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OP-21/Flight Bootloader
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1641 ebee16cc-31ac-478f-84a7-5cbb03baadba
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zedamota
zedamota
parent
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90
flight/PiOS/Common/pios_bl_helper.c
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90
flight/PiOS/Common/pios_bl_helper.c
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_BOOTLOADER Functions
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* @brief HAL code to interface to the OpenPilot AHRS module
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* @{
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*
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* @file pios_bl_helper.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Bootloader Helper Functions
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* @see The GNU Public License (GPL) Version 3
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*
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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
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* 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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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_BL_HELPER)
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#include "stm32f10x_flash.h"
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uint8_t *FLASH_If_Read(uint32_t SectorAddress) {
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return (uint8_t*) (SectorAddress);
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}
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uint8_t FLASH_Ini() {
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FLASH_Unlock();
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return 1;
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}
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uint8_t FLASH_Start() {
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uint32_t pageAdress;
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pageAdress = START_OF_USER_CODE;
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uint8_t fail = FALSE;
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while ((pageAdress < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION)
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|| (fail == TRUE)) {
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for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
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if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
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fail = FALSE;
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break;
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} else {
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fail = TRUE;
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}
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}
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#ifdef STM32F10X_HD
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pageAdress += 2048;
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#elif STM32F10X_MD
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pageAdress += 1024;
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#endif
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}
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return (fail == TRUE) ? 0 : 1;
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}
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uint32_t crc_memory_calc()
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{
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CRC_ResetDR();
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CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
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return CRC_GetCRC();
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}
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void read_description(uint8_t * array)
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{
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for(uint32_t i=START_OF_USER_CODE+SIZE_OF_CODE;i<START_OF_USER_CODE+SIZE_OF_CODE+SIZE_OF_DESCRIPTION;++i)
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{
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*array=*FLASH_If_Read(i);
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array++;
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}
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}
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void CRC_Ini()
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{
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
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}
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#endif
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@ -56,7 +56,6 @@ static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
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return (rc);
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}
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static enum opahrs_result opahrs_msg_v0_send_req (const struct opahrs_msg_v0 * req)
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{
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int32_t rc;
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@ -76,10 +75,10 @@ static enum opahrs_result opahrs_msg_v0_send_req (const struct opahrs_msg_v0 * r
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}
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switch (rsp->head.type) {
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case OPAHRS_MSG_TYPE_LINK:
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case OPAHRS_MSG_TYPE_LINK:
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switch (rsp->payload.link.state) {
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case OPAHRS_MSG_LINK_STATE_BUSY:
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case OPAHRS_MSG_LINK_STATE_INACTIVE:
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case OPAHRS_MSG_LINK_STATE_BUSY:
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case OPAHRS_MSG_LINK_STATE_INACTIVE:
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/* Wait for a small delay and retry */
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(20 / portTICK_RATE_MS);
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@ -87,13 +86,13 @@ static enum opahrs_result opahrs_msg_v0_send_req (const struct opahrs_msg_v0 * r
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PIOS_DELAY_WaitmS(20);
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#endif
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continue;
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case OPAHRS_MSG_LINK_STATE_READY:
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case OPAHRS_MSG_LINK_STATE_READY:
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/* Peer was ready when we Tx'd so they have now Rx'd our message */
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return OPAHRS_RESULT_OK;
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}
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break;
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case OPAHRS_MSG_TYPE_USER_V0:
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case OPAHRS_MSG_TYPE_USER_V1:
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case OPAHRS_MSG_TYPE_USER_V0:
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case OPAHRS_MSG_TYPE_USER_V1:
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/* Wait for a small delay and retry */
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(50 / portTICK_RATE_MS);
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@ -125,9 +124,9 @@ static enum opahrs_result opahrs_msg_v0_recv_rsp (enum opahrs_msg_v0_tag tag, st
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}
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switch (rsp->head.type) {
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case OPAHRS_MSG_TYPE_LINK:
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case OPAHRS_MSG_TYPE_LINK:
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switch (rsp->payload.link.state) {
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case OPAHRS_MSG_LINK_STATE_BUSY:
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case OPAHRS_MSG_LINK_STATE_BUSY:
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/* Wait for a small delay and retry */
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(20 / portTICK_RATE_MS);
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@ -135,20 +134,20 @@ static enum opahrs_result opahrs_msg_v0_recv_rsp (enum opahrs_msg_v0_tag tag, st
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PIOS_DELAY_WaitmS(20);
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#endif
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continue;
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case OPAHRS_MSG_LINK_STATE_INACTIVE:
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case OPAHRS_MSG_LINK_STATE_READY:
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case OPAHRS_MSG_LINK_STATE_INACTIVE:
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case OPAHRS_MSG_LINK_STATE_READY:
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/* somehow, we've missed our response */
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return OPAHRS_RESULT_FAILED;
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}
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break;
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case OPAHRS_MSG_TYPE_USER_V0:
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case OPAHRS_MSG_TYPE_USER_V0:
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if (rsp->payload.user.t == tag) {
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return OPAHRS_RESULT_OK;
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} else {
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return OPAHRS_RESULT_FAILED;
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}
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break;
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case OPAHRS_MSG_TYPE_USER_V1:
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case OPAHRS_MSG_TYPE_USER_V1:
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/* This isn't the type we expected */
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return OPAHRS_RESULT_FAILED;
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break;
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@ -169,8 +168,8 @@ static enum opahrs_result PIOS_OPAHRS_v0_simple_req (enum opahrs_msg_v0_tag req_
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/* Send the message until it is received */
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rc = opahrs_msg_v0_send_req (&req);
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if ((rc == OPAHRS_RESULT_OK) && rsp) {
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/* We need a specific kind of reply, go get it */
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return opahrs_msg_v0_recv_rsp (rsp_type, rsp);
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/* We need a specific kind of reply, go get it */
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return opahrs_msg_v0_recv_rsp (rsp_type, rsp);
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}
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return rc;
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@ -181,8 +180,17 @@ enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 * rsp)
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if (!rsp) return OPAHRS_RESULT_FAILED;
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return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_VERSIONS,
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rsp,
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OPAHRS_MSG_V0_RSP_VERSIONS));
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rsp,
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OPAHRS_MSG_V0_RSP_VERSIONS));
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}
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enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 * rsp)
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{
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if (!rsp) return OPAHRS_RESULT_FAILED;
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return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_MEM_MAP,
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rsp,
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OPAHRS_MSG_V0_RSP_MEM_MAP));
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}
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enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 * rsp)
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@ -190,8 +198,8 @@ enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 * rsp)
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if (!rsp) return OPAHRS_RESULT_FAILED;
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return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_SERIAL,
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rsp,
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OPAHRS_MSG_V0_RSP_SERIAL));
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rsp,
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OPAHRS_MSG_V0_RSP_SERIAL));
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}
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enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp)
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@ -233,11 +241,10 @@ enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 * rsp)
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if (!rsp) return OPAHRS_RESULT_FAILED;
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return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
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rsp,
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OPAHRS_MSG_V0_RSP_FWUP_STATUS));
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rsp,
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OPAHRS_MSG_V0_RSP_FWUP_STATUS));
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}
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enum opahrs_result PIOS_OPAHRS_bl_resync(void)
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{
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struct opahrs_msg_v0 req;
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@ -280,5 +287,21 @@ enum opahrs_result PIOS_OPAHRS_bl_resync(void)
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return rc;
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}
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enum opahrs_result PIOS_OPAHRS_bl_reset()
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{
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struct opahrs_msg_v0 rsp;
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return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_RESET,
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&rsp,
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OPAHRS_MSG_V0_RSP_FWUP_STATUS));
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}
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enum opahrs_result PIOS_OPAHRS_bl_boot()
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{
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struct opahrs_msg_v0 rsp;
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return (PIOS_OPAHRS_v0_simple_req (OPAHRS_MSG_V0_REQ_BOOT,
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&rsp,
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OPAHRS_MSG_V0_RSP_FWUP_STATUS));
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}
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#endif /* PIOS_INCLUDE_OPAHRS */
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