mirror of
https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
485 lines
13 KiB
C
485 lines
13 KiB
C
/**
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******************************************************************************
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* @addtogroup CopterControlBL CopterControl BootLoader
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* @brief These files contain the code to the CopterControl Bootloader.
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*
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* @{
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* @file op_dfu.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief This file contains the DFU commands handling code
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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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/* Includes ------------------------------------------------------------------*/
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#include "pios.h"
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#include <stdbool.h>
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#include "op_dfu.h"
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#include "pios_bl_helper.h"
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#include "pios_com_msg.h"
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#include <pios_board_info.h>
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//programmable devices
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Device devicesTable[10];
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uint8_t numberOfDevices = 0;
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DFUProgType currentProgrammingDestination; //flash, flash_trough spi
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uint8_t currentDeviceCanRead;
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uint8_t currentDeviceCanWrite;
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Device currentDevice;
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uint8_t Buffer[64];
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uint8_t echoBuffer[64];
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uint8_t SendBuffer[64];
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uint8_t Command = 0;
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uint8_t EchoReqFlag = 0;
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uint8_t EchoAnsFlag = 0;
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uint8_t StartFlag = 0;
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uint32_t Aditionals = 0;
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uint32_t SizeOfTransfer = 0;
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uint32_t Expected_CRC = 0;
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uint8_t SizeOfLastPacket = 0;
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uint32_t Next_Packet = 0;
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uint8_t TransferType;
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uint32_t Count = 0;
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uint32_t Data;
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uint8_t Data0;
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uint8_t Data1;
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uint8_t Data2;
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uint8_t Data3;
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uint32_t Opt[3];
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uint8_t offset = 0;
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uint32_t aux;
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//Download vars
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uint32_t downSizeOfLastPacket = 0;
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uint32_t downPacketTotal = 0;
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uint32_t downPacketCurrent = 0;
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DFUTransfer downType = 0;
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/* Extern variables ----------------------------------------------------------*/
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extern DFUStates DeviceState;
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extern uint8_t JumpToApp;
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/* Private function prototypes -----------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
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void sendData(uint8_t * buf, uint16_t size);
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uint32_t CalcFirmCRC(void);
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void DataDownload(__attribute__((unused)) DownloadAction action) {
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if ((DeviceState == downloading)) {
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uint8_t packetSize;
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uint32_t offset;
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uint32_t partoffset;
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SendBuffer[0] = 0x01;
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SendBuffer[1] = Download;
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SendBuffer[2] = downPacketCurrent >> 24;
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SendBuffer[3] = downPacketCurrent >> 16;
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SendBuffer[4] = downPacketCurrent >> 8;
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SendBuffer[5] = downPacketCurrent;
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if (downPacketCurrent == downPacketTotal - 1) {
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packetSize = downSizeOfLastPacket;
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} else {
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packetSize = 14;
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}
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for (uint8_t x = 0; x < packetSize; ++x) {
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partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
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offset = baseOfAdressType(downType) + partoffset;
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if (!flash_read(SendBuffer + (6 + x * 4), offset,
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currentProgrammingDestination)) {
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DeviceState = Last_operation_failed;
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}
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}
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downPacketCurrent = downPacketCurrent + 1;
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if (downPacketCurrent > downPacketTotal - 1) {
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DeviceState = Last_operation_Success;
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Aditionals = (uint32_t) Download;
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}
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sendData(SendBuffer + 1, 63);
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}
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}
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void processComand(uint8_t *xReceive_Buffer) {
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Command = xReceive_Buffer[COMMAND];
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#ifdef DEBUG_SSP
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char str[63]= {0};
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sprintf(str,"Received COMMAND:%d|",Command);
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PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
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#endif
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EchoReqFlag = (Command >> 7);
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EchoAnsFlag = (Command >> 6) & 0x01;
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StartFlag = (Command >> 5) & 0x01;
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Count = xReceive_Buffer[COUNT] << 24;
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Count += xReceive_Buffer[COUNT + 1] << 16;
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Count += xReceive_Buffer[COUNT + 2] << 8;
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Count += xReceive_Buffer[COUNT + 3];
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Data = xReceive_Buffer[DATA] << 24;
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Data += xReceive_Buffer[DATA + 1] << 16;
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Data += xReceive_Buffer[DATA + 2] << 8;
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Data += xReceive_Buffer[DATA + 3];
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Data0 = xReceive_Buffer[DATA];
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Data1 = xReceive_Buffer[DATA + 1];
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Data2 = xReceive_Buffer[DATA + 2];
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Data3 = xReceive_Buffer[DATA + 3];
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for( uint32_t i=0; i < 3; i++ )
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{
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Opt[i] = xReceive_Buffer[DATA + 4 * (i+1) ] << 24 |
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xReceive_Buffer[DATA + 4 * (i+1) + 1] << 16 |
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xReceive_Buffer[DATA + 4 * (i+1) + 2] << 8 |
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xReceive_Buffer[DATA + 4 * (i+1) + 3];
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}
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Command = Command & 0b00011111;
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if (EchoReqFlag == 1) {
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memcpy(echoBuffer, xReceive_Buffer, 64);
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}
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switch (Command) {
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case EnterDFU:
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if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
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|| (DeviceState == DFUidle)) {
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if (Data0 > 0)
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OPDfuIni(true);
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DeviceState = DFUidle;
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currentProgrammingDestination = devicesTable[Data0].programmingType;
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currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
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currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
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& 0x01;
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currentDevice = devicesTable[Data0];
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uint8_t result = 0;
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switch (currentProgrammingDestination) {
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case Self_flash:
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result = PIOS_BL_HELPER_FLASH_Ini();
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break;
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case Remote_flash_via_spi:
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result = true;
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break;
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default:
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DeviceState = Last_operation_failed;
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Aditionals = (uint16_t) Command;
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}
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if (result != 1) {
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DeviceState = Last_operation_failed;
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Aditionals = (uint32_t) Command;
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}
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}
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break;
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case Upload:
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if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
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if ((StartFlag == 1) && (Next_Packet == 0)) {
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TransferType = Data0;
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SizeOfTransfer = Count;
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Next_Packet = 1;
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Expected_CRC = Data2 << 24;
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Expected_CRC += Data3 << 16;
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Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
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Expected_CRC += xReceive_Buffer[DATA + 5];
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SizeOfLastPacket = Data1;
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if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
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* 14 * 4 + SizeOfLastPacket * 4) == true) {
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DeviceState = outsideDevCapabilities;
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Aditionals = (uint32_t) Command;
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} else {
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uint8_t result = 1;
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if (TransferType == FW) {
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switch (currentProgrammingDestination) {
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case Self_flash:
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result = PIOS_BL_HELPER_FLASH_Start();
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break;
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case Remote_flash_via_spi:
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result = false;
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break;
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default:
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break;
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}
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}
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if (result != 1) {
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DeviceState = Last_operation_failed;
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Aditionals = (uint32_t) Command;
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} else {
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DeviceState = uploading;
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}
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}
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} else if ((StartFlag != 1) && (Next_Packet != 0)) {
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if (Count > SizeOfTransfer) {
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DeviceState = too_many_packets;
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Aditionals = Count;
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} else if (Count == Next_Packet - 1) {
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uint8_t numberOfWords = 14;
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if (Count == SizeOfTransfer - 1)//is this the last packet?
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{
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numberOfWords = SizeOfLastPacket;
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}
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uint8_t result = 0;
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switch (currentProgrammingDestination) {
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case Self_flash:
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for (uint8_t x = 0; x < numberOfWords; ++x) {
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offset = 4 * x;
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Data = xReceive_Buffer[DATA + offset] << 24;
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Data += xReceive_Buffer[DATA + 1 + offset] << 16;
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Data += xReceive_Buffer[DATA + 2 + offset] << 8;
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Data += xReceive_Buffer[DATA + 3 + offset];
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aux = baseOfAdressType(TransferType) + (uint32_t)(
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Count * 14 * 4 + x * 4);
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result = 0;
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for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
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if (result == 0) {
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result = (FLASH_ProgramWord(aux, Data)
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== FLASH_COMPLETE) ? 1 : 0;
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}
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}
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}
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break;
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case Remote_flash_via_spi:
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result = false; // No support for this for the PipX
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break;
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default:
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result = 0;
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break;
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}
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if (result != 1) {
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DeviceState = Last_operation_failed;
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Aditionals = (uint32_t) Command;
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}
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++Next_Packet;
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} else {
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DeviceState = wrong_packet_received;
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Aditionals = Count;
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}
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} else {
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DeviceState = Last_operation_failed;
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Aditionals = (uint32_t) Command;
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}
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}
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break;
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case Req_Capabilities:
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OPDfuIni(true);
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Buffer[0] = 0x01;
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Buffer[1] = Rep_Capabilities;
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if (Data0 == 0) {
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Buffer[2] = 0;
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Buffer[3] = 0;
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Buffer[4] = 0;
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Buffer[5] = 0;
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Buffer[6] = 0;
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Buffer[7] = numberOfDevices;
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uint16_t WRFlags = 0;
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for (int x = 0; x < numberOfDevices; ++x) {
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WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
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| WRFlags);
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}
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Buffer[8] = WRFlags >> 8;
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Buffer[9] = WRFlags;
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} else {
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Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
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Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
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Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
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Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
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Buffer[6] = Data0;
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Buffer[7] = devicesTable[Data0 - 1].BL_Version;
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Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
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Buffer[9] = devicesTable[Data0 - 1].devID;
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Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
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Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
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Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
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Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
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Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
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Buffer[15] = devicesTable[Data0 - 1].devID;
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}
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sendData(Buffer + 1, 63);
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break;
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case JumpFW:
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if (Data == 0x5AFE)
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{
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/* Force board into safe mode */
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PIOS_IAP_WriteBootCount(0xFFFF);
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}
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// pass any Opt value to the firmware
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PIOS_IAP_WriteBootCmd(0, Opt[0]);
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PIOS_IAP_WriteBootCmd(1, Opt[1]);
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PIOS_IAP_WriteBootCmd(2, Opt[2]);
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FLASH_Lock();
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JumpToApp = 1;
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break;
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case Reset:
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PIOS_SYS_Reset();
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break;
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case Abort_Operation:
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Next_Packet = 0;
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DeviceState = DFUidle;
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break;
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case Op_END:
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if (DeviceState == uploading) {
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if (Next_Packet - 1 == SizeOfTransfer) {
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Next_Packet = 0;
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if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
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DeviceState = Last_operation_Success;
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} else {
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DeviceState = CRC_Fail;
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}
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}
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if (Next_Packet - 1 < SizeOfTransfer) {
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Next_Packet = 0;
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DeviceState = too_few_packets;
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}
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}
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break;
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case Download_Req:
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#ifdef DEBUG_SSP
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sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
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PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
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#endif
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if (DeviceState == DFUidle) {
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#ifdef DEBUG_SSP
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PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
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#endif
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downType = Data0;
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downPacketTotal = Count;
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downSizeOfLastPacket = Data1;
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if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
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+ downSizeOfLastPacket) == 1) {
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DeviceState = outsideDevCapabilities;
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Aditionals = (uint32_t) Command;
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} else {
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downPacketCurrent = 0;
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DeviceState = downloading;
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}
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} else {
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DeviceState = Last_operation_failed;
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Aditionals = (uint32_t) Command;
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}
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break;
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case Status_Request:
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Buffer[0] = 0x01;
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Buffer[1] = Status_Rep;
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if (DeviceState == wrong_packet_received) {
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Buffer[2] = Aditionals >> 24;
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Buffer[3] = Aditionals >> 16;
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Buffer[4] = Aditionals >> 8;
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Buffer[5] = Aditionals;
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} else {
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Buffer[2] = 0;
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Buffer[3] = ((uint16_t) Aditionals) >> 8;
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Buffer[4] = ((uint16_t) Aditionals);
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Buffer[5] = 0;
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}
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Buffer[6] = DeviceState;
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Buffer[7] = 0;
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Buffer[8] = 0;
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Buffer[9] = 0;
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sendData(Buffer + 1, 63);
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if (DeviceState == Last_operation_Success) {
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DeviceState = DFUidle;
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}
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break;
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case Status_Rep:
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break;
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}
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if (EchoReqFlag == 1) {
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echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
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sendData(echoBuffer + 1, 63);
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}
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return;
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}
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void OPDfuIni(uint8_t discover) {
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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Device dev;
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dev.programmingType = Self_flash;
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dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
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dev.startOfUserCode = bdinfo->fw_base;
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dev.sizeOfCode = bdinfo->fw_size;
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dev.sizeOfDescription = bdinfo->desc_size;
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dev.BL_Version = bdinfo->bl_rev;
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dev.FW_Crc = CalcFirmCRC();
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dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
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dev.devType = bdinfo->hw_type;
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numberOfDevices = 1;
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devicesTable[0] = dev;
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if (discover) {
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//TODO check other devices trough spi or whatever
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}
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}
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uint32_t baseOfAdressType(DFUTransfer type) {
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switch (type) {
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case FW:
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return currentDevice.startOfUserCode;
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break;
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case Descript:
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return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
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break;
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default:
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return 0;
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}
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}
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uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
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switch (type) {
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case FW:
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return (size > currentDevice.sizeOfCode) ? 1 : 0;
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break;
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case Descript:
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return (size > currentDevice.sizeOfDescription) ? 1 : 0;
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break;
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default:
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return true;
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}
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}
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uint32_t CalcFirmCRC() {
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switch (currentProgrammingDestination) {
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case Self_flash:
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return PIOS_BL_HELPER_CRC_Memory_Calc();
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break;
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case Remote_flash_via_spi:
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return 0;
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break;
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default:
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return 0;
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break;
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}
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}
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void sendData(uint8_t * buf, uint16_t size) {
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PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
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}
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bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
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switch (type) {
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case Remote_flash_via_spi:
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return false; // We should not get this for the PipX
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break;
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case Self_flash:
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for (uint8_t x = 0; x < 4; ++x) {
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buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
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}
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return true;
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break;
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default:
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return false;
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}
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}
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