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Refactored TELEM2 to FLASH

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This commit is contained in:
kevindehecker
2016-03-14 16:42:52 +01:00
parent e9a596f163
commit 2df0ad0a01
2 changed files with 40 additions and 40 deletions
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conf/modules/px4io_flash.xml
+5 -5
View File
@@ -21,11 +21,11 @@
<define name="PX4IO_UART" value="$(PX4IO_UART_LOWER)"/> <define name="PX4IO_UART" value="$(PX4IO_UART_LOWER)"/>
<define name="$(PX4IO_UART_UPPER)_BAUD" value="$(PX4IO_BAUD)"/> <define name="$(PX4IO_UART_UPPER)_BAUD" value="$(PX4IO_BAUD)"/>
<configure name="TELEM2_UART" default="usb_serial" case="upper|lower"/> <configure name="FLASH_UART" default="usb_serial" case="upper|lower"/>
<configure name="TELEM2_BAUD" default="B115200"/> <configure name="FLASH_BAUD" default="B115200"/>
<define name="USE_$(TELEM2_UART_UPPER)"/> <define name="USE_$(FLASH_UART_UPPER)"/>
<define name="TELEM2_UART" value="$(TELEM2_UART_LOWER)"/> <define name="FLASH_UART" value="$(FLASH_UART_LOWER)"/>
<define name="$(TELEM2_UART_UPPER)_BAUD" value="$(TELEM2_BAUD)"/> <define name="$(FLASH_UART_UPPER)_BAUD" value="$(FLASH_BAUD)"/>
</makefile> </makefile>
</module> </module>
sw/airborne/modules/px4io_flash/px4io_flash.c
+35 -35
View File
@@ -20,8 +20,8 @@
/** /**
* @file "modules/px4io_flash/px4io_flash.c" * @file "modules/px4io_flash/px4io_flash.c"
* @author Kevin van Hecke * @author Kevin van Hecke
* Flashes the px4io f1 through the px4 bootloader. * Flashes the px4io f1 through the px4 bootloader, or resets the f4 to be flashed directly.
* Assumes the telem2 port on the Pixhawk is connected to a ttyACM device (blackmagic probe) * Assumes the flash port on the Pixhawk is configured as the usb.
*/ */
#include "modules/px4io_flash/px4io_flash.h" #include "modules/px4io_flash/px4io_flash.h"
@@ -43,7 +43,7 @@ tid_t px4iobl_tid; ///< id for time out of the px4 bootloader reset
// define coms link for px4io f1 // define coms link for px4io f1
#define PX4IO_PORT (&((PX4IO_UART).device)) #define PX4IO_PORT (&((PX4IO_UART).device))
#define TELEM2_PORT (&((TELEM2_UART).device)) #define FLASH_PORT (&((FLASH_UART).device))
// weird that these below are not in protocol.h, which is from the firmware px4 repo // weird that these below are not in protocol.h, which is from the firmware px4 repo
// below is copied from qgroundcontrol: // below is copied from qgroundcontrol:
@@ -81,24 +81,24 @@ void px4ioflash_event(void)
//relay everything from IO to the laptop //relay everything from IO to the laptop
while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) { while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph); unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
TELEM2_PORT->put_byte(TELEM2_PORT->periph, b); FLASH_PORT->put_byte(FLASH_PORT->periph, b);
} }
} }
} }
//TODO: check if bootloader timeout was surpassed //TODO: check if bootloader timeout was surpassed
if (TELEM2_PORT->char_available(TELEM2_PORT->periph) && !setToBootloaderMode) { if (FLASH_PORT->char_available(FLASH_PORT->periph) && !setToBootloaderMode) {
// TMP TEST // TMP TEST
// while (TELEM2_PORT->char_available(TELEM2_PORT->periph)) { // while (FLASH_PORT->char_available(FLASH_PORT->periph)) {
// unsigned char bla = TELEM2_PORT->get_byte(TELEM2_PORT->periph); // unsigned char bla = FLASH_PORT->get_byte(FLASH_PORT->periph);
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,bla); // FLASH_PORT->put_byte(FLASH_PORT->periph,bla);
// } // }
// return; // return;
//check whether this is flash related communication, and for who (ap/fbw) //check whether this is flash related communication, and for who (ap/fbw)
int state = 0; int state = 0;
while (state < 4 && TELEM2_PORT->char_available(TELEM2_PORT->periph)) { while (state < 4 && FLASH_PORT->char_available(FLASH_PORT->periph)) {
unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph); unsigned char b = FLASH_PORT->get_byte(FLASH_PORT->periph);
switch (state) { switch (state) {
case (0) : case (0) :
if (b == 'p') { state++; } else { return; } if (b == 'p') { state++; } else { return; }
@@ -119,7 +119,7 @@ void px4ioflash_event(void)
if (state != 4) {return;} if (state != 4) {return;}
//TODO: check if/how this interferes with flashing original PX4 firmware //TODO: check if/how this interferes with flashing original PX4 firmware
unsigned char target = TELEM2_PORT->get_byte(TELEM2_PORT->periph); unsigned char target = FLASH_PORT->get_byte(FLASH_PORT->periph);
if (target == '1') { //target ap if (target == '1') { //target ap
//the target is the ap, so reboot to PX4 bootloader //the target is the ap, so reboot to PX4 bootloader
scb_reset_system(); scb_reset_system();
@@ -131,22 +131,22 @@ void px4ioflash_event(void)
if (sys_time_check_and_ack_timer(px4iobl_tid) || px4ioRebootTimeout) { if (sys_time_check_and_ack_timer(px4iobl_tid) || px4ioRebootTimeout) {
px4ioRebootTimeout= TRUE; px4ioRebootTimeout= TRUE;
sys_time_cancel_timer(px4iobl_tid); sys_time_cancel_timer(px4iobl_tid);
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'T'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'T');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'I'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'I');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'M'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'M');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'E');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'U'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'U');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'T'); // use 7 chars as answer FLASH_PORT->put_byte(FLASH_PORT->periph, 'T'); // use 7 chars as answer
return; return;
} { // FBW OK OK hollay hollay :) } { // FBW OK OK hollay hollay :)
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'F'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'F');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'B'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'B');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'W'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'W');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'K'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'K');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'K'); // use 7 chars as answer FLASH_PORT->put_byte(FLASH_PORT->periph, 'K'); // use 7 chars as answer
} }
@@ -250,20 +250,20 @@ void px4ioflash_event(void)
while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {PX4IO_PORT->get_byte(PX4IO_PORT->periph);} while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {PX4IO_PORT->get_byte(PX4IO_PORT->periph);}
} }
} else { } else {
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E'); //TODO: find out what the PX4 protocol for error feedback is... FLASH_PORT->put_byte(FLASH_PORT->periph, 'E'); //TODO: find out what the PX4 protocol for error feedback is...
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'R'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'R');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'R'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'R');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'R'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'R');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, '!'); FLASH_PORT->put_byte(FLASH_PORT->periph, '!');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, ' '); // use 7 chars as answer FLASH_PORT->put_byte(FLASH_PORT->periph, ' '); // use 7 chars as answer
} }
} }
} else if (TELEM2_PORT->char_available(TELEM2_PORT->periph)) { } else if (FLASH_PORT->char_available(FLASH_PORT->periph)) {
//already in bootloader mode, just directly relay data //already in bootloader mode, just directly relay data
while (TELEM2_PORT->char_available(TELEM2_PORT->periph)) { while (FLASH_PORT->char_available(FLASH_PORT->periph)) {
unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph); unsigned char b = FLASH_PORT->get_byte(FLASH_PORT->periph);
PX4IO_PORT->put_byte(PX4IO_PORT->periph, b); PX4IO_PORT->put_byte(PX4IO_PORT->periph, b);
} }
} }