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https://bitbucket.org/librepilot/librepilot.git
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f19b0efc6f
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3070 ebee16cc-31ac-478f-84a7-5cbb03baadba
273 lines
7.2 KiB
C
273 lines
7.2 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 <stdint.h>
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#include "pios.h"
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#include "openpilot.h"
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#include "firmwareiap.h"
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#include "firmwareiapobj.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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const static uint8_t version[] = { 0, 0, 1 };
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const static uint16_t SVN = 12345;
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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 iap_calc_crc(void);
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static void read_description(uint8_t *);
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FirmwareIAPObjData data;
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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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int32_t FirmwareIAPInitialize()
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{
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data.BoardType= BOARD_TYPE;
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read_description(data.Description);
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data.BoardRevision= BOARD_REVISION;
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data.ArmReset=0;
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data.crc = 0;
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FirmwareIAPObjSet( &data );
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FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
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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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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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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==BOARD_TYPE)&&(data.crc != iap_calc_crc()))
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{
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read_description(data.Description);
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data.BoardRevision=BOARD_REVISION;
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data.crc = iap_calc_crc();
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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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// 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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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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* \brief Calculate the CRC value of the code in flash.
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* \param None
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* \return calculated CRC value using STM32's builtin CRC hardware
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*
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* \note
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* I copied this function as the function crc calc function in pios_bl_helper.c
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* is only included when the PIOS_BL_HELPER is defined, but this also includes
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* the flash unlock and erase functions. It is safer to only have the flash
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* functions in the bootloader.
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*
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*/
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static uint32_t iap_calc_crc(void)
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{
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
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CRC_ResetDR();
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CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
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return CRC_GetCRC();
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}
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static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
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{
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return (uint8_t *) (SectorAddress);
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}
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static void read_description(uint8_t * array)
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{
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uint8_t x = 0;
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for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
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array[x] = *FLASH_If_Read(i);
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++x;
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}
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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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PIOS_LED_Toggle(LED1);
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#if (PIOS_LED_NUM > 1)
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PIOS_LED_Toggle(LED2);
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#endif
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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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