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Make px4 flash compatible with pixracer, which is without intermcu and fbw

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This commit is contained in:
kevindehecker
2017-01-03 15:53:02 +01:00
parent 62394f7521
commit ead2bddd8b
2 changed files with 16 additions and 11 deletions
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conf/airframes/TUDELFT/tudelft_iris_indi.xml
+4 -2
View File
@@ -16,7 +16,7 @@
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power--> <!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" /> <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- in seconds--> <!-- in seconds-->
<module name="telemetry" type="transparent" /> <module name="telemetry" type="transparent_usb" />
<module name="imu" type="mpu9250_spi"/> <module name="imu" type="mpu9250_spi"/>
<module name="gps" type="ublox" > <module name="gps" type="ublox" >
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
@@ -48,7 +48,9 @@
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<!--module name="px4_flash" /--> <!--module name="px4_flash" >
<configure name="PX4IO_UART" value="UART3"/> <!-- TMP solution! How to undefine PX4IO to nothing in px4_flash.xml? -->
<!--/module-->
<module name="px4_gimbal" /> <module name="px4_gimbal" />
<module name="geo_mag" /> <module name="geo_mag" />
<module name="air_data" /> <module name="air_data" />
sw/airborne/modules/px4_flash/px4_flash.c
+12 -9
View File
@@ -25,7 +25,6 @@
*/ */
#include "modules/px4_flash/px4_flash.h" #include "modules/px4_flash/px4_flash.h"
//#include "subsystems/datalink/downlink.h"
#include "modules/px4_flash/protocol.h" #include "modules/px4_flash/protocol.h"
#include "mcu_periph/sys_time_arch.h" #include "mcu_periph/sys_time_arch.h"
#include "subsystems/intermcu/intermcu_ap.h" #include "subsystems/intermcu/intermcu_ap.h"
@@ -39,12 +38,15 @@
#include "libopencm3/cm3/scb.h" #include "libopencm3/cm3/scb.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#ifdef INTER_MCU_AP
tid_t px4iobl_tid; ///< id for time out of the px4 bootloader reset 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))
#endif
#define FLASH_PORT (&((FLASH_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:
#define PROTO_INSYNC 0x12 ///< 'in sync' byte sent before status #define PROTO_INSYNC 0x12 ///< 'in sync' byte sent before status
@@ -68,12 +70,15 @@ bool px4ioRebootTimeout;
void px4flash_init(void) void px4flash_init(void)
{ {
setToBootloaderMode = false; setToBootloaderMode = false;
#ifdef INTER_MCU_AP
px4ioRebootTimeout = false; px4ioRebootTimeout = false;
px4iobl_tid = sys_time_register_timer(15.0, NULL); //20 (fbw pprz bl timeout)-5 (px4 fmu bl timeout) px4iobl_tid = sys_time_register_timer(15.0, NULL); //20 (fbw pprz bl timeout)-5 (px4 fmu bl timeout)
#endif
} }
void px4flash_event(void) void px4flash_event(void)
{ {
#ifdef INTER_MCU_AP
if (sys_time_check_and_ack_timer(px4iobl_tid)) { if (sys_time_check_and_ack_timer(px4iobl_tid)) {
px4ioRebootTimeout = TRUE; px4ioRebootTimeout = TRUE;
sys_time_cancel_timer(px4iobl_tid); sys_time_cancel_timer(px4iobl_tid);
@@ -94,16 +99,10 @@ void px4flash_event(void)
} }
} }
} }
#endif
//TODO: check if bootloader timeout was surpassed //TODO: check if bootloader timeout was surpassed
if (FLASH_PORT->char_available(FLASH_PORT->periph) && !setToBootloaderMode) { if (FLASH_PORT->char_available(FLASH_PORT->periph) && !setToBootloaderMode) {
// TMP TEST
// 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, 0,bla);
// }
// 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 && FLASH_PORT->char_available(FLASH_PORT->periph)) { while (state < 4 && FLASH_PORT->char_available(FLASH_PORT->periph)) {
@@ -134,6 +133,7 @@ void px4flash_event(void)
scb_reset_system(); scb_reset_system();
} else { // target fbw } else { // target fbw
#ifdef INTER_MCU_AP
//the target is the fbw, so reboot the fbw and switch to relay mode //the target is the fbw, so reboot the fbw and switch to relay mode
//first check if the bootloader has not timeout: //first check if the bootloader has not timeout:
@@ -269,13 +269,16 @@ void px4flash_event(void)
FLASH_PORT->put_byte(FLASH_PORT->periph, 0, ' '); // use 7 chars as answer FLASH_PORT->put_byte(FLASH_PORT->periph, 0, ' '); // use 7 chars as answer
} }
#endif
} }
} else if (FLASH_PORT->char_available(FLASH_PORT->periph)) { } else if (FLASH_PORT->char_available(FLASH_PORT->periph)) {
#ifdef INTER_MCU_AP
//already in bootloader mode, just directly relay data //already in bootloader mode, just directly relay data
while (FLASH_PORT->char_available(FLASH_PORT->periph)) { while (FLASH_PORT->char_available(FLASH_PORT->periph)) {
unsigned char b = FLASH_PORT->get_byte(FLASH_PORT->periph); unsigned char b = FLASH_PORT->get_byte(FLASH_PORT->periph);
PX4IO_PORT->put_byte(PX4IO_PORT->periph, 0, b); PX4IO_PORT->put_byte(PX4IO_PORT->periph, 0, b);
} }
#endif
} }
} }