flight/modules/FirmwareIAP/firmwareiap.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       firmwareiap.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @brief      In Application Programming module to support firmware upgrades by
   7  *                              providing a means to enter the bootloader.
   8  *
   9  * @see        The GNU Public License (GPL) Version 3
  10  *
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #include <openpilot.h>
  29
  30 #include <pios_board_info.h>
  31
  32 #include "firmwareiap.h"
  33 #include "firmwareiapobj.h"
  34 #include "flightstatus.h"
  35
  36 // Private constants
  37 #define IAP_CMD_STEP_1      1122
  38 #define IAP_CMD_STEP_2      2233
  39 #define IAP_CMD_STEP_3      3344
  40
  41 #define IAP_CMD_CRC         100
  42 #define IAP_CMD_VERIFY      101
  43 #define IAP_CMD_VERSION     102
  44
  45 #define IAP_STATE_READY     0
  46 #define IAP_STATE_STEP_1    1
  47 #define IAP_STATE_STEP_2    2
  48 #define IAP_STATE_RESETTING 3
  49
  50 #define RESET_DELAY         500 /* delay between sending reset ot INS */
  51
  52 #define TICKS2MS(t) ((t) / portTICK_RATE_MS)
  53 #define MS2TICKS(m) ((m) * portTICK_RATE_MS)
  54
  55 const uint32_t iap_time_2_low_end  = 500;
  56 const uint32_t iap_time_2_high_end = 5000;
  57 const uint32_t iap_time_3_low_end  = 500;
  58 const uint32_t iap_time_3_high_end = 5000;
  59
  60 // Private types
  61
  62 // Private variables
  63 static uint8_t reset_count = 0;
  64 static portTickType lastResetSysTime;
  65
  66 // Private functions
  67 static void FirmwareIAPCallback(UAVObjEvent *ev);
  68
  69 static uint32_t get_time(void);
  70
  71 // Private types
  72
  73 // Private functions
  74 static void resetTask(UAVObjEvent *);
  75
  76 /**
  77  * Initialise the module, called on startup.
  78  * \returns 0 on success or -1 if initialisation failed
  79  */
  80
  81 /*!
  82  * \brief   Performs object initialization functions.
  83  * \param   None.
  84  * \return  0 - under all cases
  85  *
  86  * \note
  87  *
  88  */
  89 MODULE_INITCALL(FirmwareIAPInitialize, 0);
  90 int32_t FirmwareIAPInitialize()
  91 {
  92     FirmwareIAPObjInitialize();
  93
  94     const struct pios_board_info *bdinfo = &pios_board_info_blob;
  95
  96     FirmwareIAPObjData data;
  97     FirmwareIAPObjGet(&data);
  98
  99     data.BoardType     = bdinfo->board_type;
 100     PIOS_BL_HELPER_FLASH_Read_Description(data.Description, FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 101     PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 102     data.BoardRevision = bdinfo->board_rev;
 103     data.BootloaderRevision = bdinfo->bl_rev;
 104     data.ArmReset = 0;
 105     data.crc = 0;
 106     FirmwareIAPObjSet(&data);
 107     if (bdinfo->magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
 108         FirmwareIAPObjConnectCallback(&FirmwareIAPCallback);
 109     }
 110     return 0;
 111 }
 112
 113 int32_t FirmwareIAPStart()
 114 {
 115     return 0;
 116 }
 117
 118 /*!
 119  * \brief       FirmwareIAPCallback - callback function for firmware IAP requests
 120  * \param[in]  ev - pointer objevent
 121  * \retval      None.
 122  *
 123  * \note
 124  *
 125  */
 126 static uint8_t iap_state = IAP_STATE_READY;
 127 static void FirmwareIAPCallback(UAVObjEvent *ev)
 128 {
 129     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 130     static uint32_t last_time = 0;
 131     uint32_t this_time;
 132     uint32_t delta;
 133
 134     if (iap_state == IAP_STATE_RESETTING) {
 135         return;
 136     }
 137
 138     FirmwareIAPObjData data;
 139     FirmwareIAPObjGet(&data);
 140
 141     if (ev->obj == FirmwareIAPObjHandle()) {
 142         // Get the input object data
 143         FirmwareIAPObjGet(&data);
 144         this_time = get_time();
 145         delta     = this_time - last_time;
 146         last_time = this_time;
 147         if ((data.BoardType == bdinfo->board_type) && (data.crc != PIOS_BL_HELPER_CRC_Memory_Calc())) {
 148             PIOS_BL_HELPER_FLASH_Read_Description(data.Description, FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 149             PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 150             data.BoardRevision = bdinfo->board_rev;
 151             data.BootloaderRevision = bdinfo->bl_rev;
 152             data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 153             FirmwareIAPObjSet(&data);
 154         }
 155         if ((data.ArmReset == 1) && (iap_state != IAP_STATE_RESETTING)) {
 156             data.ArmReset = 0;
 157             FirmwareIAPObjSet(&data);
 158         }
 159         switch (iap_state) {
 160         case IAP_STATE_READY:
 161             if (data.Command == IAP_CMD_STEP_1) {
 162                 iap_state = IAP_STATE_STEP_1;
 163             }
 164             break;
 165         case IAP_STATE_STEP_1:
 166             if (data.Command == IAP_CMD_STEP_2) {
 167                 if (delta > iap_time_2_low_end && delta < iap_time_2_high_end) {
 168                     iap_state = IAP_STATE_STEP_2;
 169                 } else {
 170                     iap_state = IAP_STATE_READY;
 171                 }
 172             } else {
 173                 iap_state = IAP_STATE_READY;
 174             }
 175             break;
 176         case IAP_STATE_STEP_2:
 177             if (data.Command == IAP_CMD_STEP_3) {
 178                 if (delta > iap_time_3_low_end && delta < iap_time_3_high_end) {
 179 #ifndef PIOS_APPS_MINIMAL
 180                     FlightStatusData flightStatus;
 181                     FlightStatusGet(&flightStatus);
 182
 183                     if (flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
 184                         // Abort any attempts if not disarmed
 185                         iap_state = IAP_STATE_READY;
 186                         break;
 187                     }
 188 #endif
 189                     // we've met the three sequence of command numbers
 190                     // we've met the time requirements.
 191                     PIOS_IAP_SetRequest1();
 192                     PIOS_IAP_SetRequest2();
 193
 194                     /* Note: Cant just wait timeout value, because first time is randomized */
 195                     reset_count = 0;
 196                     lastResetSysTime = xTaskGetTickCount();
 197                     UAVObjEvent *event = pios_malloc(sizeof(UAVObjEvent));
 198                     memset(event, 0, sizeof(UAVObjEvent));
 199                     EventPeriodicCallbackCreate(event, resetTask, 100);
 200                     iap_state = IAP_STATE_RESETTING;
 201                 } else {
 202                     iap_state = IAP_STATE_READY;
 203                 }
 204             } else {
 205                 iap_state = IAP_STATE_READY;
 206             }
 207             break;
 208         case IAP_STATE_RESETTING:
 209             // stay here permanentally, should reboot
 210             break;
 211         default:
 212             iap_state = IAP_STATE_READY;
 213             last_time = 0; // Reset the time counter, as we are not doing a IAP reset
 214             break;
 215         }
 216     }
 217 }
 218
 219
 220 // Returns number of milliseconds from the start of the kernel.
 221
 222 /*!
 223  * \brief   Returns number of milliseconds from the start of the kernel
 224  * \param   None.
 225  * \return  number of milliseconds from the start of the kernel.
 226  *
 227  * \note
 228  *
 229  */
 230
 231 static uint32_t get_time(void)
 232 {
 233     portTickType ticks;
 234
 235     ticks = xTaskGetTickCount();
 236
 237     return TICKS2MS(ticks);
 238 }
 239
 240 /**
 241  * Executed by event dispatcher callback to reset INS before resetting OP
 242  */
 243 static void resetTask(__attribute__((unused)) UAVObjEvent *ev)
 244 {
 245 #if defined(PIOS_LED_HEARTBEAT)
 246     PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 247 #endif /* PIOS_LED_HEARTBEAT */
 248
 249 #if defined(PIOS_LED_ALARM)
 250     PIOS_LED_Toggle(PIOS_LED_ALARM);
 251 #endif /* PIOS_LED_ALARM */
 252
 253     FirmwareIAPObjData data;
 254     FirmwareIAPObjGet(&data);
 255
 256     if ((portTickType)(xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
 257         lastResetSysTime = xTaskGetTickCount();
 258         data.BoardType   = 0xFF;
 259         data.ArmReset    = 1;
 260         data.crc = reset_count; /* Must change a value for this to get to INS */
 261         FirmwareIAPObjSet(&data);
 262         ++reset_count;
 263         if (reset_count > 3) {
 264             PIOS_SYS_Reset();
 265         }
 266     }
 267 }