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Code Issues Releases Activity

Merge remote-tracking branch 'origin/stac/leds-in-bu-again' into next

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This commit is contained in:
Stacey Sheldon 2012-05-25 09:02:44 -04:00
commit dbd4d0fe1d
6 changed files with 68 additions and 40 deletions
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26
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -34,7 +34,7 @@
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
void error(void);
void error(int);
/* The ADDRESSES of the _binary_* symbols are the important
* data. This is non-intuitive for _binary_size where you
@ -51,11 +51,14 @@ int main() {
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error();
error(PIOS_LED_HEARTBEAT);
///
/*
@ -77,7 +80,7 @@ int main() {
if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
error();
error(PIOS_LED_HEARTBEAT);
}
/* Embedded bootloader looks like it's the right one for this HW, proceed... */
@ -105,7 +108,7 @@ int main() {
}
if (fail == true)
error();
error(PIOS_LED_HEARTBEAT);
///
@ -113,6 +116,7 @@ int main() {
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
@ -120,9 +124,15 @@ int main() {
}
}
if (result == false)
error();
error(PIOS_LED_HEARTBEAT);
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
}
/// Invalidate the bootloader updater so we won't run
/// the update again on the next power cycle.
@ -135,7 +145,11 @@ int main() {
}
void error(void) {
void error(int led) {
for (;;) {
PIOS_LED_On(led);
PIOS_DELAY_WaitmS(500);
PIOS_LED_Off(led);
PIOS_DELAY_WaitmS(500);
}
}

13
flight/Bootloaders/BootloaderUpdater/pios_board.c
View File

@ -35,6 +35,8 @@
#include <pios.h>
void PIOS_Board_Init(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@ -42,8 +44,15 @@ void PIOS_Board_Init(void) {
FLASH_SetLatency(FLASH_Latency_2);
/* Delay system */
PIOS_DELAY_Init();
PIOS_DELAY_Init();
/* LEDs */
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Initialize the PiOS library */
PIOS_GPIO_Init();
}

18
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -62,17 +62,9 @@ void PIOS_Board_Init(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
PIOS_LED_Init(&pios_led_cfg_cc);
break;
case 0x02: // Revision 2
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
PIOS_LED_Init(&pios_led_cfg_cc3d);
break;
default:
PIOS_Assert(0);
}
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
@ -84,10 +76,10 @@ void PIOS_Board_Init(void) {
uint32_t pios_usb_id;
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
case BOARD_REVISION_CC:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
break;
case 0x02: // Revision 2
case BOARD_REVISION_CC3D:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
break;
default:

30
flight/CopterControl/System/pios_board.c
View File

@ -156,29 +156,21 @@ void PIOS_Board_Init(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
PIOS_LED_Init(&pios_led_cfg_cc);
break;
case 0x02: // Revision 2
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
PIOS_LED_Init(&pios_led_cfg_cc3d);
break;
default:
PIOS_Assert(0);
}
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the serial flash */
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
case BOARD_REVISION_CC:
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
PIOS_Assert(0);
}
break;
case 0x02: // Revision 2
case BOARD_REVISION_CC3D:
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
PIOS_Assert(0);
}
@ -190,11 +182,11 @@ void PIOS_Board_Init(void) {
#endif
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
case BOARD_REVISION_CC:
PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 1, &flash_w25x_cfg);
PIOS_FLASHFS_Init(&flashfs_w25x_cfg);
break;
case 0x02: // Revision 2
case BOARD_REVISION_CC3D:
PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 0, &flash_m25p_cfg);
PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
break;
@ -267,10 +259,10 @@ void PIOS_Board_Init(void) {
uint32_t pios_usb_id;
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
case BOARD_REVISION_CC:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
break;
case 0x02: // Revision 2
case BOARD_REVISION_CC3D:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
break;
default:
@ -690,7 +682,7 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
switch(bdinfo->board_rev) {
case 0x01:
case BOARD_REVISION_CC:
// Revision 1 with invensense gyros, start the ADC
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
@ -699,7 +691,7 @@ void PIOS_Board_Init(void) {
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
#endif
break;
case 0x02:
case BOARD_REVISION_CC3D:
// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);

7
flight/PiOS/inc/pios_board_info.h
View File

@ -1,3 +1,8 @@
#ifndef PIOS_BOARD_INFO_H
#define PIOS_BOARD_INFO_H
#include <stdint.h> /* uint* */
#define PIOS_BOARD_INFO_BLOB_MAGIC 0xBDBDBDBD
struct pios_board_info {
@ -15,3 +20,5 @@ struct pios_board_info {
} __attribute__((packed));
extern const struct pios_board_info pios_board_info_blob;
#endif /* PIOS_BOARD_INFO_H */

14
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -27,6 +27,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios_config.h>
#include <pios_board_info.h>
#define BOARD_REVISION_CC 1
#define BOARD_REVISION_CC3D 2
#if defined(PIOS_INCLUDE_LED)
@ -59,6 +63,7 @@ static const struct pios_led pios_leds_cc3d[] = {
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.remap = GPIO_Remap_SWJ_JTAGDisable,
},
};
@ -67,6 +72,15 @@ static const struct pios_led_cfg pios_led_cfg_cc3d = {
.num_leds = NELEMENTS(pios_leds_cc3d),
};
const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
{
switch (board_revision) {
case BOARD_REVISION_CC: return &pios_led_cfg_cc;
case BOARD_REVISION_CC3D: return &pios_led_cfg_cc3d;
default: return NULL;
}
}
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)