flight/modules/FirmwareIAP/firmwareiap.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       firmwareiap.c
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2018.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @brief      In Application Programming module to support firmware upgrades by
   8  *                              providing a means to enter the bootloader.
   9  *
  10  * @see        The GNU Public License (GPL) Version 3
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #include <openpilot.h>
  30
  31 #include <pios_board_info.h>
  32
  33 #include "firmwareiap.h"
  34 #include "firmwareiapobj.h"
  35 #include "flightstatus.h"
  36
  37 // Private constants
  38 #define IAP_CMD_STEP_1      1122
  39 #define IAP_CMD_STEP_2      2233
  40 #define IAP_CMD_STEP_3      3344
  41
  42 #define IAP_CMD_CRC         100
  43 #define IAP_CMD_VERIFY      101
  44 #define IAP_CMD_VERSION     102
  45
  46 #define IAP_STATE_READY     0
  47 #define IAP_STATE_STEP_1    1
  48 #define IAP_STATE_STEP_2    2
  49 #define IAP_STATE_RESETTING 3
  50
  51 #define RESET_DELAY         500
  52
  53 #define TICKS2MS(t) ((t) / portTICK_RATE_MS)
  54 #define MS2TICKS(m) ((m) * portTICK_RATE_MS)
  55
  56 const uint32_t iap_time_2_low_end  = 500;
  57 const uint32_t iap_time_2_high_end = 5000;
  58 const uint32_t iap_time_3_low_end  = 500;
  59 const uint32_t iap_time_3_high_end = 5000;
  60
  61 // Private types
  62
  63 // Private variables
  64 static uint8_t reset_count = 0;
  65 static portTickType lastResetSysTime;
  66
  67 // Private functions
  68 static void FirmwareIAPCallback(UAVObjEvent *ev);
  69
  70 static uint32_t get_time(void);
  71
  72 // Private types
  73
  74 // Private functions
  75 static void resetTask(UAVObjEvent *);
  76
  77 /**
  78  * Initialise the module, called on startup.
  79  * \returns 0 on success or -1 if initialisation failed
  80  */
  81
  82 /*!
  83  * \brief   Performs object initialization functions.
  84  * \param   None.
  85  * \return  0 - under all cases
  86  *
  87  * \note
  88  *
  89  */
  90 MODULE_INITCALL(FirmwareIAPInitialize, 0);
  91 int32_t FirmwareIAPInitialize()
  92 {
  93     FirmwareIAPObjInitialize();
  94
  95     const struct pios_board_info *bdinfo = &pios_board_info_blob;
  96
  97     FirmwareIAPObjData data;
  98     FirmwareIAPObjGet(&data);
  99
 100     PIOS_BL_HELPER_FLASH_Read_Description(data.Description, FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 101     PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 102     if (data.BoardType == 0) {
 103         data.BoardRevision = bdinfo->board_rev;
 104         data.BoardType     = bdinfo->board_type;
 105     }
 106     data.BootloaderRevision = bdinfo->bl_rev;
 107     data.ArmReset = 0;
 108     data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 109     FirmwareIAPObjSet(&data);
 110     if (bdinfo->magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
 111         FirmwareIAPObjConnectCallback(&FirmwareIAPCallback);
 112     }
 113     return 0;
 114 }
 115
 116 int32_t FirmwareIAPStart()
 117 {
 118     return 0;
 119 }
 120
 121 /*!
 122  * \brief       FirmwareIAPCallback - callback function for firmware IAP requests
 123  * \param[in]  ev - pointer objevent
 124  * \retval      None.
 125  *
 126  * \note
 127  *
 128  */
 129 static uint8_t iap_state = IAP_STATE_READY;
 130 static void FirmwareIAPCallback(UAVObjEvent *ev)
 131 {
 132     static uint32_t last_time = 0;
 133     uint32_t this_time;
 134     uint32_t delta;
 135
 136     if (iap_state == IAP_STATE_RESETTING) {
 137         return;
 138     }
 139
 140     FirmwareIAPObjData data;
 141
 142     if (ev->obj == FirmwareIAPObjHandle()) {
 143         // Get the input object data
 144         FirmwareIAPObjGet(&data);
 145         this_time = get_time();
 146         delta     = this_time - last_time;
 147         last_time = this_time;
 148         switch (iap_state) {
 149         case IAP_STATE_READY:
 150             if (data.Command == IAP_CMD_STEP_1) {
 151                 iap_state = IAP_STATE_STEP_1;
 152             }
 153             break;
 154         case IAP_STATE_STEP_1:
 155             if (data.Command == IAP_CMD_STEP_2) {
 156                 if (delta > iap_time_2_low_end && delta < iap_time_2_high_end) {
 157                     iap_state = IAP_STATE_STEP_2;
 158                 } else {
 159                     iap_state = IAP_STATE_READY;
 160                 }
 161             } else {
 162                 iap_state = IAP_STATE_READY;
 163             }
 164             break;
 165         case IAP_STATE_STEP_2:
 166             if (data.Command == IAP_CMD_STEP_3) {
 167                 if (delta > iap_time_3_low_end && delta < iap_time_3_high_end) {
 168 #ifndef PIOS_APPS_MINIMAL
 169                     FlightStatusData flightStatus;
 170                     FlightStatusGet(&flightStatus);
 171
 172                     if (flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
 173                         // Abort any attempts if not disarmed
 174                         iap_state = IAP_STATE_READY;
 175                         break;
 176                     }
 177 #endif
 178                     // we've met the three sequence of command numbers
 179                     // we've met the time requirements.
 180                     PIOS_IAP_SetRequest1();
 181                     PIOS_IAP_SetRequest2();
 182
 183                     /* Note: Cant just wait timeout value, because first time is randomized */
 184                     reset_count = 0;
 185                     lastResetSysTime = xTaskGetTickCount();
 186                     UAVObjEvent *event = pios_malloc(sizeof(UAVObjEvent));
 187                     memset(event, 0, sizeof(UAVObjEvent));
 188                     EventPeriodicCallbackCreate(event, resetTask, 100);
 189                     iap_state = IAP_STATE_RESETTING;
 190                 } else {
 191                     iap_state = IAP_STATE_READY;
 192                 }
 193             } else {
 194                 iap_state = IAP_STATE_READY;
 195             }
 196             break;
 197         case IAP_STATE_RESETTING:
 198             // stay here permanentally, should reboot
 199             break;
 200         default:
 201             iap_state = IAP_STATE_READY;
 202             last_time = 0; // Reset the time counter, as we are not doing a IAP reset
 203             break;
 204         }
 205     }
 206 }
 207
 208
 209 // Returns number of milliseconds from the start of the kernel.
 210
 211 /*!
 212  * \brief   Returns number of milliseconds from the start of the kernel
 213  * \param   None.
 214  * \return  number of milliseconds from the start of the kernel.
 215  *
 216  * \note
 217  *
 218  */
 219
 220 static uint32_t get_time(void)
 221 {
 222     portTickType ticks;
 223
 224     ticks = xTaskGetTickCount();
 225
 226     return TICKS2MS(ticks);
 227 }
 228
 229 /**
 230  * Executed by event dispatcher callback to reset Board
 231  */
 232 static void resetTask(__attribute__((unused)) UAVObjEvent *ev)
 233 {
 234 #if defined(PIOS_LED_HEARTBEAT)
 235     PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 236 #endif /* PIOS_LED_HEARTBEAT */
 237
 238 #if defined(PIOS_LED_ALARM)
 239     PIOS_LED_Toggle(PIOS_LED_ALARM);
 240 #endif /* PIOS_LED_ALARM */
 241
 242     if ((portTickType)(xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
 243         lastResetSysTime = xTaskGetTickCount();
 244         PIOS_SYS_Reset();
 245     }
 246 }