mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-21 11:55:41 +08:00
Flash using PX4 bootloader
This commit is contained in:
kevindehecker
@@ -154,6 +154,13 @@ upload: $(OBJDIR)/$(TARGET).bin
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@echo "Using ST-LINK with SWD at $(STLINK_ADDR)"
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$(Q)st-flash write $^ $(STLINK_ADDR)
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else ifeq ($(FLASH_MODE),PX4_BOOTLOADER)
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# Program the device and start it.
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upload: $(OBJDIR)/$(TARGET).bin
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$(PAPARAZZI_SRC)/sw/tools/px4/px_mkfw.py --prototype $(PX4_PROTOTYPE) --image $(OBJDIR)/$(TARGET).bin > $(OBJDIR)/$(TARGET).px4
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$(PAPARAZZI_SRC)/sw/tools/px4/print_message.py
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$(PAPARAZZI_SRC)/sw/tools/px4/px_uploader.py --port $(PX4_BL_PORT) $(OBJDIR)/$(TARGET).px4
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#
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# no known flash mode
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else
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@@ -2,7 +2,7 @@
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#
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# px4fmu_2.4.makefile
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#
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# This is for the main MCU (STM32F427) on the pixhawk board
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# This is for the main MCU (STM32F427) on the PX4 board
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# See https://pixhawk.org/modules/pixhawk for details
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#
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@@ -19,10 +19,12 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/px4fmu_2.4.ld
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HARD_FLOAT=yes
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# default flash mode is via usb dfu bootloader
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# possibilities: DFU, SWD
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FLASH_MODE ?= SWD
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# default flash mode is the PX4 bootloader
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# possibilities: DFU, SWD, PX4 bootloader
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FLASH_MODE ?= PX4_BOOTLOADER
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PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4fmu-v2.prototype"
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PX4_BL_PORT ?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
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$(TARGET).MAKEFILE = stm32
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#
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# default LED configuration
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@@ -40,12 +42,10 @@ SYS_TIME_LED ?= 1
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MODEM_PORT ?= UART2
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MODEM_BAUD ?= B57600
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#The GPS serial on px4 is called serial 3, but connected to uart4 on the f4
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GPS_PORT ?= UART4
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GPS_BAUD ?= B38400
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RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
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#
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# default actuator configuration
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#
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@@ -96,6 +96,13 @@
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<board name="px4fmu_.*"/>
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<board name="elle*"/>
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</boards>
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</mode>
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<mode name="Px4 bootloader">
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<variable name="FLASH_MODE" value="PX4_BOOTLOADER"/>
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<boards>
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<board name="px4fmu_.*"/>
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<board name="px4io_.*"/>
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</boards>
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</mode>
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<mode name="JTAG (OpenOCD)">
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<variable name="FLASH_MODE" value="JTAG"/>
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@@ -0,0 +1,31 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="px4io_flash">
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<doc>
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<description>Flashes the px4io f1 through the px4 bootloader.</description>
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</doc>
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<header>
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<file name="px4io_flash.h"/>
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</header>
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<init fun="px4ioflash_init()"/>
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<event fun="px4ioflash_event()"/>
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<makefile target="ap">
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<raw>
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</raw>
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<file name="px4io_flash.c"/>
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<configure name="PX4IO_UART" default="uart6" case="upper|lower"/>
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<configure name="PX4IO_BAUD" default="B1500000"/>
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<define name="USE_$(PX4IO_UART_UPPER)"/>
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<define name="PX4IO_UART" value="$(PX4IO_UART_LOWER)"/>
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<define name="$(PX4IO_UART_UPPER)_BAUD" value="$(PX4IO_BAUD)"/>
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<configure name="TELEM2_UART" default="uart3" case="upper|lower"/>
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<configure name="TELEM2_BAUD" default="B115200"/>
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<define name="USE_$(TELEM2_UART_UPPER)"/>
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<define name="TELEM2_UART" value="$(TELEM2_UART_LOWER)"/>
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<define name="$(TELEM2_UART_UPPER)_BAUD" value="$(TELEM2_BAUD)"/>
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</makefile>
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</module>
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@@ -66,7 +66,7 @@ struct uart_periph {
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uint8_t tx_buf[UART_TX_BUFFER_SIZE];
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uint16_t tx_insert_idx;
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uint16_t tx_extract_idx;
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uint8_t tx_running;
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volatile uint8_t tx_running;
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/** UART Register */
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void *reg_addr;
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/** UART Baudrate */
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@@ -0,0 +1,390 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#define __STDC_FORMAT_MACROS
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#include "std.h"
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/**
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* @file protocol.h
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*
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* PX4IO interface protocol.
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*
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* Communication is performed via writes to and reads from 16-bit virtual
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* registers organised into pages of 255 registers each.
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*
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* The first two bytes of each write select a page and offset address
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* respectively. Subsequent reads and writes increment the offset within
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* the page.
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*
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* Some pages are read- or write-only.
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*
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* Note that some pages may permit offset values greater than 255, which
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* can only be achieved by long writes. The offset does not wrap.
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*
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* Writes to unimplemented registers are ignored. Reads from unimplemented
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* registers return undefined values.
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*
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* As convention, values that would be floating point in other parts of
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* the PX4 system are expressed as signed integer values scaled by 10000,
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* e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and
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* SIGNED_TO_REG macros to convert between register representation and
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* the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
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*
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* Note that the implementation of readable pages prefers registers within
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* readable pages to be densely packed. Page numbers do not need to be
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* packed.
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*
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* Definitions marked [1] are only valid on PX4IOv1 boards. Likewise,
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* [2] denotes definitions specific to the PX4IOv2 board.
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*/
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/* Per C, this is safe for all 2's complement systems */
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#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
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#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed))
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#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
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#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
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#define PX4IO_PROTOCOL_VERSION 4
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/* maximum allowable sizes on this protocol version */
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#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */
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/* static configuration page */
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#define PX4IO_PAGE_CONFIG 0
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#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
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#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */
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#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
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#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
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#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
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#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
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#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
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#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
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#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */
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#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8 /**< hardcoded # of control groups*/
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/* dynamic status page */
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#define PX4IO_PAGE_STATUS 1
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#define PX4IO_P_STATUS_FREEMEM 0
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#define PX4IO_P_STATUS_CPULOAD 1
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#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
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#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */
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#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
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#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
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#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */
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#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
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#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
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#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */
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#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
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#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */
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#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
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#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
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#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */
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#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
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#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */
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#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
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#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
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#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
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#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
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#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
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#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */
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#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */
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#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
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#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
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#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
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#define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */
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#define PX4IO_P_STATUS_MIXER_LOWER_LIMIT (1 << 0) /**< at least one actuator output has reached lower limit */
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#define PX4IO_P_STATUS_MIXER_UPPER_LIMIT (1 << 1) /**< at least one actuator output has reached upper limit */
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#define PX4IO_P_STATUS_MIXER_YAW_LIMIT (1 << 2) /**< yaw control is limited because it causes output clipping */
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/* array of post-mix actuator outputs, -10000..10000 */
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#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* array of PWM servo output values, microseconds */
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#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* array of raw RC input values, microseconds */
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#define PX4IO_PAGE_RAW_RC_INPUT 4
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#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
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#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */
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#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */
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#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */
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#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */
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#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */
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#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */
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#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
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#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
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#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */
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#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */
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#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */
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/* array of scaled RC input values, -10000..10000 */
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#define PX4IO_PAGE_RC_INPUT 5
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#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
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#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
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/* array of raw ADC values */
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#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
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/* PWM servo information */
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#define PX4IO_PAGE_PWM_INFO 7
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#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
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/* setup page */
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#define PX4IO_PAGE_SETUP 50
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#define PX4IO_P_SETUP_FEATURES 0
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#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */
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#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */
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#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */
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#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */
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#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
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#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
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#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
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#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */
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#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
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#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
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#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */
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#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */
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#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */
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#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
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#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */
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||||
|
||||
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
|
||||
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
|
||||
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
|
||||
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
||||
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
|
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#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */
|
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#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
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#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
|
||||
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
|
||||
#else
|
||||
#define PX4IO_P_SETUP_RELAYS_PAD 5
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||||
#endif
|
||||
|
||||
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
|
||||
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
|
||||
#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */
|
||||
enum { /* DSM bind states */
|
||||
dsm_bind_power_down = 0,
|
||||
dsm_bind_power_up,
|
||||
dsm_bind_set_rx_out,
|
||||
dsm_bind_send_pulses,
|
||||
dsm_bind_reinit_uart
|
||||
};
|
||||
/* 8 */
|
||||
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
|
||||
|
||||
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
|
||||
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
|
||||
|
||||
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
|
||||
/* storage space of 12 occupied by CRC */
|
||||
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
|
||||
'armed' (PWM enabled) state - this is a non-data write and
|
||||
hence index 12 can safely be used. */
|
||||
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
|
||||
|
||||
#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
|
||||
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
|
||||
|
||||
#define PX4IO_P_SETUP_PWM_REVERSE 15 /**< Bitmask to reverse PWM channels 1-8 */
|
||||
#define PX4IO_P_SETUP_TRIM_ROLL 16 /**< Roll trim, in actuator units */
|
||||
#define PX4IO_P_SETUP_TRIM_PITCH 17 /**< Pitch trim, in actuator units */
|
||||
#define PX4IO_P_SETUP_TRIM_YAW 18 /**< Yaw trim, in actuator units */
|
||||
|
||||
/* autopilot control values, -10000..10000 */
|
||||
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
|
||||
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID 64
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */
|
||||
|
||||
/* raw text load to the mixer parser - ignores offset */
|
||||
#define PX4IO_PAGE_MIXERLOAD 52
|
||||
|
||||
/* R/C channel config */
|
||||
#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */
|
||||
#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */
|
||||
#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */
|
||||
#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */
|
||||
#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */
|
||||
#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */
|
||||
#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */
|
||||
#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */
|
||||
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
|
||||
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
|
||||
#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */
|
||||
|
||||
/* PWM output - overrides mixer */
|
||||
#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM failsafe values - zero disables the output */
|
||||
#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM failsafe values - zero disables the output */
|
||||
#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */
|
||||
#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */
|
||||
|
||||
/* Debug and test page - not used in normal operation */
|
||||
#define PX4IO_PAGE_TEST 127
|
||||
#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
|
||||
|
||||
/* PWM minimum values for certain ESCs */
|
||||
#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM maximum values for certain ESCs */
|
||||
#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM disarmed values that are active, even when SAFETY_SAFE */
|
||||
#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/**
|
||||
* As-needed mixer data upload.
|
||||
*
|
||||
* This message adds text to the mixer text buffer; the text
|
||||
* buffer is drained as the definitions are consumed.
|
||||
*/
|
||||
#pragma pack(push, 1)
|
||||
struct px4io_mixdata {
|
||||
uint16_t f2i_mixer_magic;
|
||||
#define F2I_MIXER_MAGIC 0x6d74
|
||||
|
||||
uint8_t action;
|
||||
#define F2I_MIXER_ACTION_RESET 0
|
||||
#define F2I_MIXER_ACTION_APPEND 1
|
||||
|
||||
char text[0]; /* actual text size may vary */
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/**
|
||||
* Serial protocol encapsulation.
|
||||
*/
|
||||
|
||||
#define PKT_MAX_REGS 32 // by agreement w/FMU
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct IOPacket {
|
||||
uint8_t count_code;
|
||||
uint8_t crc;
|
||||
uint8_t page;
|
||||
uint8_t offset;
|
||||
uint16_t regs[PKT_MAX_REGS];
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
|
||||
#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
|
||||
#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
|
||||
#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
|
||||
#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
|
||||
|
||||
#define PKT_CODE_MASK 0xc0
|
||||
#define PKT_COUNT_MASK 0x3f
|
||||
|
||||
#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
|
||||
#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
|
||||
#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
|
||||
|
||||
static const uint8_t crc8_tab[256] __attribute__((unused)) = {
|
||||
0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
|
||||
0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
|
||||
0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
|
||||
0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
|
||||
0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
|
||||
0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
|
||||
0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
|
||||
0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
|
||||
0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
|
||||
0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
|
||||
0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
|
||||
0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
|
||||
0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
|
||||
0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
|
||||
0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
|
||||
0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
|
||||
0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
|
||||
0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
|
||||
0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
|
||||
0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
|
||||
0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
|
||||
0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
|
||||
0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
|
||||
0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
|
||||
0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
|
||||
0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
|
||||
0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
|
||||
0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
|
||||
0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
|
||||
0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
|
||||
0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
|
||||
0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
|
||||
};
|
||||
|
||||
static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused));
|
||||
static uint8_t
|
||||
crc_packet(struct IOPacket *pkt)
|
||||
{
|
||||
uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]);
|
||||
uint8_t *p = (uint8_t *)pkt;
|
||||
uint8_t c = 0;
|
||||
|
||||
while (p < end) {
|
||||
c = crc8_tab[c ^ * (p++)];
|
||||
}
|
||||
|
||||
return c;
|
||||
}
|
||||
@@ -0,0 +1,258 @@
|
||||
/*
|
||||
* Copyright (C) Kevin van Hecke
|
||||
*
|
||||
* This file is part of paparazzi
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
/**
|
||||
* @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)
|
||||
*/
|
||||
|
||||
#include "modules/px4io_flash/px4io_flash.h"
|
||||
//#include "subsystems/datalink/downlink.h"
|
||||
#include "modules/px4io_flash/protocol.h"
|
||||
#include "mcu_periph/sys_time_arch.h"
|
||||
#include "subsystems/intermcu/intermcu_ap.h"
|
||||
|
||||
// Serial Port
|
||||
#include "mcu_periph/uart.h"
|
||||
|
||||
// define coms link for px4io f1
|
||||
#define PX4IO_PORT (&((PX4IO_UART).device))
|
||||
#define TELEM2_PORT (&((TELEM2_UART).device))
|
||||
|
||||
// weird that these below are not in protocol.h, which is from the firmware px4 repo
|
||||
// below is copied from qgroundcontrol:
|
||||
#define PROTO_INSYNC 0x12 ///< 'in sync' byte sent before status
|
||||
#define PROTO_EOC 0x20 ///< end of command
|
||||
// Reply bytes
|
||||
#define PROTO_OK 0x10 ///< INSYNC/OK - 'ok' response
|
||||
#define PROTO_FAILED 0x11 ///< INSYNC/FAILED - 'fail' response
|
||||
#define PROTO_INVALID 0x13 ///< INSYNC/INVALID - 'invalid' response for bad commands
|
||||
// Command bytes
|
||||
#define PROTO_GET_SYNC 0x21 ///< NOP for re-establishing sync
|
||||
#define PROTO_GET_DEVICE 0x22 ///< get device ID bytes
|
||||
#define PROTO_CHIP_ERASE 0x23 ///< erase program area and reset program address
|
||||
#define PROTO_LOAD_ADDRESS 0x24 ///< set next programming address
|
||||
#define PROTO_PROG_MULTI 0x27 ///< write bytes at program address and increment
|
||||
#define PROTO_GET_CRC 0x29 ///< compute & return a CRC
|
||||
#define PROTO_BOOT 0x30 ///< boot the application
|
||||
|
||||
bool_t setToBootloaderMode;
|
||||
|
||||
void px4ioflash_init(void)
|
||||
{
|
||||
setToBootloaderMode = FALSE;
|
||||
}
|
||||
|
||||
void px4ioflash_event(void)
|
||||
{
|
||||
// setToBootloaderMode=true;
|
||||
if (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
|
||||
if (!setToBootloaderMode) {
|
||||
//ignore anything coming from IO if not in bootloader mode (which should be nothing)
|
||||
} else {
|
||||
//relay everything from IO to the laptop
|
||||
unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
|
||||
TELEM2_PORT->put_byte(TELEM2_PORT->periph, b);
|
||||
}
|
||||
}
|
||||
|
||||
//TODO: check if timeout was surpassed
|
||||
if (TELEM2_PORT->char_available(TELEM2_PORT->periph) && !setToBootloaderMode) {
|
||||
//data was received on the pc uart, so
|
||||
//stop all intermcu comminication:
|
||||
disable_inter_comm(true);
|
||||
//send the reboot to bootloader command:
|
||||
|
||||
/*
|
||||
* The progdieshit define is very usefull, if for whatever reason the (normal, not bootloader) firmware on the IO chip became disfunct.
|
||||
* In that case:
|
||||
* 1. enable this define
|
||||
* 2. build and upload the fmu f4 chip (ap target in pprz center)
|
||||
* 3. build the io code, and convert the firmware using the following command:
|
||||
* /home/houjebek/paparazzi/sw/tools/pixhawk/px_mkfw.py --prototype "/home/houjebek/px4/Firmware/Images/px4io-v2.prototype" --image /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.bin > /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.px4
|
||||
* 4. Start the following command:
|
||||
* /home/houjebek/paparazzi/sw/tools/pixhawk/px_uploader.py --port "/dev/serial/by-id/usb-FTDI_TTL232R-3V3_FT906KBO-if00-port0" /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.px4
|
||||
* 5a. Either, boot the Pixhawk (reconnect usb) holding the IO reset button until the FMU led stops blinking fast (i.e. exits its own bootloader)
|
||||
* 5b Or, press the IO reset button on the pixhawk
|
||||
* 6. Watch the output of the command of step 4, it should recognize the IO bootloader and start flashing. If not try repeating step 5a.
|
||||
* 7. Don forget to disable the define and upload the ap again :)
|
||||
*/
|
||||
//#define progdieshit
|
||||
|
||||
#ifndef progdieshit
|
||||
static struct IOPacket dma_packet;
|
||||
dma_packet.count_code = 0x40 + 0x01;
|
||||
dma_packet.crc = 0;
|
||||
dma_packet.page = PX4IO_PAGE_SETUP;
|
||||
dma_packet.offset = PX4IO_P_SETUP_REBOOT_BL;
|
||||
dma_packet.regs[0] = PX4IO_REBOOT_BL_MAGIC;
|
||||
dma_packet.crc = crc_packet(&dma_packet);
|
||||
struct IOPacket *pkt = &dma_packet;
|
||||
uint8_t *p = (uint8_t *)pkt;
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[0]);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[1]);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[2]);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[3]);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[4]);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[5]);
|
||||
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'E');
|
||||
// for (int i=0;i<6;i++) {
|
||||
// unsigned char tmp[3];
|
||||
// itoa(p[i],tmp,16);
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,tmp[0]);
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,tmp[1]);
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
// }
|
||||
|
||||
sys_time_usleep(5000); // this seems to be close to the minimum delay necessary to process this packet at the IO side
|
||||
//the pixhawk IO chip should respond with:
|
||||
// 0x00 ( PKT_CODE_SUCCESS )
|
||||
// 0xe5
|
||||
// 0x32
|
||||
// 0x0a
|
||||
//After that, the IO chips reboots into bootloader mode, in which it will stay for a short period
|
||||
//The baudrate in bootloader mode ic changed to 115200 (normal operating baud is 1500000, at least for original pixhawk fmu firmware)
|
||||
|
||||
//state machine
|
||||
int state = 0;
|
||||
while (state < 4 && PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
|
||||
|
||||
unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
|
||||
switch (state) {
|
||||
case (0) :
|
||||
if (b == PKT_CODE_SUCCESS) { state++; } else { state = 0; }
|
||||
break;
|
||||
case (1) :
|
||||
if (b == 0xe5) { state++; } else { state = 0; }
|
||||
break;
|
||||
case (2) :
|
||||
if (b == 0x32) { state++; } else { state = 0; }
|
||||
break;
|
||||
case (3) :
|
||||
if (b == 0x0a) { state++; } else { state = 0; }
|
||||
break;
|
||||
default :
|
||||
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'b');
|
||||
break;
|
||||
}
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,state+48);
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
}
|
||||
#else
|
||||
int state = 4;
|
||||
#endif
|
||||
if (state == 4) {
|
||||
#ifndef progdieshit
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'6');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
#endif
|
||||
uart_periph_set_baudrate(PX4IO_PORT->periph, B115200);
|
||||
/* look for the bootloader for 150 ms */
|
||||
int ret = 0;
|
||||
for (int i = 0; i < 15 && !ret ; i++) {
|
||||
sys_time_usleep(10000);
|
||||
|
||||
|
||||
//send a get_sync command in order to keep the io in bootloader mode
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, PROTO_GET_SYNC);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, PROTO_EOC);
|
||||
|
||||
|
||||
#ifndef progdieshit
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'6');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'a');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
#endif
|
||||
|
||||
//get_sync should be replied with, so check if that happens and
|
||||
//all other bytes are discarded, hopefully those were not important
|
||||
//(they may be caused by sending multiple syncs)
|
||||
while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
|
||||
unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
|
||||
|
||||
#ifndef progdieshit
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'6');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'b');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
#endif
|
||||
|
||||
if (b == PROTO_INSYNC) {
|
||||
#ifndef progdieshit
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'7');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
#endif
|
||||
|
||||
setToBootloaderMode = true;
|
||||
ret = 1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (setToBootloaderMode) {
|
||||
|
||||
#ifndef progdieshit
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'8');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
#endif
|
||||
|
||||
//if successfully entered bootloader mode, clear any remaining bytes (which may have a function, but I did not check)
|
||||
while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {PX4IO_PORT->get_byte(PX4IO_PORT->periph);}
|
||||
}
|
||||
|
||||
#ifndef progdieshit
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'9');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
#endif
|
||||
|
||||
} else {
|
||||
TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E');
|
||||
// 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,'\n');
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
|
||||
}
|
||||
} else if (TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
|
||||
//already in bootloader mode, just directly relay data
|
||||
unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
|
||||
PX4IO_PORT->put_byte(PX4IO_PORT->periph, b);
|
||||
// TELEM2_PORT->put_byte(TELEM2_PORT->periph,b);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
/*
|
||||
* Copyright (C) Kevin van Hecke
|
||||
*
|
||||
* This file is part of paparazzi
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
/**
|
||||
* @file "modules/px4io_flash/px4io_flash.h"
|
||||
* @author Kevin van Hecke
|
||||
* Flashes the px4io f1 through the px4 bootloader.
|
||||
*/
|
||||
|
||||
#ifndef PX4IO_FLASH_H
|
||||
#define PX4IO_FLASH_H
|
||||
|
||||
extern void px4ioflash_init(void);
|
||||
extern void px4ioflash_event(void);
|
||||
|
||||
#endif
|
||||
|
||||
@@ -55,7 +55,7 @@ struct w5100_periph {
|
||||
volatile uint16_t tx_extract_idx[W5100_BUFFER_NUM];
|
||||
volatile uint8_t work_tx[4];
|
||||
volatile uint8_t work_rx[4];
|
||||
uint8_t tx_running;
|
||||
volatile uint8_t tx_running;
|
||||
/** Generic device interface */
|
||||
struct link_device device;
|
||||
};
|
||||
@@ -90,7 +90,8 @@ static inline void w5100_read_buffer(struct pprz_transport *t)
|
||||
|
||||
#define W5100CheckAndParse(_dev, _trans) w5100_check_and_parse(&(_dev).device, &(_trans))
|
||||
|
||||
static inline void w5100_check_and_parse(struct link_device *dev, struct pprz_transport *trans) {
|
||||
static inline void w5100_check_and_parse(struct link_device *dev, struct pprz_transport *trans)
|
||||
{
|
||||
if (dev->char_available(dev->periph)) {
|
||||
w5100_read_buffer(trans);
|
||||
if (trans->trans_rx.msg_received) {
|
||||
|
||||
@@ -56,10 +56,20 @@ void intermcu_periodic(void)
|
||||
}
|
||||
}
|
||||
|
||||
static bool_t disable_comm;
|
||||
void disable_inter_comm(bool_t value)
|
||||
{
|
||||
disable_comm = value;
|
||||
}
|
||||
|
||||
void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode __attribute__((unused)))
|
||||
{
|
||||
pprz_msg_send_IMCU_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
|
||||
INTERMCU_AP, 0, COMMANDS_NB, command_values); //TODO: Fix status
|
||||
if (!disable_comm) {
|
||||
pprz_msg_send_IMCU_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
|
||||
INTERMCU_AP, &autopilot_motors_on, COMMANDS_NB, command_values); //TODO: Append more status
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void))
|
||||
@@ -92,14 +102,16 @@ static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_fram
|
||||
|
||||
void RadioControlEvent(void (*frame_handler)(void))
|
||||
{
|
||||
/* Parse incoming bytes */
|
||||
if (intermcu_device->char_available(intermcu_device->periph)) {
|
||||
while (intermcu_device->char_available(intermcu_device->periph) && !intermcu_transport.trans_rx.msg_received) {
|
||||
parse_pprz(&intermcu_transport, intermcu_device->get_byte(intermcu_device->periph));
|
||||
}
|
||||
if (!disable_comm) {
|
||||
/* Parse incoming bytes */
|
||||
if (intermcu_device->char_available(intermcu_device->periph)) {
|
||||
while (intermcu_device->char_available(intermcu_device->periph) && !intermcu_transport.trans_rx.msg_received) {
|
||||
parse_pprz(&intermcu_transport, intermcu_device->get_byte(intermcu_device->periph));
|
||||
}
|
||||
|
||||
if (intermcu_transport.trans_rx.msg_received) {
|
||||
intermcu_parse_msg(&(intermcu_transport.trans_rx), frame_handler);
|
||||
if (intermcu_transport.trans_rx.msg_received) {
|
||||
intermcu_parse_msg(&(intermcu_transport.trans_rx), frame_handler);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -32,6 +32,7 @@
|
||||
|
||||
void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode);
|
||||
void RadioControlEvent(void (*frame_handler)(void));
|
||||
void disable_inter_comm(bool_t value);
|
||||
|
||||
/* We need radio defines for the Autopilot */
|
||||
#define RADIO_THROTTLE 0
|
||||
|
||||
@@ -30,6 +30,17 @@
|
||||
#include "mcu_periph/uart.h"
|
||||
#include "pprzlink/pprz_transport.h"
|
||||
|
||||
#ifdef BOARD_PX4IO
|
||||
#include "libopencm3/cm3/scb.h"
|
||||
#include "led.h"
|
||||
#include "mcu_periph/sys_time.h"
|
||||
static uint8_t px4RebootSequence[] = {0x41, 0xd7, 0x32, 0x0a, 0x46, 0x39};
|
||||
static uint8_t px4RebootSequenceCount = 0;
|
||||
static bool_t px4RebootTimeout = FALSE;
|
||||
uint8_t autopilot_motors_on = FALSE;
|
||||
tid_t px4bl_tid; ///< id for time out of the px4 bootloader reset
|
||||
#endif
|
||||
|
||||
#if RADIO_CONTROL_NB_CHANNEL > 8
|
||||
#undef RADIO_CONTROL_NB_CHANNEL
|
||||
#define RADIO_CONTROL_NB_CHANNEL 8
|
||||
@@ -43,10 +54,15 @@ static struct pprz_transport intermcu_transport;
|
||||
struct intermcu_t inter_mcu;
|
||||
pprz_t intermcu_commands[COMMANDS_NB];
|
||||
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void));
|
||||
static inline void checkPx4RebootCommand(unsigned char b);
|
||||
|
||||
void intermcu_init(void)
|
||||
{
|
||||
pprz_transport_init(&intermcu_transport);
|
||||
#ifdef BOARD_PX4IO
|
||||
px4bl_tid = sys_time_register_timer(20.0, NULL);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void intermcu_periodic(void)
|
||||
|
||||
Executable
+6
@@ -0,0 +1,6 @@
|
||||
#!/usr/bin/python
|
||||
# temporary solution to print a message to reconnect the usb cable
|
||||
#At some point hopefully this can be automated (without replugging)
|
||||
print("\n ")
|
||||
print("**** Please reconnect the usb cable now! *****")
|
||||
print(" \n")
|
||||
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 9,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the PX4FMUv2 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4FMUv2",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 10,
|
||||
"magic": "PX4FWv2",
|
||||
"description": "Firmware for the PX4IOv2 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4IOv2",
|
||||
"version": "2.0",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
Executable
+122
@@ -0,0 +1,122 @@
|
||||
#!/usr/bin/env python
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# PX4 firmware image generator
|
||||
#
|
||||
# The PX4 firmware file is a JSON-encoded Python object, containing
|
||||
# metadata fields and a zlib-compressed base64-encoded firmware image.
|
||||
#
|
||||
|
||||
import sys
|
||||
import argparse
|
||||
import json
|
||||
import base64
|
||||
import zlib
|
||||
import time
|
||||
import subprocess
|
||||
|
||||
#
|
||||
# Construct a basic firmware description
|
||||
#
|
||||
def mkdesc():
|
||||
proto = {}
|
||||
proto['magic'] = "PX4FWv1"
|
||||
proto['board_id'] = 0
|
||||
proto['board_revision'] = 0
|
||||
proto['version'] = ""
|
||||
proto['summary'] = ""
|
||||
proto['description'] = ""
|
||||
proto['git_identity'] = ""
|
||||
proto['build_time'] = 0
|
||||
proto['image'] = bytes()
|
||||
proto['image_size'] = 0
|
||||
return proto
|
||||
|
||||
# Parse commandline
|
||||
parser = argparse.ArgumentParser(description="Firmware generator for the PX autopilot system.")
|
||||
parser.add_argument("--prototype", action="store", help="read a prototype description from a file")
|
||||
parser.add_argument("--board_id", action="store", help="set the board ID required")
|
||||
parser.add_argument("--board_revision", action="store", help="set the board revision required")
|
||||
parser.add_argument("--version", action="store", help="set a version string")
|
||||
parser.add_argument("--summary", action="store", help="set a brief description")
|
||||
parser.add_argument("--description", action="store", help="set a longer description")
|
||||
parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity")
|
||||
parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file")
|
||||
parser.add_argument("--airframe_xml", action="store", help="the airframes.xml file")
|
||||
parser.add_argument("--image", action="store", help="the firmware image")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Fetch the firmware descriptor prototype if specified
|
||||
if args.prototype != None:
|
||||
f = open(args.prototype,"r")
|
||||
desc = json.load(f)
|
||||
f.close()
|
||||
else:
|
||||
desc = mkdesc()
|
||||
|
||||
desc['build_time'] = int(time.time())
|
||||
|
||||
if args.board_id != None:
|
||||
desc['board_id'] = int(args.board_id)
|
||||
if args.board_revision != None:
|
||||
desc['board_revision'] = int(args.board_revision)
|
||||
if args.version != None:
|
||||
desc['version'] = str(args.version)
|
||||
if args.summary != None:
|
||||
desc['summary'] = str(args.summary)
|
||||
if args.description != None:
|
||||
desc['description'] = str(args.description)
|
||||
if args.git_identity != None:
|
||||
cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"])
|
||||
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
|
||||
desc['git_identity'] = str(p.read().strip())
|
||||
p.close()
|
||||
if args.parameter_xml != None:
|
||||
f = open(args.parameter_xml, "rb")
|
||||
bytes = f.read()
|
||||
desc['parameter_xml_size'] = len(bytes)
|
||||
desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
|
||||
if args.airframe_xml != None:
|
||||
f = open(args.airframe_xml, "rb")
|
||||
bytes = f.read()
|
||||
desc['airframe_xml_size'] = len(bytes)
|
||||
desc['airframe_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
|
||||
if args.image != None:
|
||||
f = open(args.image, "rb")
|
||||
bytes = f.read()
|
||||
desc['image_size'] = len(bytes)
|
||||
desc['image'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
|
||||
|
||||
print(json.dumps(desc, indent=4))
|
||||
Executable
+636
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user