mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-29 14:52:12 +01:00
ahrscomms: Add low-level message code for bootloader msgs
Implement low-level utility functions for sending/receiving the opahrs proto v0 (bootloader) messages. These are used by the OP firmware loader and the AHRS bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac
stac
parent
c3c8a30bfc
commit
d18e0c3ef8
262
flight/PiOS/Common/pios_opahrs_v0.c
Normal file
262
flight/PiOS/Common/pios_opahrs_v0.c
Normal file
@ -0,0 +1,262 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_OPAHRS OPAHRS Functions
|
||||
* @brief HAL code to interface to the OpenPilot AHRS module's bootloader
|
||||
* @{
|
||||
*
|
||||
* @file pios_opahrs_download.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Hardware commands to communicate with the AHRS 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
|
||||
*/
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_OPAHRS)
|
||||
|
||||
#include "pios_opahrs_proto.h"
|
||||
#include "pios_opahrs.h"
|
||||
|
||||
static enum opahrs_result opahrs_msg_v0_send_req (const struct opahrs_msg_v0 * req)
|
||||
{
|
||||
int32_t rc;
|
||||
struct opahrs_msg_v0 link_rx;
|
||||
|
||||
for (uint8_t retries = 0; retries < 20; retries++) {
|
||||
struct opahrs_msg_v0 * rsp = &link_rx;
|
||||
|
||||
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *)rsp, sizeof(*rsp))) < 0) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
/* Make sure we got a sane response by checking the magic */
|
||||
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
|
||||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
switch (rsp->head.type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
switch (rsp->payload.link.state) {
|
||||
case OPAHRS_MSG_LINK_STATE_BUSY:
|
||||
case OPAHRS_MSG_LINK_STATE_INACTIVE:
|
||||
/* Wait for a small delay and retry */
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
continue;
|
||||
case OPAHRS_MSG_LINK_STATE_READY:
|
||||
/* Peer was ready when we Tx'd so they have now Rx'd our message */
|
||||
return OPAHRS_RESULT_OK;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
/* Wait for a small delay and retry */
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(50 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(50);
|
||||
#endif
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
return OPAHRS_RESULT_TIMEOUT;
|
||||
}
|
||||
|
||||
static enum opahrs_result opahrs_msg_v0_recv_rsp (enum opahrs_msg_v0_tag tag, struct opahrs_msg_v0 * rsp)
|
||||
{
|
||||
struct opahrs_msg_v0 link_tx;
|
||||
|
||||
opahrs_msg_v0_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
for (uint8_t retries = 0; retries < 20; retries++) {
|
||||
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *)rsp, sizeof(*rsp)) < 0) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
/* Make sure we got a sane response by checking the magic */
|
||||
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
|
||||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
|
||||
switch (rsp->head.type) {
|
||||
case OPAHRS_MSG_TYPE_LINK:
|
||||
switch (rsp->payload.link.state) {
|
||||
case OPAHRS_MSG_LINK_STATE_BUSY:
|
||||
/* Wait for a small delay and retry */
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
continue;
|
||||
case OPAHRS_MSG_LINK_STATE_INACTIVE:
|
||||
case OPAHRS_MSG_LINK_STATE_READY:
|
||||
/* somehow, we've missed our response */
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V0:
|
||||
if (rsp->payload.user.t == tag) {
|
||||
return OPAHRS_RESULT_OK;
|
||||
} else {
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
}
|
||||
break;
|
||||
case OPAHRS_MSG_TYPE_USER_V1:
|
||||
/* This isn't the type we expected */
|
||||
return OPAHRS_RESULT_FAILED;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return OPAHRS_RESULT_TIMEOUT;
|
||||
}
|
||||
|
||||
static enum opahrs_result PIOS_OPAHRS_v0_simple_req (enum opahrs_msg_v0_tag req_type, struct opahrs_msg_v0 * rsp, struct opahrs_msg_v0_tag rsp_type)
|
||||
{
|
||||
struct opahrs_msg_v0 req;
|
||||
enum opahrs_result rc;
|
||||
|
||||
/* Make up an empty request */
|
||||
opahrs_msg_v0_init_user_tx (&req, req_type);
|
||||
|
||||
/* Send the message until it is received */
|
||||
rc = opahrs_msg_v0_send_req (&req);
|
||||
if ((rc == OPAHRS_RESULT_OK) && rsp) {
|
||||
/* We need a specific kind of reply, go get it */
|
||||
return opahrs_msg_v0_recv_rsp (rsp_type, rsp);
|
||||
}
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 * rsp)
|
||||
{
|
||||
if (!rsp) return OPAHRS_RESULT_FAILED;
|
||||
|
||||
return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_VERSIONS,
|
||||
rsp,
|
||||
OPAHRS_MSG_V0_RSP_VERSIONS));
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 * rsp)
|
||||
{
|
||||
if (!rsp) return OPAHRS_RESULT_FAILED;
|
||||
|
||||
return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_SERIAL,
|
||||
rsp,
|
||||
OPAHRS_MSG_V0_RSP_SERIAL));
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp)
|
||||
{
|
||||
if (!req || !rsp) return OPAHRS_RESULT_FAILED;
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v0_init_user_tx (req, OPAHRS_MSG_V0_REQ_FWUP_START);
|
||||
|
||||
/* Send the message until it is received */
|
||||
rc = opahrs_msg_v0_send_req (req);
|
||||
if (rc != OPAHRS_RESULT_OK) {
|
||||
/* Failed to send the request, bail out */
|
||||
return rc;
|
||||
}
|
||||
|
||||
return opahrs_msg_v0_recv_rsp (OPAHRS_MSG_V0_RSP_FWUP_STATUS, rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp)
|
||||
{
|
||||
if (!req || !rsp) return OPAHRS_RESULT_FAILED;
|
||||
|
||||
/* Make up an attituderaw request */
|
||||
opahrs_msg_v0_init_user_tx (req, OPAHRS_MSG_V0_REQ_FWUP_DATA);
|
||||
|
||||
/* Send the message until it is received */
|
||||
rc = opahrs_msg_v0_send_req (req);
|
||||
if (rc != OPAHRS_RESULT_OK) {
|
||||
/* Failed to send the request, bail out */
|
||||
return rc;
|
||||
}
|
||||
|
||||
return opahrs_msg_v0_recv_rsp (OPAHRS_MSG_V0_RSP_FWUP_STATUS, rsp);
|
||||
}
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 * rsp)
|
||||
{
|
||||
if (!rsp) return OPAHRS_RESULT_FAILED;
|
||||
|
||||
return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
|
||||
rsp,
|
||||
OPAHRS_MSG_V0_RSP_FWUP_STATUS));
|
||||
}
|
||||
|
||||
|
||||
enum opahrs_result PIOS_OPAHRS_bl_resync(void)
|
||||
{
|
||||
struct opahrs_msg_v0 req;
|
||||
struct opahrs_msg_v0 rsp;
|
||||
|
||||
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
|
||||
|
||||
opahrs_msg_v0_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(20 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(20);
|
||||
#endif
|
||||
|
||||
for (uint32_t i = 0; i < sizeof(req); i++) {
|
||||
/* Tx a shortened (by one byte) message to walk through all byte positions */
|
||||
opahrs_msg_v0_init_rx(&rsp);
|
||||
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *)&req, (uint8_t *)&rsp, sizeof(req)-1, NULL);
|
||||
|
||||
/* Good magic means we're sync'd */
|
||||
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) &&
|
||||
(rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
|
||||
/* We need to shift out one more byte to compensate for the short tx */
|
||||
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
|
||||
rc = OPAHRS_RESULT_OK;
|
||||
break;
|
||||
}
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
vTaskDelay(10 / portTICK_RATE_MS);
|
||||
#else
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
#endif
|
||||
}
|
||||
|
||||
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
|
||||
//vTaskDelay(5 / portTICK_RATE_MS);
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
|
||||
@ -39,6 +39,22 @@ enum opahrs_result {
|
||||
};
|
||||
|
||||
extern void PIOS_OPAHRS_Init(void);
|
||||
|
||||
/*
|
||||
* Protocol V0 messages used to talk to bootloaders
|
||||
*/
|
||||
|
||||
extern enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 * rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 * rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 * rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
|
||||
|
||||
|
||||
/*
|
||||
* Protocol V1 messages used by application
|
||||
*/
|
||||
extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp);
|
||||
extern enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *rsp, struct opahrs_msg_v1 *req);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user