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https://bitbucket.org/librepilot/librepilot.git
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b3ca037308
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2458 ebee16cc-31ac-478f-84a7-5cbb03baadba
611 lines
18 KiB
C
611 lines
18 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotBL OpenPilot BootLoader
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* @brief These files contain the code to the OpenPilot MB 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 "op_dfu.h"
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#include "pios_bl_helper.h"
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#include "pios_opahrs.h"
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#include "ssp.h"
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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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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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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extern Port_t ssp_port;
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extern DFUPort ProgPort;
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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(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,currentProgrammingDestination))
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{
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DeviceState = Last_operation_failed;
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}
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/*
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switch (currentProgrammingDestination) {
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case Remote_flash_via_spi:
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if (downType == Descript) {
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SendBuffer[6 + (x * 4)]
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= spi_dev_desc[(uint8_t) partoffset];
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SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
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+ 1];
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SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
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+ 2];
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SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
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+ 3];
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}
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break;
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case Self_flash:
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SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
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SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
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SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
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SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
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break;
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}
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*/
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}
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//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
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downPacketCurrent = downPacketCurrent + 1;
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if (downPacketCurrent > downPacketTotal - 1) {
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// STM_EVAL_LEDOn(LED2);
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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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Command = Command & 0b00011111;
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if (EchoReqFlag == 1) {
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memcpy(echoBuffer, 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)//PORQUE???
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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 = 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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struct opahrs_msg_v0 rsp;
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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 = FLASH_Start();
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break;
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case Remote_flash_via_spi:
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PIOS_OPAHRS_bl_FwupStart(&rsp);
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result = FALSE;
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for (int i = 0; i < 5; ++i) {
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PIOS_DELAY_WaitmS(1000);
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PIOS_OPAHRS_bl_resync();
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if (PIOS_OPAHRS_bl_FwupStatus(&rsp)
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== OPAHRS_RESULT_OK) {
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if (rsp.payload.user.v.rsp.fwup_status.status
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== started) {
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result = TRUE;
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break;
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} else {
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result = FALSE;
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break;
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}
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}
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}
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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;//ok
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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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struct opahrs_msg_v0 rsp;
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struct opahrs_msg_v0 req;
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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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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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req.payload.user.v.req.fwup_data.data[x] = Data;
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}
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aux = (baseOfAdressType(TransferType) + (uint32_t)(
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Count * 14 * 4));
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req.payload.user.v.req.fwup_data.adress = aux;
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req.payload.user.v.req.fwup_data.size = numberOfWords;
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if (PIOS_OPAHRS_bl_FwupData(&req, &rsp)
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== OPAHRS_RESULT_OK) {
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if (rsp.payload.user.v.rsp.fwup_status.status
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== write_error) {
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result = FALSE;
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} else if (rsp.payload.user.v.rsp.fwup_status.status
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== outside_dev_capabilities) {
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result = TRUE;
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DeviceState = outsideDevCapabilities;
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} else
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result = TRUE;
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} else
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result = FALSE;
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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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// FLASH_ProgramWord(MemLocations[TransferType]+4,++Next_Packet);//+Count,Data);
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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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//PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
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break;
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case JumpFW:
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if (numberOfDevices > 1) {
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struct opahrs_msg_v0 rsp;
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PIOS_OPAHRS_bl_boot(0);
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if (PIOS_OPAHRS_bl_FwupStatus(&rsp) == OPAHRS_RESULT_OK) {
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DeviceState = failed_jump;
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break;
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} else {
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FLASH_Lock();
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JumpToApp = 1;
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}
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} else {
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FLASH_Lock();
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JumpToApp = 1;
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}
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break;
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case Reset:
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//PIOS Reset_Device();
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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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Device dev;
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dev.programmingType = Self_flash;
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dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
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dev.startOfUserCode = START_OF_USER_CODE;
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dev.sizeOfCode = SIZE_OF_CODE;
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dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
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dev.BL_Version = BOOTLOADER_VERSION;
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dev.FW_Crc = CalcFirmCRC();
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dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
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dev.devType = HW_TYPE;
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numberOfDevices = 1;
|
|
devicesTable[0] = dev;
|
|
if (discover) {
|
|
uint8_t found_spi_device = FALSE;
|
|
|
|
for (int t = 0; t < 3; ++t) {
|
|
if (PIOS_OPAHRS_bl_resync() == OPAHRS_RESULT_OK) {
|
|
found_spi_device = TRUE;
|
|
dev.FW_Crc = 0;
|
|
break;
|
|
}
|
|
PIOS_DELAY_WaitmS(100);
|
|
}
|
|
if (found_spi_device == TRUE) {
|
|
struct opahrs_msg_v0 rsp;
|
|
if (PIOS_OPAHRS_bl_GetVersions(&rsp) == OPAHRS_RESULT_OK) {
|
|
dev.programmingType = Remote_flash_via_spi;
|
|
dev.BL_Version = rsp.payload.user.v.rsp.versions.bl_version;
|
|
dev.FW_Crc = rsp.payload.user.v.rsp.versions.fw_crc;
|
|
dev.devID = rsp.payload.user.v.rsp.versions.hw_version;
|
|
if (PIOS_OPAHRS_bl_GetMemMap(&rsp) == OPAHRS_RESULT_OK) {
|
|
dev.readWriteFlags
|
|
= rsp.payload.user.v.rsp.mem_map.rw_flags;
|
|
dev.startOfUserCode
|
|
= rsp.payload.user.v.rsp.mem_map.start_of_user_code;
|
|
dev.sizeOfCode
|
|
= rsp.payload.user.v.rsp.mem_map.size_of_code_memory;
|
|
dev.sizeOfDescription
|
|
= rsp.payload.user.v.rsp.mem_map.size_of_description;
|
|
dev.devType = rsp.payload.user.v.rsp.mem_map.density;
|
|
numberOfDevices = 2;
|
|
devicesTable[1] = dev;
|
|
}
|
|
}
|
|
} else
|
|
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
|
|
}
|
|
//TODO check other devices trough spi or whatever
|
|
}
|
|
uint32_t baseOfAdressType(DFUTransfer type) {
|
|
switch (type) {
|
|
case FW:
|
|
return currentDevice.startOfUserCode;
|
|
break;
|
|
case Descript:
|
|
return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
|
|
break;
|
|
default:
|
|
return 0;
|
|
}
|
|
}
|
|
uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
|
|
switch (type) {
|
|
case FW:
|
|
return (size > currentDevice.sizeOfCode) ? 1 : 0;
|
|
break;
|
|
case Descript:
|
|
return (size > currentDevice.sizeOfDescription) ? 1 : 0;
|
|
break;
|
|
default:
|
|
return TRUE;
|
|
}
|
|
}
|
|
|
|
uint32_t CalcFirmCRC() {
|
|
struct opahrs_msg_v0 rsp;
|
|
switch (currentProgrammingDestination) {
|
|
case Self_flash:
|
|
return crc_memory_calc();
|
|
break;
|
|
case Remote_flash_via_spi:
|
|
PIOS_OPAHRS_bl_FwupVerify(&rsp);
|
|
for (int i = 0; i < 5; ++i) {
|
|
PIOS_DELAY_WaitmS(1000);
|
|
PIOS_OPAHRS_bl_resync();
|
|
if (PIOS_OPAHRS_bl_GetVersions(&rsp) == OPAHRS_RESULT_OK) {
|
|
return rsp.payload.user.v.rsp.versions.fw_crc;
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
break;
|
|
default:
|
|
return 0;
|
|
break;
|
|
}
|
|
|
|
}
|
|
void sendData(uint8_t * buf,uint16_t size)
|
|
{
|
|
if (ProgPort == Usb) {
|
|
|
|
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
|
|
if(DeviceState == downloading)
|
|
PIOS_DELAY_WaitmS(10);
|
|
|
|
} else if (ProgPort == Serial) {
|
|
ssp_SendData(&ssp_port, buf, size);
|
|
}
|
|
}
|
|
|
|
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
|
|
struct opahrs_msg_v0 rsp;
|
|
struct opahrs_msg_v0 req;
|
|
switch (type) {
|
|
case Remote_flash_via_spi:
|
|
req.payload.user.v.req.fwdn_data.adress = adr;
|
|
if (PIOS_OPAHRS_bl_FwDlData(&req, &rsp) == OPAHRS_RESULT_OK) {
|
|
for (uint8_t x = 0; x < 4; ++x) {
|
|
buffer[x] = rsp.payload.user.v.rsp.fw_dn.data[x];
|
|
}
|
|
return TRUE;
|
|
}
|
|
return FALSE;
|
|
break;
|
|
case Self_flash:
|
|
for (uint8_t x = 0; x < 4; ++x) {
|
|
buffer[x] = *FLASH_If_Read(adr + x);
|
|
}
|
|
return TRUE;
|
|
break;
|
|
default:
|
|
return FALSE;
|
|
}
|
|
}
|