/**
******************************************************************************
*
* @file firmwareiap.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief In Application Programming module to support firmware upgrades by
* providing a means to enter 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
*/
#include <stdint.h>
#include "pios.h"
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "flightstatus.h"
// Private constants
#define IAP_CMD_STEP_1 1122
#define IAP_CMD_STEP_2 2233
#define IAP_CMD_STEP_3 3344
#define IAP_CMD_CRC 100
#define IAP_CMD_VERIFY 101
#define IAP_CMD_VERSION 102
#define IAP_STATE_READY 0
#define IAP_STATE_STEP_1 1
#define IAP_STATE_STEP_2 2
#define IAP_STATE_RESETTING 3
#define RESET_DELAY 500 /* delay between sending reset ot INS */
#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
const uint32_t iap_time_2_low_end = 500;
const uint32_t iap_time_2_high_end = 5000;
const uint32_t iap_time_3_low_end = 500;
const uint32_t iap_time_3_high_end = 5000;
// Private types
// Private variables
static uint8_t reset_count = 0;
static portTickType lastResetSysTime;
// Private functions
static void FirmwareIAPCallback(UAVObjEvent* ev);
FirmwareIAPObjData data;
static uint32_t get_time(void);
// Private types
// Private functions
static void resetTask(UAVObjEvent *);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
*/
/*!
* \brief Performs object initialization functions.
* \param None.
* \return 0 - under all cases
*
* \note
*
*/
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION;
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}
/*!
* \brief FirmwareIAPCallback - callback function for firmware IAP requests
* \param[in] ev - pointer objevent
* \retval None.
*
* \note
*
*/
static uint8_t iap_state = IAP_STATE_READY;
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
if(iap_state == IAP_STATE_RESETTING)
return;
if ( ev->obj == FirmwareIAPObjHandle() ) {
// Get the input object data
FirmwareIAPObjGet(&data);
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION;
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
{
data.ArmReset=0;
FirmwareIAPObjSet( &data );
}
switch(iap_state) {
case IAP_STATE_READY:
if( data.Command == IAP_CMD_STEP_1 ) {
iap_state = IAP_STATE_STEP_1;
} break;
case IAP_STATE_STEP_1:
if( data.Command == IAP_CMD_STEP_2 ) {
if( delta > iap_time_2_low_end && delta < iap_time_2_high_end ) {
iap_state = IAP_STATE_STEP_2;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_STEP_2:
if( data.Command == IAP_CMD_STEP_3 ) {
if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
// Abort any attempts if not disarmed
iap_state = IAP_STATE_READY;
break;
}
// we've met the three sequence of command numbers
// we've met the time requirements.
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
/* Note: Cant just wait timeout value, because first time is randomized */
reset_count = 0;
lastResetSysTime = xTaskGetTickCount();
UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
memset(ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(ev, resetTask, 100);
iap_state = IAP_STATE_RESETTING;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_RESETTING:
// stay here permanentally, should reboot
break;
default:
iap_state = IAP_STATE_READY;
last_time = 0; // Reset the time counter, as we are not doing a IAP reset
break;
}
}
}
// Returns number of milliseconds from the start of the kernel.
/*!
* \brief Returns number of milliseconds from the start of the kernel
* \param None.
* \return number of milliseconds from the start of the kernel.
*
* \note
*
*/
static uint32_t get_time(void)
{
portTickType ticks;
ticks = xTaskGetTickCount();
return TICKS2MS(ticks);
}
/**
* Executed by event dispatcher callback to reset INS before resetting OP
*/
static void resetTask(UAVObjEvent * ev)
{
PIOS_LED_Toggle(LED1);
#if (PIOS_LED_NUM > 1)
PIOS_LED_Toggle(LED2);
#endif
if((portTickType) (xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastResetSysTime = xTaskGetTickCount();
data.BoardType=0xFF;
data.ArmReset=1;
data.crc=reset_count; /* Must change a value for this to get to INS */
FirmwareIAPObjSet(&data);
++reset_count;
if(reset_count>3)
{
PIOS_SYS_Reset();
}
}
}