mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
96827eecff
Now that every bootloader build has a board info blob,
make all fw and bl images use it.
The following MACROS are removed:
BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
START_OF_USER_CODE, HW_TYPE
These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol. These values
must not be #defined or otherwise hard-coded into the
firmware in any way. The bootloader flash is the only
valid source for this information.
NOTE: To ensure that we have an upgrade path from an
old bootloader (without board_info_blob) to a
new bootloader (with board_info_blob), it is
essential that the bu_* targets do not depend
on (or validate) the board_info_blob being present
in the bootloader flash.
249 lines
6.9 KiB
C
249 lines
6.9 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @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 <pios_board_info.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()
|
|
{
|
|
const struct pios_board_info * bdinfo = &pios_board_info_blob;
|
|
|
|
data.BoardType= bdinfo->board_type;
|
|
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
|
|
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
|
|
data.BoardRevision= bdinfo->board_rev;
|
|
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)
|
|
{
|
|
const struct pios_board_info * bdinfo = &pios_board_info_blob;
|
|
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==bdinfo->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=bdinfo->board_rev;
|
|
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();
|
|
}
|
|
}
|
|
}
|