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https://bitbucket.org/librepilot/librepilot.git
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fc1e3f574c
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first and which module to start/init last. This will be replaced/adapter with the uavobject list later (once it's implemented). reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer). Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix. Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good). This gives task creation at the time wherethe all heap is available.
249 lines
7.0 KiB
C
249 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 <stdint.h>
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#include "pios.h"
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#include <pios_board_info.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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#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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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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module_initcall(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG);
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int32_t FirmwareIAPInitialize()
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{
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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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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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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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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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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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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