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https://bitbucket.org/librepilot/librepilot.git
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3fda65c5d3
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2772 ebee16cc-31ac-478f-84a7-5cbb03baadba
138 lines
4.0 KiB
C
138 lines
4.0 KiB
C
/**
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******************************************************************************
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*
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* @file ahrs_spi_program_master.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief AHRS programming over SPI link - master(OpenPilot) end.
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*
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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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#include "openpilot.h"
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#include "ahrs_spi_program_master.h"
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#include "ahrs_spi_program.h"
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#include "pios_spi.h"
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PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf);
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#define MAX_CONNECT_TRIES 500 //half a second
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bool AhrsProgramConnect(uint32_t spi_id)
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{
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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memcpy(&txBuf,SPI_PROGRAM_REQUEST,SPI_PROGRAM_REQUEST_LENGTH);
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for(int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
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PIOS_SPI_RC_PinSet(spi_id, 0);
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uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) &txBuf,
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(uint8_t *) & rxBuf, SPI_PROGRAM_REQUEST_LENGTH +1, NULL);
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PIOS_SPI_RC_PinSet(spi_id, 1);
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if(res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
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return (true);
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}
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vTaskDelay(1 / portTICK_RATE_MS);
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}
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return (false);
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}
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PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data, uint32_t size)
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{
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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memcpy(txBuf.data,data,size);
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txBuf.size = size;
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txBuf.type = PROGRAM_WRITE;
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txBuf.address = address;
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PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
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if(ret != PROGRAM_ERR_OK) {
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return(ret);
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}
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return(PROGRAM_ERR_OK);
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}
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PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data, uint32_t size)
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{
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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txBuf.size = size;
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txBuf.type = PROGRAM_READ;
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txBuf.address = address;
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PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
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if(ret != PROGRAM_ERR_OK) {
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return(ret);
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}
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memcpy(data, rxBuf.data, size);
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return(PROGRAM_ERR_OK);
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}
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PROGERR AhrsProgramReboot(uint32_t spi_id)
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{
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AhrsProgramPacket rxBuf;
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AhrsProgramPacket txBuf;
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memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
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txBuf.type = PROGRAM_REBOOT;
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memcpy(txBuf.data,REBOOT_CONFIRMATION,REBOOT_CONFIRMATION_LENGTH);
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PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
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//If AHRS has rebooted we will get comms errors
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if(ret == PROGRAM_ERR_LINK) {
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return(PROGRAM_ERR_OK);
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}
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return(PROGRAM_ERR_FUNCTION);
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}
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PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf, AhrsProgramPacket *rxBuf)
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{
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static uint32_t pktId = 0;
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pktId++;
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txBuf->packetId = pktId;
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txBuf->crc = GenerateCRC(txBuf);
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int ct = 0;
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for(; ct < MAX_CONNECT_TRIES; ct++) {
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PIOS_SPI_RC_PinSet(spi_id, 0);
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uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) txBuf,
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(uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL);
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PIOS_SPI_RC_PinSet(spi_id, 1);
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if(res == 0) {
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if(rxBuf->type != PROGRAM_NULL &&
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rxBuf->crc == GenerateCRC(rxBuf) &&
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rxBuf->packetId == pktId) {
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break;
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}
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}
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vTaskDelay(1 / portTICK_RATE_MS);
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}
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if(ct == MAX_CONNECT_TRIES) {
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return (PROGRAM_ERR_LINK);
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}
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if(rxBuf->type != PROGRAM_ACK) {
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return(PROGRAM_ERR_FUNCTION);
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}
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return(PROGRAM_ERR_OK);
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}
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