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LibrePilot/flight/Bootloaders/AHRS/ahrs_spi_program_slave.c
stac 3fda65c5d3 hwinit: Convert SPI drivers to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2772 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:50 +00:00

143 lines
3.6 KiB
C

/**
******************************************************************************
*
* @file ahrs_spi_program_slave.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS programming over SPI link - slave(AHRS) end.
*
* @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 <string.h>
#include "pios_opahrs_proto.h"
#include "pios_spi.h"
#include "STM32103CB_AHRS.h"
#include "ahrs_bl.h"
#include "ahrs_spi_program_slave.h"
#include "ahrs_spi_program.h"
static AhrsProgramPacket txBuf;
static AhrsProgramPacket rxBuf;
static bool done = false;
static void ProcessPacket();
#define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high
//Number of crc failures to allow before giving up
#define PROGRAM_PACKET_TRIES 4
void AhrsProgramReceive(uint32_t spi_id)
{
done = false;
memset(&txBuf,0,sizeof(AhrsProgramPacket));
//wait for a program request
int count = PROGRAM_PACKET_TRIES;
while(1) {
WAIT_IF_RECEIVING();
while((PIOS_SPI_Busy(spi_id) != 0)){};
memset(&rxBuf,'a',sizeof(AhrsProgramPacket));
int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf,
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
if(res == 0 &&
memcmp(&rxBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
break;
}
if(count-- == 0) {
return;
}
}
if(!StartProgramming()) {
//Couldn't erase FLASH. Nothing we can do.
return;
}
//send ack
memcpy(&txBuf,SPI_PROGRAM_ACK,SPI_PROGRAM_REQUEST_LENGTH);
WAIT_IF_RECEIVING();
while(0 != PIOS_SPI_TransferBlock(spi_id,(uint8_t*) &txBuf, NULL,
SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {};
txBuf.type = PROGRAM_NULL;
while(!done) {
WAIT_IF_RECEIVING();
if(0 == PIOS_SPI_TransferBlock(spi_id,(uint8_t*) &txBuf,
(uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {
uint32_t crc = GenerateCRC(&rxBuf);
if(crc != rxBuf.crc ||
txBuf.packetId == rxBuf.packetId) {
continue;
}
ProcessPacket();
txBuf.packetId = rxBuf.packetId;
txBuf.crc = GenerateCRC(&txBuf);
}
}
}
void ProcessPacket()
{
switch(rxBuf.type) {
case PROGRAM_NULL:
txBuf.type = PROGRAM_NULL;
break;
case PROGRAM_WRITE:
if(WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
txBuf.type = PROGRAM_ACK;
txBuf.size = rxBuf.size;
} else {
txBuf.type = PROGRAM_ERR;
}
break;
case PROGRAM_READ:
if(ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
txBuf.type = PROGRAM_ACK;
txBuf.size = rxBuf.size;
} else {
txBuf.type = PROGRAM_ERR;
}
break;
case PROGRAM_REBOOT:
if(0 == memcmp(rxBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH)) {
done = true;
txBuf.type = PROGRAM_ACK;
}else{
txBuf.type = PROGRAM_ERR;
}
break;
default:
txBuf.type = PROGRAM_ERR;
}
}