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https://bitbucket.org/librepilot/librepilot.git
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84e1a81f8b
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem, and pushes the responsibility for updating the TaskInfo UAVO into the System module. +review OPReview
267 lines
7.0 KiB
C
267 lines
7.0 KiB
C
/**
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******************************************************************************
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*
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* @file firmwareiap.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief In Application Programming module to support firmware upgrades by
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* providing a means to enter the bootloader.
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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 <pios_board_info.h>
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#include "firmwareiap.h"
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#include "firmwareiapobj.h"
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#include "flightstatus.h"
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// Private constants
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#define IAP_CMD_STEP_1 1122
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#define IAP_CMD_STEP_2 2233
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#define IAP_CMD_STEP_3 3344
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#define IAP_CMD_CRC 100
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#define IAP_CMD_VERIFY 101
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#define IAP_CMD_VERSION 102
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#define IAP_STATE_READY 0
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#define IAP_STATE_STEP_1 1
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#define IAP_STATE_STEP_2 2
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#define IAP_STATE_RESETTING 3
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#define RESET_DELAY 500 /* delay between sending reset ot INS */
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#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
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#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
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const uint32_t iap_time_2_low_end = 500;
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const uint32_t iap_time_2_high_end = 5000;
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const uint32_t iap_time_3_low_end = 500;
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const uint32_t iap_time_3_high_end = 5000;
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// Private types
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// Private variables
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static uint8_t reset_count = 0;
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static portTickType lastResetSysTime;
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// Private functions
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static void FirmwareIAPCallback(UAVObjEvent* ev);
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static uint32_t get_time(void);
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// Private types
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// Private functions
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static void resetTask(UAVObjEvent *);
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/**
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* Initialise the module, called on startup.
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* \returns 0 on success or -1 if initialisation failed
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*/
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/*!
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* \brief Performs object initialization functions.
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* \param None.
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* \return 0 - under all cases
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*
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* \note
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*
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*/
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MODULE_INITCALL(FirmwareIAPInitialize, 0)
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int32_t FirmwareIAPInitialize()
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{
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FirmwareIAPObjInitialize();
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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FirmwareIAPObjData data;
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FirmwareIAPObjGet(&data);
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data.BoardType= bdinfo->board_type;
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PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
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PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
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data.BoardRevision= bdinfo->board_rev;
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data.ArmReset=0;
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data.crc = 0;
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FirmwareIAPObjSet( &data );
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if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
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return 0;
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}
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int32_t FirmwareIAPStart()
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{
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return 0;
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}
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/*!
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* \brief FirmwareIAPCallback - callback function for firmware IAP requests
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* \param[in] ev - pointer objevent
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* \retval None.
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*
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* \note
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*
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*/
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static uint8_t iap_state = IAP_STATE_READY;
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static void FirmwareIAPCallback(UAVObjEvent* ev)
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{
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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static uint32_t last_time = 0;
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uint32_t this_time;
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uint32_t delta;
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if(iap_state == IAP_STATE_RESETTING)
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return;
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FirmwareIAPObjData data;
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FirmwareIAPObjGet(&data);
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if ( ev->obj == FirmwareIAPObjHandle() ) {
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// Get the input object data
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FirmwareIAPObjGet(&data);
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this_time = get_time();
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delta = this_time - last_time;
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last_time = this_time;
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if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
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{
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PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
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PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
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data.BoardRevision=bdinfo->board_rev;
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data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
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FirmwareIAPObjSet( &data );
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}
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if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
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{
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data.ArmReset=0;
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FirmwareIAPObjSet( &data );
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}
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switch(iap_state) {
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case IAP_STATE_READY:
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if( data.Command == IAP_CMD_STEP_1 ) {
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iap_state = IAP_STATE_STEP_1;
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} break;
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case IAP_STATE_STEP_1:
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if( data.Command == IAP_CMD_STEP_2 ) {
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if( delta > iap_time_2_low_end && delta < iap_time_2_high_end ) {
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iap_state = IAP_STATE_STEP_2;
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} else {
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iap_state = IAP_STATE_READY;
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}
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} else {
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iap_state = IAP_STATE_READY;
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}
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break;
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case IAP_STATE_STEP_2:
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if( data.Command == IAP_CMD_STEP_3 ) {
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if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
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// Abort any attempts if not disarmed
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iap_state = IAP_STATE_READY;
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break;
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}
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// we've met the three sequence of command numbers
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// we've met the time requirements.
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PIOS_IAP_SetRequest1();
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PIOS_IAP_SetRequest2();
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/* Note: Cant just wait timeout value, because first time is randomized */
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reset_count = 0;
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lastResetSysTime = xTaskGetTickCount();
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UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
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memset(ev,0,sizeof(UAVObjEvent));
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EventPeriodicCallbackCreate(ev, resetTask, 100);
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iap_state = IAP_STATE_RESETTING;
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} else {
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iap_state = IAP_STATE_READY;
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}
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} else {
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iap_state = IAP_STATE_READY;
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}
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break;
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case IAP_STATE_RESETTING:
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// stay here permanentally, should reboot
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break;
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default:
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iap_state = IAP_STATE_READY;
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last_time = 0; // Reset the time counter, as we are not doing a IAP reset
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break;
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}
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}
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}
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// Returns number of milliseconds from the start of the kernel.
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/*!
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* \brief Returns number of milliseconds from the start of the kernel
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* \param None.
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* \return number of milliseconds from the start of the kernel.
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*
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* \note
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*
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*/
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static uint32_t get_time(void)
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{
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portTickType ticks;
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ticks = xTaskGetTickCount();
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return TICKS2MS(ticks);
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}
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/**
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* Executed by event dispatcher callback to reset INS before resetting OP
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*/
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static void resetTask(UAVObjEvent * ev)
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{
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#if defined (PIOS_LED_HEARTBEAT)
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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#if defined (PIOS_LED_ALARM)
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PIOS_LED_Toggle(PIOS_LED_ALARM);
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#endif /* PIOS_LED_ALARM */
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FirmwareIAPObjData data;
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FirmwareIAPObjGet(&data);
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if((portTickType) (xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
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lastResetSysTime = xTaskGetTickCount();
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data.BoardType=0xFF;
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data.ArmReset=1;
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data.crc=reset_count; /* Must change a value for this to get to INS */
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FirmwareIAPObjSet(&data);
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++reset_count;
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if(reset_count>3)
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{
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PIOS_SYS_Reset();
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}
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}
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}
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