Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 22:17:01 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

Refactored TELEM2 to FLASH

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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_UPPER)_BAUD" value="$(PX4IO_BAUD)"/>
<configure name="TELEM2_UART" default="usb_serial" case="upper|lower"/>
<configure name="TELEM2_BAUD" default="B115200"/>
<define name="USE_$(TELEM2_UART_UPPER)"/>
<define name="TELEM2_UART" value="$(TELEM2_UART_LOWER)"/>
<define name="$(TELEM2_UART_UPPER)_BAUD" value="$(TELEM2_BAUD)"/>
<configure name="FLASH_UART" default="usb_serial" case="upper|lower"/>
<configure name="FLASH_BAUD" default="B115200"/>
<define name="USE_$(FLASH_UART_UPPER)"/>
<define name="FLASH_UART" value="$(FLASH_UART_LOWER)"/>
<define name="$(FLASH_UART_UPPER)_BAUD" value="$(FLASH_BAUD)"/>
</makefile>
</module>
sw/airborne/modules/px4io_flash/px4io_flash.c
+35 -35
View File
@@ -20,8 +20,8 @@
/**
* @file "modules/px4io_flash/px4io_flash.c"
* @author Kevin van Hecke
* Flashes the px4io f1 through the px4 bootloader.
* Assumes the telem2 port on the Pixhawk is connected to a ttyACM device (blackmagic probe)
* Flashes the px4io f1 through the px4 bootloader, or resets the f4 to be flashed directly.
* Assumes the flash port on the Pixhawk is configured as the usb.
*/
#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 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
// below is copied from qgroundcontrol:
@@ -81,24 +81,24 @@ void px4ioflash_event(void)
//relay everything from IO to the laptop
while (PX4IO_PORT->char_available(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
if (TELEM2_PORT->char_available(TELEM2_PORT->periph) && !setToBootloaderMode) {
if (FLASH_PORT->char_available(FLASH_PORT->periph) && !setToBootloaderMode) {
// TMP TEST
// while (TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
// unsigned char bla = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,bla);
// while (FLASH_PORT->char_available(FLASH_PORT->periph)) {
// unsigned char bla = FLASH_PORT->get_byte(FLASH_PORT->periph);
// FLASH_PORT->put_byte(FLASH_PORT->periph,bla);
// }
// return;
//check whether this is flash related communication, and for who (ap/fbw)
int state = 0;
while (state < 4 && TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
while (state < 4 && FLASH_PORT->char_available(FLASH_PORT->periph)) {
unsigned char b = FLASH_PORT->get_byte(FLASH_PORT->periph);
switch (state) {
case (0) :
if (b == 'p') { state++; } else { return; }
@@ -119,7 +119,7 @@ void px4ioflash_event(void)
if (state != 4) {return;}
//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
//the target is the ap, so reboot to PX4 bootloader
scb_reset_system();
@@ -131,22 +131,22 @@ void px4ioflash_event(void)
if (sys_time_check_and_ack_timer(px4iobl_tid) || px4ioRebootTimeout) {
px4ioRebootTimeout= TRUE;
sys_time_cancel_timer(px4iobl_tid);
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'T');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'I');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'M');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'U');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'T'); // use 7 chars as answer
FLASH_PORT->put_byte(FLASH_PORT->periph, 'T');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'I');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'M');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'E');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'U');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'T'); // use 7 chars as answer
return;
} { // FBW OK OK hollay hollay :)
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'F');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'B');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'W');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'K');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'K'); // use 7 chars as answer
FLASH_PORT->put_byte(FLASH_PORT->periph, 'F');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'B');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'W');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'K');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
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);}
}
} else {
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E'); //TODO: find out what the PX4 protocol for error feedback is...
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'R');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'R');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'O');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'R');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, '!');
TELEM2_PORT->put_byte(TELEM2_PORT->periph, ' '); // use 7 chars as answer
FLASH_PORT->put_byte(FLASH_PORT->periph, 'E'); //TODO: find out what the PX4 protocol for error feedback is...
FLASH_PORT->put_byte(FLASH_PORT->periph, 'R');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'R');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'O');
FLASH_PORT->put_byte(FLASH_PORT->periph, 'R');
FLASH_PORT->put_byte(FLASH_PORT->periph, '!');
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
while (TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
while (FLASH_PORT->char_available(FLASH_PORT->periph)) {
unsigned char b = FLASH_PORT->get_byte(FLASH_PORT->periph);
PX4IO_PORT->put_byte(PX4IO_PORT->periph, b);
}
}