString(PIOS_COM_TELEM_USB,"Received SYNC Request|");
#endif
// Synchronize sequence number with host
#ifdef ACTIVE_SYNCH
thisport->sendSynch = TRUE;
@ -800,6 +827,11 @@ static int16_t sf_ReceivePacket(Port_t *thisport)
thisport->rxSeqNo = thisport->rxBuf[SEQNUM];
// Let the application do something with the data/packet.
if( thisport->pfCallBack != NULL ) {
#ifdef DEBUG_SSP
char str[63]={0};
sprintf(str,"Received DATA PACKET:%d [0]=%d %d %d|",thisport->rxSeqNo,(uint8_t)thisport->rxBuf[2],(uint8_t)thisport->rxBuf[3],(uint8_t)thisport->rxBuf[4]);
PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
#endif
// skip the first two bytes (length and seq. no.) in the buffer.
thisport->pfCallBack( &(thisport->rxBuf[2]), thisport->rxBufLen);
}

100
flight/Bootloaders/OpenPilot/ssp_timer.c Normal file
View File

@ -0,0 +1,100 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file ssp_timer.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions to be used with the SSP.
* @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
*/
/////////////////////////////////////////////////////////////////////////////
// Include files
/////////////////////////////////////////////////////////////////////////////
#include "stm32f10x_tim.h"
/////////////////////////////////////////////////////////////////////////////
// Local definitions
/////////////////////////////////////////////////////////////////////////////
#define SSP_TIMER_TIMER_BASE TIM7
#define SSP_TIMER_TIMER_RCC RCC_APB1Periph_TIM7
uint32_t SSP_TIMER_Init(u32 resolution)
{
// enable timer clock
if( SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM1 || SSP_TIMER_TIMER_RCC == RCC_APB2Periph_TIM8 )
RCC_APB2PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE);
else
RCC_APB1PeriphClockCmd(SSP_TIMER_TIMER_RCC, ENABLE);
// time base configuration
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
TIM_TimeBaseStructure.TIM_Prescaler = (72 * resolution)-1; // <resolution> uS accuracy @ 72 MHz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(SSP_TIMER_TIMER_BASE, &TIM_TimeBaseStructure);
// enable interrupt request
TIM_ITConfig(SSP_TIMER_TIMER_BASE, TIM_IT_Update, ENABLE);
// start counter
TIM_Cmd(SSP_TIMER_TIMER_BASE, ENABLE);
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! Resets the SSP_TIMER
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
uint32_t SSP_TIMER_Reset(void)
{
// reset counter
SSP_TIMER_TIMER_BASE->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
TIM_ClearITPendingBit(SSP_TIMER_TIMER_BASE, TIM_IT_Update);
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! Returns current value of SSP_TIMER
//! \return 1..65535: valid SSP_TIMER value
//! \return 0xffffffff: counter overrun
/////////////////////////////////////////////////////////////////////////////
uint32_t SSP_TIMER_ValueGet(void)
{
uint32_t value = SSP_TIMER_TIMER_BASE->CNT;
if( TIM_GetITStatus(SSP_TIMER_TIMER_BASE, TIM_IT_Update) != RESET )
SSP_TIMER_Reset();
return value;
}

26
flight/Bootloaders/OpenPilot/stopwatch.c
View File

@ -1,3 +1,29 @@
/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @{
*
* @file stopwatch.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Timer functions for the LED PWM.
* @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
*/
/////////////////////////////////////////////////////////////////////////////