mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
CC-13 CopterControl bootloader first pass. Does not talk on USB for some reason, but starts.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2601 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard
edouard
parent
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commit
df0b5f9b6c
688
flight/Bootloaders/CopterControl/Makefile
Normal file
688
flight/Bootloaders/CopterControl/Makefile
Normal file
@ -0,0 +1,688 @@
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#####
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# Project: OpenPilot
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#
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#
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# Makefile for OpenPilot project build PiOS and the AP.
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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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
|
||||
# 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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# Set developer code and compile options
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# Set to YES to compile for debugging
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DEBUG ?= NO
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# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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ENABLE_DEBUG_PINS ?= NO
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# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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ENABLE_AUX_UART ?= NO
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#
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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|
||||
# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX ?= arm-none-eabi-
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# Remove command is different for Code Sourcery on Windows
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# YES enables -mthumb option to flags for source-files listed
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# in SRC and CPPSRC
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USE_THUMB_MODE = YES
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mcpu)
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103CBT
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BOARD = STM32103CB_CC_Rev1
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MODEL = MD
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ifeq ($(USE_BOOTLOADER), YES)
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BOOT_MODEL = $(MODEL)_BL
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else
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BOOT_MODEL = $(MODEL)_NB
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = ../../../build/bootloaders/coptercontrol
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# Target file name (without extension).
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TARGET = CopterControl_BL
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# Paths
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OPSYSTEM = .
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ./UAVTalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ./UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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OPMODULEDIR = ./Modules
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FLIGHTLIB = ../../Libraries
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FLIGHTLIBINC = ../../Libraries/inc
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PIOS = ../../PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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STMUSBSRCDIR = $(STMUSBDIR)/src
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STMUSBINCDIR = $(STMUSBDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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DOSFSDIR = $(APPLIBDIR)/dosfs
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MSDDIR = $(APPLIBDIR)/msd
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RTOSDIR = $(APPLIBDIR)/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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DOXYGENDIR = ../Doc/Doxygen
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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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## COPTERCONTROL_BL CORE:
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SRC += $(OPSYSTEM)/main.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/op_dfu.c
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SRC += $(OPSYSTEM)/stopwatch.c
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|
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|
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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#SRC += $(PIOSSTM32F10X)/pios_adc.c
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#SRC += $(PIOSSTM32F10X)/pios_servo.c
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#SRC += $(PIOSSTM32F10X)/pios_i2c.c
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#SRC += $(PIOSSTM32F10X)/pios_spi.c
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#SRC += $(PIOSSTM32F10X)/pios_ppm.c
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#SRC += $(PIOSSTM32F10X)/pios_pwm.c
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#SRC += $(PIOSSTM32F10X)/pios_spektrum.c
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SRC += $(PIOSSTM32F10X)/pios_debug.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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#SRC += $(PIOSSTM32F10X)/pios_exti.c
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#SRC += $(PIOSSTM32F10X)/pios_wdg.c
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# PIOS USB related files (seperated to make code maintenance more easy)
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SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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## PIOS Hardware (Common)
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#SRC += $(PIOSCOMMON)/pios_sdcard.c
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SRC += $(PIOSCOMMON)/pios_com.c
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#SRC += $(PIOSCOMMON)/pios_bmp085.c
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#SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
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SRC += $(PIOSCOMMON)/pios_bl_helper.c
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SRC += $(PIOSCOMMON)/pios_iap.c
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#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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#SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
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SRC += $(STMSPDSRCDIR)/misc.c
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## STM32 USB Library
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SRC += $(STMUSBSRCDIR)/usb_core.c
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SRC += $(STMUSBSRCDIR)/usb_init.c
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SRC += $(STMUSBSRCDIR)/usb_int.c
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SRC += $(STMUSBSRCDIR)/usb_mem.c
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SRC += $(STMUSBSRCDIR)/usb_regs.c
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SRC += $(STMUSBSRCDIR)/usb_sil.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
|
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# Make them always end in a capital .S. Files ending in a lowercase .s
|
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
|
||||
EXTRAINCDIRS = $(OPSYSTEM)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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EXTRAINCDIRS += $(OPUAVTALK)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(STMUSBINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(DOSFSDIR)
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EXTRAINCDIRS += $(MSDDIR)
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EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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||||
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
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||||
|
||||
|
||||
|
||||
# List any extra directories to look for library files here.
|
||||
# Also add directories where the linker should search for
|
||||
# includes from linker-script to the list
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRA_LIBDIRS =
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||||
|
||||
# Extra Libraries
|
||||
# Each library-name must be seperated by a space.
|
||||
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
|
||||
# EXTRA_LIBS = xyz abc efsl
|
||||
# for newlib-lpc (file: libnewlibc-lpc.a):
|
||||
# EXTRA_LIBS = newlib-lpc
|
||||
EXTRA_LIBS =
|
||||
|
||||
# Path to Linker-Scripts
|
||||
LINKERSCRIPTPATH = $(PIOSSTM32F10X)
|
||||
|
||||
# Optimization level, can be [0, 1, 2, 3, s].
|
||||
# 0 = turn off optimization. s = optimize for size.
|
||||
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
||||
|
||||
ifeq ($(DEBUG),YES)
|
||||
OPT = 0
|
||||
else
|
||||
OPT = s
|
||||
endif
|
||||
|
||||
# Output format. (can be ihex or binary or both)
|
||||
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
|
||||
# ihex to create a load-image in Intel hex format
|
||||
#LOADFORMAT = ihex
|
||||
#LOADFORMAT = binary
|
||||
LOADFORMAT = both
|
||||
|
||||
# Debugging format.
|
||||
DEBUGF = dwarf-2
|
||||
|
||||
# Place project-specific -D (define) and/or
|
||||
# -U options for C here.
|
||||
CDEFS = -DSTM32F10X_$(MODEL)
|
||||
CDEFS += -DUSE_STDPERIPH_DRIVER
|
||||
CDEFS += -DUSE_$(BOARD)
|
||||
ifeq ($(ENABLE_DEBUG_PINS), YES)
|
||||
CDEFS += -DPIOS_ENABLE_DEBUG_PINS
|
||||
endif
|
||||
ifeq ($(ENABLE_AUX_UART), YES)
|
||||
CDEFS += -DPIOS_ENABLE_AUX_UART
|
||||
endif
|
||||
ifeq ($(USE_BOOTLOADER), YES)
|
||||
CDEFS += -DUSE_BOOTLOADER
|
||||
endif
|
||||
|
||||
|
||||
# Place project-specific -D and/or -U options for
|
||||
# Assembler with preprocessor here.
|
||||
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
|
||||
ADEFS = -D__ASSEMBLY__
|
||||
|
||||
# Compiler flag to set the C Standard level.
|
||||
# c89 - "ANSI" C
|
||||
# gnu89 - c89 plus GCC extensions
|
||||
# c99 - ISO C99 standard (not yet fully implemented)
|
||||
# gnu99 - c99 plus GCC extensions
|
||||
CSTANDARD = -std=gnu99
|
||||
|
||||
#-----
|
||||
|
||||
# Compiler flags.
|
||||
|
||||
# -g*: generate debugging information
|
||||
# -O*: optimization level
|
||||
# -f...: tuning, see GCC manual and avr-libc documentation
|
||||
# -Wall...: warning level
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns...: create assembler listing
|
||||
#
|
||||
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
|
||||
|
||||
ifeq ($(DEBUG),YES)
|
||||
CFLAGS = -g$(DEBUGF) -DDEBUG
|
||||
endif
|
||||
|
||||
CFLAGS += -O$(OPT)
|
||||
ifeq ($(DEBUG),NO)
|
||||
CFLAGS += -ffunction-sections
|
||||
endif
|
||||
|
||||
CFLAGS += -mcpu=$(MCU) -mthumb
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
|
||||
CFLAGS += -mapcs-frame
|
||||
CFLAGS += -fomit-frame-pointer
|
||||
CFLAGS += -fpromote-loop-indices
|
||||
|
||||
CFLAGS += -Wall
|
||||
CFLAGS += -Werror
|
||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
# Compiler flags to generate dependency files:
|
||||
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
||||
|
||||
# flags only for C
|
||||
#CONLYFLAGS += -Wnested-externs
|
||||
CONLYFLAGS += $(CSTANDARD)
|
||||
|
||||
# Assembler flags.
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -ahlns: create listing
|
||||
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
|
||||
ASFLAGS += $(ADEFS)
|
||||
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
|
||||
MATH_LIB = -lm
|
||||
|
||||
# Linker flags.
|
||||
# -Wl,...: tell GCC to pass this to linker.
|
||||
# -Map: create map file
|
||||
# --cref: add cross reference to map file
|
||||
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||
ifeq ($(DEBUG),NO)
|
||||
LDFLAGS += -Wl,-static -Wl,-s
|
||||
endif
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||
LDFLAGS += -lc
|
||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||
LDFLAGS += $(MATH_LIB)
|
||||
LDFLAGS += -lc -lgcc
|
||||
|
||||
# Set linker-script name depending on selected submodel name
|
||||
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Options for OpenOCD flash-programming
|
||||
# see openocd.pdf/openocd.texi for further information
|
||||
#
|
||||
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
|
||||
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
|
||||
OOCD_EXE=openocd
|
||||
# debug level
|
||||
OOCD_CL=-d0
|
||||
# interface and board/target settings (using the OOCD target-library here)
|
||||
UNAME := $(shell uname)
|
||||
ifeq ($(UNAME), Darwin)
|
||||
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
|
||||
else
|
||||
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
|
||||
endif
|
||||
# initialize
|
||||
OOCD_CL+=-c init
|
||||
# show the targets
|
||||
OOCD_CL+=-c targets
|
||||
# commands to prepare flash-write
|
||||
OOCD_CL+= -c "reset halt"
|
||||
# flash erase
|
||||
OOCD_CL+=-c "stm32x mass_erase 0"
|
||||
# flash-write
|
||||
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
|
||||
# Verify
|
||||
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
|
||||
# reset target
|
||||
OOCD_CL+=-c "reset run"
|
||||
# terminate OOCD after programming
|
||||
OOCD_CL+=-c shutdown
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
# Define programs and commands.
|
||||
CC = $(TCHAIN_PREFIX)gcc
|
||||
CPP = $(TCHAIN_PREFIX)g++
|
||||
AR = $(TCHAIN_PREFIX)ar
|
||||
OBJCOPY = $(TCHAIN_PREFIX)objcopy
|
||||
OBJDUMP = $(TCHAIN_PREFIX)objdump
|
||||
SIZE = $(TCHAIN_PREFIX)size
|
||||
NM = $(TCHAIN_PREFIX)nm
|
||||
REMOVE = $(REMOVE_CMD) -f
|
||||
###SHELL = sh
|
||||
###COPY = cp
|
||||
|
||||
|
||||
|
||||
# Define Messages
|
||||
# English
|
||||
MSG_ERRORS_NONE = Errors: none
|
||||
MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
|
||||
MSG_END = ${quote}-------- end --------${quote}
|
||||
MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
|
||||
MSG_SIZE_BEFORE = ${quote}Size before:${quote}
|
||||
MSG_SIZE_AFTER = ${quote}Size after build:${quote}
|
||||
MSG_LOAD_FILE = ${quote}Creating load file:${quote}
|
||||
MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
|
||||
MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
|
||||
MSG_LINKING = ${quote}**** Linking :${quote}
|
||||
MSG_COMPILING = ${quote}**** Compiling C :${quote}
|
||||
MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
|
||||
MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
|
||||
MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
|
||||
MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
|
||||
MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
|
||||
MSG_CLEANING = ${quote}Cleaning project:${quote}
|
||||
MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
|
||||
MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
|
||||
MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
|
||||
|
||||
# List of all source files.
|
||||
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
||||
# List of all source files without directory and file-extension.
|
||||
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
||||
|
||||
# Define all object files.
|
||||
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
||||
|
||||
# Define all listing files (used for make clean).
|
||||
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
||||
# Define all depedency-files (used for make clean).
|
||||
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
# Default target.
|
||||
#all: begin gccversion sizebefore build sizeafter finished end
|
||||
all: begin gccversion build sizeafter finished end
|
||||
|
||||
ifeq ($(LOADFORMAT),ihex)
|
||||
build: elf hex sym
|
||||
else
|
||||
ifeq ($(LOADFORMAT),binary)
|
||||
build: elf bin sym
|
||||
else
|
||||
ifeq ($(LOADFORMAT),both)
|
||||
build: elf hex bin sym
|
||||
else
|
||||
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||
endif
|
||||
endif
|
||||
endif
|
||||
|
||||
# Test if quotes are needed for the echo-command
|
||||
result = ${shell echo "test"}
|
||||
ifeq (${result}, test)
|
||||
quote = '
|
||||
else
|
||||
quote =
|
||||
endif
|
||||
|
||||
${OUTDIR}/InitMods.c: Makefile
|
||||
@echo ${MSG_MODINIT}
|
||||
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
|
||||
# Eye candy.
|
||||
begin:
|
||||
## @echo
|
||||
@echo $(MSG_BEGIN)
|
||||
|
||||
finished:
|
||||
## @echo $(MSG_ERRORS_NONE)
|
||||
|
||||
end:
|
||||
@echo $(MSG_END)
|
||||
## @echo
|
||||
|
||||
# Display sizes of sections.
|
||||
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
|
||||
#ELFSIZE = $(SIZE) -B -t $(ALLOBJ) $(OUTDIR)/$(TARGET).elf
|
||||
##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
|
||||
sizebefore:
|
||||
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
|
||||
|
||||
sizeafter:
|
||||
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
|
||||
@echo $(MSG_SIZE_AFTER)
|
||||
$(ELFSIZE)
|
||||
|
||||
# Display compiler version information.
|
||||
gccversion :
|
||||
@$(CC) --version
|
||||
# @echo $(ALLOBJ)
|
||||
|
||||
# Program the device.
|
||||
ifeq ($(FLASH_TOOL),OPENOCD)
|
||||
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
|
||||
program: $(OUTDIR)/$(TARGET).elf
|
||||
@echo ${quote}Programming with OPENOCD${quote}
|
||||
$(OOCD_EXE) $(OOCD_CL)
|
||||
endif
|
||||
|
||||
# Create final output file (.hex) from ELF output file.
|
||||
%.hex: %.elf
|
||||
## @echo
|
||||
@echo $(MSG_LOAD_FILE) $@
|
||||
$(OBJCOPY) -O ihex $< $@
|
||||
|
||||
# Create final output file (.bin) from ELF output file.
|
||||
%.bin: %.elf
|
||||
## @echo
|
||||
@echo $(MSG_LOAD_FILE) $@
|
||||
$(OBJCOPY) -O binary $< $@
|
||||
|
||||
# Create extended listing file/disassambly from ELF output file.
|
||||
# using objdump testing: option -C
|
||||
%.lss: %.elf
|
||||
## @echo
|
||||
@echo $(MSG_EXTENDED_LISTING) $@
|
||||
$(OBJDUMP) -h -S -C -r $< > $@
|
||||
# $(OBJDUMP) -x -S $< > $@
|
||||
|
||||
# Create a symbol table from ELF output file.
|
||||
%.sym: %.elf
|
||||
## @echo
|
||||
@echo $(MSG_SYMBOL_TABLE) $@
|
||||
$(NM) -n $< > $@
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
.SECONDARY : $(TARGET).elf
|
||||
.PRECIOUS : $(ALLOBJ)
|
||||
%.elf: $(ALLOBJ)
|
||||
@echo $(MSG_LINKING) $@
|
||||
# use $(CC) for C-only projects or $(CPP) for C++-projects:
|
||||
$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
||||
# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
||||
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
define ASSEMBLE_TEMPLATE
|
||||
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||
## @echo
|
||||
@echo $(MSG_ASSEMBLING) $$< to $$@
|
||||
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
|
||||
endef
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
define ASSEMBLE_ARM_TEMPLATE
|
||||
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||
## @echo
|
||||
@echo $(MSG_ASSEMBLING_ARM) $$< to $$@
|
||||
$(CC) -c $$(ASFLAGS) $$< -o $$@
|
||||
endef
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
define COMPILE_C_TEMPLATE
|
||||
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||
## @echo
|
||||
@echo $(MSG_COMPILING) $$< to $$@
|
||||
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
||||
endef
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
define COMPILE_C_ARM_TEMPLATE
|
||||
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||
## @echo
|
||||
@echo $(MSG_COMPILING_ARM) $$< to $$@
|
||||
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
||||
endef
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
define COMPILE_CPP_TEMPLATE
|
||||
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||
## @echo
|
||||
@echo $(MSG_COMPILINGCPP) $$< to $$@
|
||||
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
||||
endef
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
define COMPILE_CPP_ARM_TEMPLATE
|
||||
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||
## @echo
|
||||
@echo $(MSG_COMPILINGCPP_ARM) $$< to $$@
|
||||
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
||||
endef
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(SRC:.c=.s) : %.s : %.c
|
||||
@echo $(MSG_ASMFROMC) $< to $@
|
||||
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(SRCARM:.c=.s) : %.s : %.c
|
||||
@echo $(MSG_ASMFROMC_ARM) $< to $@
|
||||
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Target: clean project.
|
||||
clean: begin clean_list finished end
|
||||
|
||||
clean_list :
|
||||
## @echo
|
||||
@echo $(MSG_CLEANING)
|
||||
$(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(REMOVE) $(ALLOBJ)
|
||||
$(REMOVE) $(LSTFILES)
|
||||
$(REMOVE) $(DEPFILES)
|
||||
$(REMOVE) $(SRC:.c=.s)
|
||||
$(REMOVE) $(SRCARM:.c=.s)
|
||||
$(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||
else
|
||||
-include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
endif
|
||||
|
||||
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all begin finish end sizebefore sizeafter gccversion \
|
||||
build elf hex bin lss sym clean clean_list program
|
||||
|
||||
3
flight/Bootloaders/CopterControl/inc/README
Normal file
3
flight/Bootloaders/CopterControl/inc/README
Normal file
@ -0,0 +1,3 @@
|
||||
pios_board.h should be the same as the pios_board.h of the PipX main FW,
|
||||
and should be migrated to a PipX include in the main PiOS directory once
|
||||
we move this to the main SVN.
|
||||
115
flight/Bootloaders/CopterControl/inc/common.h
Normal file
115
flight/Bootloaders/CopterControl/inc/common.h
Normal file
@ -0,0 +1,115 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotBL OpenPilot BootLoader
|
||||
* @brief These files contain the code to the OpenPilot MB Bootloader.
|
||||
*
|
||||
* @{
|
||||
* @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_
|
||||
|
||||
//#include "board.h"
|
||||
|
||||
typedef enum {
|
||||
start, keepgoing,
|
||||
} DownloadAction;
|
||||
|
||||
/**************************************************/
|
||||
/* OP_DFU states */
|
||||
/**************************************************/
|
||||
|
||||
typedef enum {
|
||||
DFUidle, //0
|
||||
uploading, //1
|
||||
wrong_packet_received, //2
|
||||
too_many_packets, //3
|
||||
too_few_packets, //4
|
||||
Last_operation_Success, //5
|
||||
downloading, //6
|
||||
BLidle, //7
|
||||
Last_operation_failed, //8
|
||||
uploadingStarting, //9
|
||||
outsideDevCapabilities, //10
|
||||
CRC_Fail,//11
|
||||
failed_jump,//12
|
||||
} DFUStates;
|
||||
/**************************************************/
|
||||
/* OP_DFU commands */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Reserved, //0
|
||||
Req_Capabilities, //1
|
||||
Rep_Capabilities, //2
|
||||
EnterDFU, //3
|
||||
JumpFW, //4
|
||||
Reset, //5
|
||||
Abort_Operation, //6
|
||||
Upload, //7
|
||||
Op_END, //8
|
||||
Download_Req, //9
|
||||
Download, //10
|
||||
Status_Request, //11
|
||||
Status_Rep
|
||||
//12
|
||||
} DFUCommands;
|
||||
|
||||
typedef enum {
|
||||
High_Density,
|
||||
Medium_Density
|
||||
}DeviceType;
|
||||
/**************************************************/
|
||||
/* OP_DFU transfer types */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
FW, //0
|
||||
Descript
|
||||
//2
|
||||
} DFUTransfer;
|
||||
/**************************************************/
|
||||
/* OP_DFU transfer port */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Usb, //0
|
||||
Serial
|
||||
//2
|
||||
} DFUPort;
|
||||
/**************************************************/
|
||||
/* OP_DFU programable programable HW types */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Self_flash, //0
|
||||
Remote_flash_via_spi
|
||||
//1
|
||||
} DFUProgType;
|
||||
/**************************************************/
|
||||
/* OP_DFU programable sources */
|
||||
/**************************************************/
|
||||
#define USB 0
|
||||
#define SPI 1
|
||||
|
||||
#define DownloadDelay 100000
|
||||
|
||||
#define MAX_DEL_RETRYS 3
|
||||
#define MAX_WRI_RETRYS 3
|
||||
|
||||
#endif /* COMMON_H_ */
|
||||
61
flight/Bootloaders/CopterControl/inc/op_dfu.h
Normal file
61
flight/Bootloaders/CopterControl/inc/op_dfu.h
Normal file
@ -0,0 +1,61 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @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
|
||||
#define __OP_DFU_H
|
||||
#include "common.h"
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
typedef struct
|
||||
{
|
||||
uint8_t programmingType;
|
||||
uint8_t readWriteFlags;
|
||||
uint32_t startOfUserCode;
|
||||
uint32_t sizeOfCode;
|
||||
uint8_t sizeOfDescription;
|
||||
uint8_t BL_Version;
|
||||
uint16_t devID;
|
||||
DeviceType devType;
|
||||
uint32_t FW_Crc;
|
||||
}Device;
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
/* Exported macro ------------------------------------------------------------*/
|
||||
/* Exported define -----------------------------------------------------------*/
|
||||
#define COMMAND 0
|
||||
#define COUNT 1
|
||||
#define DATA 5
|
||||
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
void processComand(uint8_t *Receive_Buffer);
|
||||
uint32_t baseOfAdressType(uint8_t type);
|
||||
uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
|
||||
void OPDfuIni(uint8_t discover);
|
||||
void DataDownload(DownloadAction);
|
||||
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
|
||||
#endif /* __OP_DFU_H */
|
||||
|
||||
/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
|
||||
67
flight/Bootloaders/CopterControl/inc/pios_config.h
Normal file
67
flight/Bootloaders/CopterControl/inc/pios_config.h
Normal file
@ -0,0 +1,67 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotBL OpenPilot BootLoader
|
||||
* @{
|
||||
* @file pios_config.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief PiOS configuration header.
|
||||
* Central compile time config for the project.
|
||||
* In particular, pios_config.h is where you define which PiOS libraries
|
||||
* and features are included in the firmware.
|
||||
* @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 PIOS_CONFIG_H
|
||||
#define PIOS_CONFIG_H
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
#define USB_HID
|
||||
/* Enable/Disable PiOS Modules */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_LED
|
||||
//#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
//#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
//#define PIOS_INCLUDE_OPAHRS
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_NO_GPS
|
||||
//#define DEBUG_SSP
|
||||
|
||||
/* Defaults for Logging */
|
||||
#define LOG_FILENAME "PIOS.LOG"
|
||||
#define STARTUP_LOG_ENABLED 1
|
||||
|
||||
/* COM Module */
|
||||
#define GPS_BAUDRATE 19200
|
||||
#define TELEM_BAUDRATE 19200
|
||||
#define AUXUART_ENABLED 0
|
||||
#define AUXUART_BAUDRATE 19200
|
||||
|
||||
/* Servos */
|
||||
#define SERVOS_POSITION_MIN 800
|
||||
#define SERVOS_POSITION_MAX 2200
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
55
flight/Bootloaders/CopterControl/inc/stopwatch.h
Normal file
55
flight/Bootloaders/CopterControl/inc/stopwatch.h
Normal file
@ -0,0 +1,55 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Global definitions
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Global Types
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Prototypes
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
extern s32 STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM);
|
||||
extern s32 STOPWATCH_Reset(TIM_TypeDef* TIM);
|
||||
extern u32 STOPWATCH_ValueGet(TIM_TypeDef* TIM);
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Export global variables
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
#endif /* _STOPWATCH_H */
|
||||
210
flight/Bootloaders/CopterControl/main.c
Normal file
210
flight/Bootloaders/CopterControl/main.c
Normal file
@ -0,0 +1,210 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotBL OpenPilot BootLoader
|
||||
* @brief These files contain the code to the OpenPilot MB Bootloader.
|
||||
*
|
||||
* @{
|
||||
* @file main.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief This is the file with the main function of the OpenPilot 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
|
||||
*/
|
||||
/* Bootloader Includes */
|
||||
#include <pios.h>
|
||||
#include "stopwatch.h"
|
||||
#include "op_dfu.h"
|
||||
#include "usb_lib.h"
|
||||
#include "pios_iap.h"
|
||||
#include "fifo_buffer.h"
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void FLASH_Download();
|
||||
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
typedef void (*pFunction)(void);
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
pFunction Jump_To_Application;
|
||||
uint32_t JumpAddress;
|
||||
|
||||
/// LEDs PWM
|
||||
uint32_t period1 = 50; // *100 uS -> 5 mS
|
||||
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;
|
||||
|
||||
|
||||
/* Extern variables ----------------------------------------------------------*/
|
||||
DFUStates DeviceState;
|
||||
int16_t status=0;
|
||||
uint8_t JumpToApp = FALSE;
|
||||
uint8_t GO_dfu = FALSE;
|
||||
uint8_t USB_connected = FALSE;
|
||||
uint8_t User_DFU_request = FALSE;
|
||||
static uint8_t mReceive_Buffer[64];
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
|
||||
uint8_t processRX();
|
||||
void jump_to_app();
|
||||
|
||||
#define BLUE LED1
|
||||
// #define RED LED4
|
||||
#define LED_PWM_TIMER TIM3
|
||||
int main() {
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
if (BSL_HOLD_STATE == 0)
|
||||
USB_connected = TRUE;
|
||||
|
||||
PIOS_IAP_Init();
|
||||
|
||||
if (PIOS_IAP_CheckRequest() == TRUE) {
|
||||
PIOS_Board_Init();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
User_DFU_request = TRUE;
|
||||
PIOS_IAP_ClearRequest();
|
||||
}
|
||||
|
||||
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
|
||||
|
||||
if (GO_dfu == TRUE) {
|
||||
PIOS_Board_Init();
|
||||
if(User_DFU_request == TRUE)
|
||||
DeviceState = DFUidle;
|
||||
else
|
||||
DeviceState = BLidle;
|
||||
STOPWATCH_Init(100,LED_PWM_TIMER);
|
||||
} else
|
||||
JumpToApp = TRUE;
|
||||
|
||||
STOPWATCH_Reset(LED_PWM_TIMER);
|
||||
|
||||
while (TRUE) {
|
||||
if (JumpToApp == TRUE)
|
||||
jump_to_app();
|
||||
//pwm_period = 50; // *100 uS -> 5 mS
|
||||
//pwm_sweep_steps =100; // * 5 mS -> 500 mS
|
||||
|
||||
switch (DeviceState) {
|
||||
case Last_operation_Success:
|
||||
case uploadingStarting:
|
||||
case DFUidle:
|
||||
period1 = 50;
|
||||
sweep_steps1 = 100;
|
||||
PIOS_LED_Off(BLUE);
|
||||
period2 = 0;
|
||||
break;
|
||||
case uploading:
|
||||
period1 = 50;
|
||||
sweep_steps1 = 100;
|
||||
period2 = 25;
|
||||
sweep_steps2 = 50;
|
||||
break;
|
||||
case downloading:
|
||||
period1 = 25;
|
||||
sweep_steps1 = 50;
|
||||
PIOS_LED_Off(BLUE);
|
||||
period2 = 0;
|
||||
break;
|
||||
case BLidle:
|
||||
period1 = 0;
|
||||
PIOS_LED_On(BLUE);
|
||||
period2 = 0;
|
||||
break;
|
||||
default://error
|
||||
period1 = 50;
|
||||
sweep_steps1 = 100;
|
||||
period2 = 50;
|
||||
sweep_steps2 = 100;
|
||||
}
|
||||
|
||||
if (period1 != 0) {
|
||||
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
|
||||
PIOS_LED_On(BLUE);
|
||||
else
|
||||
PIOS_LED_Off(BLUE);
|
||||
} else
|
||||
PIOS_LED_On(BLUE);
|
||||
|
||||
if (period2 != 0) {
|
||||
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
|
||||
PIOS_LED_On(BLUE);
|
||||
else
|
||||
PIOS_LED_Off(BLUE);
|
||||
} else
|
||||
PIOS_LED_Off(BLUE);
|
||||
|
||||
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
|
||||
STOPWATCH_Reset(LED_PWM_TIMER);
|
||||
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState == BLidle))
|
||||
JumpToApp = TRUE;
|
||||
|
||||
processRX();
|
||||
DataDownload(start);
|
||||
}
|
||||
}
|
||||
|
||||
void jump_to_app() {
|
||||
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
|
||||
FLASH_Lock();
|
||||
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
|
||||
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
|
||||
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
|
||||
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
|
||||
_SetCNTR(0); // clear interrupt mask
|
||||
_SetISTR(0); // clear all requests
|
||||
|
||||
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
|
||||
Jump_To_Application = (pFunction) JumpAddress;
|
||||
/* Initialize user application's Stack Pointer */
|
||||
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
|
||||
Jump_To_Application();
|
||||
} else {
|
||||
DeviceState = failed_jump;
|
||||
return;
|
||||
}
|
||||
}
|
||||
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
|
||||
uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
|
||||
/ (pwm_sweep_steps / pwm_period);
|
||||
if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
|
||||
* pwm_sweep_steps)
|
||||
pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
|
||||
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
processComand(mReceive_Buffer);
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
494
flight/Bootloaders/CopterControl/op_dfu.c
Normal file
494
flight/Bootloaders/CopterControl/op_dfu.c
Normal file
@ -0,0 +1,494 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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 "pios.h"
|
||||
#include "op_dfu.h"
|
||||
#include "pios_bl_helper.h"
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
//programmable devices
|
||||
Device devicesTable[10];
|
||||
uint8_t numberOfDevices = 0;
|
||||
|
||||
DFUProgType currentProgrammingDestination; //flash, flash_trough spi
|
||||
uint8_t currentDeviceCanRead;
|
||||
uint8_t currentDeviceCanWrite;
|
||||
Device currentDevice;
|
||||
|
||||
uint8_t Buffer[64];
|
||||
uint8_t echoBuffer[64];
|
||||
uint8_t SendBuffer[64];
|
||||
uint8_t Command = 0;
|
||||
uint8_t EchoReqFlag = 0;
|
||||
uint8_t EchoAnsFlag = 0;
|
||||
uint8_t StartFlag = 0;
|
||||
uint32_t Aditionals = 0;
|
||||
uint32_t SizeOfTransfer = 0;
|
||||
uint32_t Expected_CRC = 0;
|
||||
uint8_t SizeOfLastPacket = 0;
|
||||
uint32_t Next_Packet = 0;
|
||||
uint8_t TransferType;
|
||||
uint32_t Count = 0;
|
||||
uint32_t Data;
|
||||
uint8_t Data0;
|
||||
uint8_t Data1;
|
||||
uint8_t Data2;
|
||||
uint8_t Data3;
|
||||
uint8_t offset = 0;
|
||||
uint32_t aux;
|
||||
//Download vars
|
||||
uint32_t downSizeOfLastPacket = 0;
|
||||
uint32_t downPacketTotal = 0;
|
||||
uint32_t downPacketCurrent = 0;
|
||||
DFUTransfer downType = 0;
|
||||
/* Extern variables ----------------------------------------------------------*/
|
||||
extern DFUStates DeviceState;
|
||||
extern uint8_t JumpToApp;
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
/* Private functions ---------------------------------------------------------*/
|
||||
void sendData(uint8_t * buf,uint16_t size);
|
||||
uint32_t CalcFirmCRC(void);
|
||||
|
||||
void DataDownload(DownloadAction action) {
|
||||
if ((DeviceState == downloading)) {
|
||||
|
||||
uint8_t packetSize;
|
||||
uint32_t offset;
|
||||
uint32_t partoffset;
|
||||
SendBuffer[0] = 0x01;
|
||||
SendBuffer[1] = Download;
|
||||
SendBuffer[2] = downPacketCurrent >> 24;
|
||||
SendBuffer[3] = downPacketCurrent >> 16;
|
||||
SendBuffer[4] = downPacketCurrent >> 8;
|
||||
SendBuffer[5] = downPacketCurrent;
|
||||
if (downPacketCurrent == downPacketTotal - 1) {
|
||||
packetSize = downSizeOfLastPacket;
|
||||
} else {
|
||||
packetSize = 14;
|
||||
}
|
||||
for (uint8_t x = 0; x < packetSize; ++x) {
|
||||
partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
|
||||
offset = baseOfAdressType(downType) + partoffset;
|
||||
if(!flash_read(SendBuffer+(6+x*4),offset,currentProgrammingDestination))
|
||||
{
|
||||
DeviceState = Last_operation_failed;
|
||||
}
|
||||
/*
|
||||
switch (currentProgrammingDestination) {
|
||||
case Remote_flash_via_spi:
|
||||
if (downType == Descript) {
|
||||
SendBuffer[6 + (x * 4)]
|
||||
= spi_dev_desc[(uint8_t) partoffset];
|
||||
SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
|
||||
+ 1];
|
||||
SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
|
||||
+ 2];
|
||||
SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
|
||||
+ 3];
|
||||
}
|
||||
break;
|
||||
case Self_flash:
|
||||
SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
|
||||
SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
|
||||
SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
|
||||
SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
|
||||
break;
|
||||
}
|
||||
*/
|
||||
}
|
||||
//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
|
||||
downPacketCurrent = downPacketCurrent + 1;
|
||||
if (downPacketCurrent > downPacketTotal - 1) {
|
||||
// STM_EVAL_LEDOn(LED2);
|
||||
DeviceState = Last_operation_Success;
|
||||
Aditionals = (uint32_t) Download;
|
||||
}
|
||||
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;
|
||||
Count = xReceive_Buffer[COUNT] << 24;
|
||||
Count += xReceive_Buffer[COUNT + 1] << 16;
|
||||
Count += xReceive_Buffer[COUNT + 2] << 8;
|
||||
Count += xReceive_Buffer[COUNT + 3];
|
||||
|
||||
Data = xReceive_Buffer[DATA] << 24;
|
||||
Data += xReceive_Buffer[DATA + 1] << 16;
|
||||
Data += xReceive_Buffer[DATA + 2] << 8;
|
||||
Data += xReceive_Buffer[DATA + 3];
|
||||
Data0 = xReceive_Buffer[DATA];
|
||||
Data1 = xReceive_Buffer[DATA + 1];
|
||||
Data2 = xReceive_Buffer[DATA + 2];
|
||||
Data3 = xReceive_Buffer[DATA + 3];
|
||||
Command = Command & 0b00011111;
|
||||
|
||||
if (EchoReqFlag == 1) {
|
||||
memcpy(echoBuffer, Buffer, 64);
|
||||
}
|
||||
switch (Command) {
|
||||
case EnterDFU:
|
||||
if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
|
||||
|| (DeviceState == DFUidle)) {
|
||||
if (Data0 > 0)//PORQUE???
|
||||
OPDfuIni(TRUE);
|
||||
DeviceState = DFUidle;
|
||||
currentProgrammingDestination = devicesTable[Data0].programmingType;
|
||||
currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
|
||||
currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
|
||||
& 0x01;
|
||||
currentDevice = devicesTable[Data0];
|
||||
uint8_t result = 0;
|
||||
switch (currentProgrammingDestination) {
|
||||
case Self_flash:
|
||||
result = FLASH_Ini();
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
result = TRUE;
|
||||
break;
|
||||
default:
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint16_t) Command;
|
||||
}
|
||||
if (result != 1) {
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint32_t) Command;
|
||||
}
|
||||
}
|
||||
break;
|
||||
case Upload:
|
||||
if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
|
||||
if ((StartFlag == 1) && (Next_Packet == 0)) {
|
||||
TransferType = Data0;
|
||||
SizeOfTransfer = Count;
|
||||
Next_Packet = 1;
|
||||
Expected_CRC = Data2 << 24;
|
||||
Expected_CRC += Data3 << 16;
|
||||
Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
|
||||
Expected_CRC += xReceive_Buffer[DATA + 5];
|
||||
SizeOfLastPacket = Data1;
|
||||
|
||||
if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
|
||||
* 14 * 4 + SizeOfLastPacket * 4) == TRUE) {
|
||||
DeviceState = outsideDevCapabilities;
|
||||
Aditionals = (uint32_t) Command;
|
||||
} else {
|
||||
uint8_t result = 1;
|
||||
if (TransferType == FW) {
|
||||
switch (currentProgrammingDestination) {
|
||||
case Self_flash:
|
||||
result = FLASH_Start();
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
result = FALSE;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (result != 1) {
|
||||
DeviceState = Last_operation_failed;//ok
|
||||
Aditionals = (uint32_t) Command;
|
||||
} else {
|
||||
|
||||
DeviceState = uploading;
|
||||
}
|
||||
}
|
||||
} else if ((StartFlag != 1) && (Next_Packet != 0)) {
|
||||
if (Count > SizeOfTransfer) {
|
||||
DeviceState = too_many_packets;
|
||||
Aditionals = Count;
|
||||
} else if (Count == Next_Packet - 1) {
|
||||
uint8_t numberOfWords = 14;
|
||||
if (Count == SizeOfTransfer - 1)//is this the last packet?
|
||||
{
|
||||
numberOfWords = SizeOfLastPacket;
|
||||
}
|
||||
uint8_t result = 0;
|
||||
switch (currentProgrammingDestination) {
|
||||
case Self_flash:
|
||||
for (uint8_t x = 0; x < numberOfWords; ++x) {
|
||||
offset = 4 * x;
|
||||
Data = xReceive_Buffer[DATA + offset] << 24;
|
||||
Data += xReceive_Buffer[DATA + 1 + offset] << 16;
|
||||
Data += xReceive_Buffer[DATA + 2 + offset] << 8;
|
||||
Data += xReceive_Buffer[DATA + 3 + offset];
|
||||
aux = baseOfAdressType(TransferType) + (uint32_t)(
|
||||
Count * 14 * 4 + x * 4);
|
||||
result = 0;
|
||||
for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
|
||||
if (result == 0) {
|
||||
result = (FLASH_ProgramWord(aux, Data)
|
||||
== FLASH_COMPLETE) ? 1 : 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
result = FALSE; // No support for this for the PipX
|
||||
break;
|
||||
default:
|
||||
result = 0;
|
||||
break;
|
||||
}
|
||||
if (result != 1) {
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint32_t) Command;
|
||||
}
|
||||
|
||||
++Next_Packet;
|
||||
} else {
|
||||
|
||||
DeviceState = wrong_packet_received;
|
||||
Aditionals = Count;
|
||||
}
|
||||
// FLASH_ProgramWord(MemLocations[TransferType]+4,++Next_Packet);//+Count,Data);
|
||||
} else {
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint32_t) Command;
|
||||
}
|
||||
}
|
||||
break;
|
||||
case Req_Capabilities:
|
||||
OPDfuIni(TRUE);
|
||||
Buffer[0] = 0x01;
|
||||
Buffer[1] = Rep_Capabilities;
|
||||
if (Data0 == 0) {
|
||||
Buffer[2] = 0;
|
||||
Buffer[3] = 0;
|
||||
Buffer[4] = 0;
|
||||
Buffer[5] = 0;
|
||||
Buffer[6] = 0;
|
||||
Buffer[7] = numberOfDevices;
|
||||
uint16_t WRFlags = 0;
|
||||
for (int x = 0; x < numberOfDevices; ++x) {
|
||||
WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
|
||||
| WRFlags);
|
||||
}
|
||||
Buffer[8] = WRFlags >> 8;
|
||||
Buffer[9] = WRFlags;
|
||||
} else {
|
||||
Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
|
||||
Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
|
||||
Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
|
||||
Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
|
||||
Buffer[6] = Data0;
|
||||
Buffer[7] = devicesTable[Data0 - 1].BL_Version;
|
||||
Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
|
||||
Buffer[9] = devicesTable[Data0 - 1].devID;
|
||||
Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
|
||||
Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
|
||||
Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
|
||||
Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
|
||||
Buffer[14] = devicesTable[Data0 - 1].devID>>8;
|
||||
Buffer[15] = devicesTable[Data0 - 1].devID;
|
||||
}
|
||||
sendData(Buffer + 1, 63);
|
||||
//PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
|
||||
break;
|
||||
case JumpFW:
|
||||
FLASH_Lock();
|
||||
JumpToApp = 1;
|
||||
break;
|
||||
case Reset:
|
||||
//PIOS Reset_Device();
|
||||
break;
|
||||
case Abort_Operation:
|
||||
Next_Packet = 0;
|
||||
DeviceState = DFUidle;
|
||||
break;
|
||||
|
||||
case Op_END:
|
||||
if (DeviceState == uploading) {
|
||||
if (Next_Packet - 1 == SizeOfTransfer) {
|
||||
Next_Packet = 0;
|
||||
if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
|
||||
DeviceState = Last_operation_Success;
|
||||
} else {
|
||||
DeviceState = CRC_Fail;
|
||||
}
|
||||
}
|
||||
if (Next_Packet - 1 < SizeOfTransfer) {
|
||||
Next_Packet = 0;
|
||||
DeviceState = too_few_packets;
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
|
||||
+ downSizeOfLastPacket) == 1) {
|
||||
DeviceState = outsideDevCapabilities;
|
||||
Aditionals = (uint32_t) Command;
|
||||
|
||||
} else {
|
||||
downPacketCurrent = 0;
|
||||
DeviceState = downloading;
|
||||
}
|
||||
} else {
|
||||
DeviceState = Last_operation_failed;
|
||||
Aditionals = (uint32_t) Command;
|
||||
}
|
||||
break;
|
||||
|
||||
case Status_Request:
|
||||
Buffer[0] = 0x01;
|
||||
Buffer[1] = Status_Rep;
|
||||
if (DeviceState == wrong_packet_received) {
|
||||
Buffer[2] = Aditionals >> 24;
|
||||
Buffer[3] = Aditionals >> 16;
|
||||
Buffer[4] = Aditionals >> 8;
|
||||
Buffer[5] = Aditionals;
|
||||
} else {
|
||||
Buffer[2] = 0;
|
||||
Buffer[3] = ((uint16_t) Aditionals) >> 8;
|
||||
Buffer[4] = ((uint16_t) Aditionals);
|
||||
Buffer[5] = 0;
|
||||
}
|
||||
Buffer[6] = DeviceState;
|
||||
Buffer[7] = 0;
|
||||
Buffer[8] = 0;
|
||||
Buffer[9] = 0;
|
||||
sendData(Buffer + 1, 63);
|
||||
if (DeviceState == Last_operation_Success) {
|
||||
DeviceState = DFUidle;
|
||||
}
|
||||
break;
|
||||
case Status_Rep:
|
||||
|
||||
break;
|
||||
|
||||
}
|
||||
if (EchoReqFlag == 1) {
|
||||
echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
|
||||
sendData(echoBuffer + 1, 63);
|
||||
}
|
||||
return;
|
||||
}
|
||||
void OPDfuIni(uint8_t discover) {
|
||||
Device dev;
|
||||
dev.programmingType = Self_flash;
|
||||
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
|
||||
dev.startOfUserCode = START_OF_USER_CODE;
|
||||
dev.sizeOfCode = SIZE_OF_CODE;
|
||||
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
|
||||
dev.BL_Version = BOOTLOADER_VERSION;
|
||||
dev.FW_Crc = CalcFirmCRC();
|
||||
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
|
||||
dev.devType = HW_TYPE;
|
||||
numberOfDevices = 1;
|
||||
devicesTable[0] = dev;
|
||||
if (discover) {
|
||||
//TODO check other devices trough spi or whatever
|
||||
}
|
||||
}
|
||||
uint32_t baseOfAdressType(DFUTransfer type) {
|
||||
switch (type) {
|
||||
case FW:
|
||||
return currentDevice.startOfUserCode;
|
||||
break;
|
||||
case Descript:
|
||||
return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
|
||||
break;
|
||||
default:
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
|
||||
switch (type) {
|
||||
case FW:
|
||||
return (size > currentDevice.sizeOfCode) ? 1 : 0;
|
||||
break;
|
||||
case Descript:
|
||||
return (size > currentDevice.sizeOfDescription) ? 1 : 0;
|
||||
break;
|
||||
default:
|
||||
return TRUE;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t CalcFirmCRC() {
|
||||
switch (currentProgrammingDestination) {
|
||||
case Self_flash:
|
||||
return crc_memory_calc();
|
||||
break;
|
||||
case Remote_flash_via_spi:
|
||||
return 0;
|
||||
break;
|
||||
default:
|
||||
return 0;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
void sendData(uint8_t * buf,uint16_t size)
|
||||
{
|
||||
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
|
||||
if(DeviceState == downloading)
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
}
|
||||
|
||||
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
|
||||
switch (type) {
|
||||
case Remote_flash_via_spi:
|
||||
return FALSE; // We should not get this for the PipX
|
||||
break;
|
||||
case Self_flash:
|
||||
for (uint8_t x = 0; x < 4; ++x) {
|
||||
buffer[x] = *FLASH_If_Read(adr + x);
|
||||
}
|
||||
return TRUE;
|
||||
break;
|
||||
default:
|
||||
return FALSE;
|
||||
}
|
||||
}
|
||||
341
flight/Bootloaders/CopterControl/pios_board.c
Normal file
341
flight/Bootloaders/CopterControl/pios_board.c
Normal file
@ -0,0 +1,341 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @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 PipBee board.
|
||||
* @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 <pios.h>
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
void PIOS_Board_Init(void) {
|
||||
|
||||
|
||||
/* Enable Prefetch Buffer */
|
||||
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
|
||||
|
||||
/* Flash 2 wait state */
|
||||
FLASH_SetLatency(FLASH_Latency_2);
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
/* SPI Init */
|
||||
// PIOS_SPI_Init();
|
||||
|
||||
|
||||
/* Initialize the PiOS library */
|
||||
PIOS_COM_Init();
|
||||
PIOS_GPIO_Init();
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_HID)
|
||||
PIOS_USB_HID_Init(0);
|
||||
#endif
|
||||
//PIOS_I2C_Init();
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
|
||||
}
|
||||
|
||||
|
||||
// ***********************************************************************************
|
||||
// SPI
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
|
||||
#include <pios_spi_priv.h>
|
||||
|
||||
/* OP Interface
|
||||
*
|
||||
* NOTE: Leave this declared as const data so that it ends up in the
|
||||
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
|
||||
*/
|
||||
void PIOS_SPI_port_irq_handler(void);
|
||||
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
|
||||
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
|
||||
|
||||
static const struct pios_spi_cfg pios_spi_port_cfg =
|
||||
{
|
||||
.regs = SPI1,
|
||||
// .regs = SPI2,
|
||||
// .regs = SPI3,
|
||||
|
||||
.init =
|
||||
{
|
||||
.SPI_Mode = SPI_Mode_Master,
|
||||
// .SPI_Mode = SPI_Mode_Slave,
|
||||
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
// .SPI_Direction = SPI_Direction_2Lines_RxOnly,
|
||||
// .SPI_Direction = SPI_Direction_1Line_Rx,
|
||||
// .SPI_Direction = SPI_Direction_1Line_Tx,
|
||||
|
||||
// .SPI_DataSize = SPI_DataSize_16b,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
// .SPI_NSS = SPI_NSS_Hard,
|
||||
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
// .SPI_FirstBit = SPI_FirstBit_LSB,
|
||||
|
||||
.SPI_CRCPolynomial = 0,
|
||||
|
||||
.SPI_CPOL = SPI_CPOL_Low,
|
||||
// .SPI_CPOL = SPI_CPOL_High,
|
||||
|
||||
.SPI_CPHA = SPI_CPHA_1Edge,
|
||||
// .SPI_CPHA = SPI_CPHA_2Edge,
|
||||
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, // fastest SCLK
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64,
|
||||
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK
|
||||
},
|
||||
.use_crc = FALSE,
|
||||
|
||||
.dma =
|
||||
{
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
.irq =
|
||||
{
|
||||
.handler = PIOS_SPI_port_irq_handler,
|
||||
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Channel2,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Channel3,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralDST,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
},
|
||||
|
||||
.ssel =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
},
|
||||
.sclk =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_5,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.miso =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
// .GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.mosi =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
/*
|
||||
* Board specific number of devices.
|
||||
*/
|
||||
struct pios_spi_dev pios_spi_devs[] =
|
||||
{
|
||||
{
|
||||
.cfg = &pios_spi_port_cfg,
|
||||
},
|
||||
};
|
||||
|
||||
uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
|
||||
|
||||
void PIOS_SPI_port_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(PIOS_SPI_PORT);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
|
||||
// ***********************************************************************************
|
||||
// USART
|
||||
|
||||
#if defined(PIOS_INCLUDE_USART)
|
||||
#include <pios_usart_priv.h>
|
||||
|
||||
/*
|
||||
* SERIAL USART
|
||||
*/
|
||||
void PIOS_USART_serial_irq_handler(void);
|
||||
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler")));
|
||||
|
||||
const struct pios_usart_cfg pios_usart_serial_cfg =
|
||||
{
|
||||
.regs = USART1,
|
||||
.init =
|
||||
{
|
||||
#if defined(PIOS_USART_BAUDRATE)
|
||||
.USART_BaudRate = PIOS_USART_BAUDRATE,
|
||||
#else
|
||||
.USART_BaudRate = 57600,
|
||||
#endif
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq =
|
||||
{
|
||||
.handler = PIOS_USART_serial_irq_handler,
|
||||
.init =
|
||||
{
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
/*
|
||||
* Board specific number of devices.
|
||||
*/
|
||||
struct pios_usart_dev pios_usart_devs[] =
|
||||
{
|
||||
#define PIOS_USART_SERIAL 0
|
||||
{
|
||||
.cfg = &pios_usart_serial_cfg,
|
||||
},
|
||||
};
|
||||
|
||||
uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
|
||||
|
||||
void PIOS_USART_serial_irq_handler(void)
|
||||
{
|
||||
PIOS_USART_IRQ_Handler(PIOS_USART_SERIAL);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_USART */
|
||||
|
||||
// ***********************************************************************************
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
#include <pios_com_priv.h>
|
||||
|
||||
/*
|
||||
* COM devices
|
||||
*/
|
||||
|
||||
/*
|
||||
* Board specific number of devices.
|
||||
*/
|
||||
extern const struct pios_com_driver pios_usart_com_driver;
|
||||
#if defined(PIOS_INCLUDE_USB_HID)
|
||||
extern const struct pios_com_driver pios_usb_com_driver;
|
||||
#endif
|
||||
|
||||
struct pios_com_dev pios_com_devs[] = { { .id = 0,
|
||||
.driver = &pios_usb_com_driver, },
|
||||
#if defined(PIOS_INCLUDE_USB_HID)
|
||||
{
|
||||
.id = 0,
|
||||
.driver = &pios_usb_com_driver,
|
||||
},
|
||||
#endif
|
||||
};
|
||||
|
||||
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
|
||||
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
|
||||
// ***********************************************************************************
|
||||
101
flight/Bootloaders/CopterControl/stopwatch.c
Normal file
101
flight/Bootloaders/CopterControl/stopwatch.c
Normal file
@ -0,0 +1,101 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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
|
||||
*/
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Include files
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "stm32f10x_tim.h"
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Local definitions
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
//#define STOPWATCH_TIMER_BASE TIM6
|
||||
//#define STOPWATCH_TIMER_RCC RCC_APB1Periph_TIM6
|
||||
|
||||
uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
|
||||
uint32_t STOPWATCH_TIMER_RCC;
|
||||
switch ((uint32_t)TIM) {
|
||||
case (uint32_t)TIM1: STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;break;
|
||||
case (uint32_t)TIM2: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM2; break;
|
||||
case (uint32_t)TIM3: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM3; break;
|
||||
case (uint32_t)TIM4: STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4; break;
|
||||
default:
|
||||
STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
|
||||
}
|
||||
|
||||
// enable timer clock
|
||||
if (STOPWATCH_TIMER_RCC == RCC_APB2Periph_TIM1 || STOPWATCH_TIMER_RCC
|
||||
== RCC_APB2Periph_TIM8)
|
||||
RCC_APB2PeriphClockCmd(STOPWATCH_TIMER_RCC, ENABLE);
|
||||
else
|
||||
RCC_APB1PeriphClockCmd(STOPWATCH_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(TIM, &TIM_TimeBaseStructure);
|
||||
|
||||
// enable interrupt request
|
||||
TIM_ITConfig(TIM, TIM_IT_Update, ENABLE);
|
||||
|
||||
// start counter
|
||||
TIM_Cmd(TIM, ENABLE);
|
||||
|
||||
return 0; // no error
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//! Resets the stopwatch
|
||||
//! \return < 0 on errors
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
uint32_t STOPWATCH_Reset(TIM_TypeDef* TIM) {
|
||||
// reset counter
|
||||
TIM->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
|
||||
TIM_ClearITPendingBit(TIM, TIM_IT_Update);
|
||||
|
||||
return 0; // no error
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//! Returns current value of stopwatch
|
||||
//! \return 1..65535: valid stopwatch value
|
||||
//! \return 0xffffffff: counter overrun
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
uint32_t STOPWATCH_ValueGet(TIM_TypeDef* TIM) {
|
||||
uint32_t value = TIM->CNT;
|
||||
|
||||
if (TIM_GetITStatus(TIM, TIM_IT_Update) != RESET)
|
||||
value = 0xffffffff;
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
@ -70,7 +70,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
|
||||
|
||||
#define MEM_SIZE 0x20000 //128K
|
||||
#define SIZE_OF_DESCRIPTION 100
|
||||
#define START_OF_USER_CODE (uint32_t)0x08002000
|
||||
#define START_OF_USER_CODE (uint32_t)0x08003000
|
||||
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
|
||||
#ifdef STM32F10X_HD
|
||||
#define HW_TYPE 0 //0=high_density 1=medium_density;
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
MEMORY
|
||||
{
|
||||
FLASH (rx) : ORIGIN = 0x08004000, LENGTH = 112K
|
||||
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 116K
|
||||
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
|
||||
}
|
||||
|
||||
@ -51,4 +51,4 @@ SECTIONS
|
||||
|
||||
. = ALIGN(4);
|
||||
_end = . ;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user