/**************************************************************************************************
* @fn sblInit
*
* @brief Boot Loader initialization.
*
* input parameters
*
* None.
*
* output parameters
*
* None.
*
* @return TRUE if there is a valid RC image; FALSE otherwise.
*/
uint8 sblInit(void)
{
aesLoadKey();
#if defined AES_TEST_VECS
uint8 checkSig[KEY_BLENGTH] = {
0xB9, 0xD7, 0x89, 0x67, 0x04, 0xBC, 0xFA, 0x20, 0xB2, 0x10, 0x36, 0x74, 0x45, 0xF9, 0x83, 0xD6
};
imgHdr.len = 1;
while (1)
{
aesSignature(testSig);
if (memcmp(testSig, checkSig, KEY_BLENGTH)) // If signature generated is not value expected.
{
ASM_NOP;
}
}
#else
SBL_READ_IMG_HDR();
return checkRC();
#endif
}
bool OpenNIWrapper::waitDepthUpdateAll() {
XnStatus rc = XN_STATUS_OK;
// Read a new frame
rc = ni_context_.WaitOneUpdateAll(depth_generator_);
if (!checkRC(rc, "Wait any update"))
return false;
return true;
}
bool OpenNIWrapper::waitAnyUpdateAll() {
XnStatus rc = XN_STATUS_OK;
// Read a new frame
rc = ni_context_.WaitAnyUpdateAll();
if (!checkRC(rc, "Wait any update"))
return false;
return true;
}
bool OpenNIWrapper::initFromXmlFile(const XnChar* config_file) {
XnStatus rc;
xn::EnumerationErrors errors;
rc = ni_context_.InitFromXmlFile(config_file, &errors);
if (!checkErrors(rc, errors, "InitFromXmlFile"))
return false;
if (!checkRC(rc, "InitFromXmlFile"))
return false;
rc = ni_context_.FindExistingNode(XN_NODE_TYPE_DEPTH, depth_generator_);
if (!checkRC(rc, "Find depth generator"))
return false;
depth_generator_.GetMetaData(depth_md_);
depth_height_ = depth_md_.YRes();
depth_width_ = depth_md_.XRes();
fflush(stdout);
return true;
}
Temperature::Temperature(QObject *parent) : QObject(parent)
{
m_timer = new QTimer(this);
connect(m_timer, SIGNAL(timeout()), this, SLOT(receiveTemperature()));
const int mpu6050Address = 0x68; // MPU6050_ADDRESS (0x68)
const int mpu6050RPM = 0x6b; //MPU6050_REG_DATA_START (0x6b)
m_fd = wiringPiI2CSetup(mpu6050Address);
if(checkRC())
{
// Perform I2C work
wiringPiI2CWriteReg8(m_fd, mpu6050RPM, 0);
//qDebug()<<Q_FUNC_INFO<<m_fd;
m_interval = 500;
m_timer->start(m_interval);
}
}
/**************************************************************************************************
* @fn sblProc
*
* @brief Process the SB command and received buffer.
*
* input parameters
*
* None.
*
* output parameters
*
* None.
*
* @return None.
*/
static void sblProc(void)
{
uint16 t16 = BUILD_UINT16(sbBuf[SBL_REQ_ADDR_LSB], sbBuf[SBL_REQ_ADDR_MSB]) + SBL_ADDR_BEG;
uint8 len = 1, rsp = SBL_SUCCESS;
switch (sbBuf[RPC_POS_CMD1])
{
case SBL_WRITE_CMD:
if ((t16 >= SBL_ADDR_BEG) && (t16 <= SBL_ADDR_END))
{
if ((t16 % SBL_PAGE_LEN) == 0)
{
HalFlashErase(t16 / SBL_PAGE_LEN);
}
if (SBL_SECURE)
{
if (t16 == SBL_ADDR_IMG_HDR)
{
if (!imgHdrCheck(sbBuf + SBL_REQ_DAT0))
{
rsp = SBL_FAILURE;
break;
}
aesCrypt(1, sbBuf + SBL_REQ_DAT0);
}
else
{
aesCrypt(0, sbBuf + SBL_REQ_DAT0);
}
}
SBL_NVM_SET(t16, (sbBuf + SBL_REQ_DAT0), SBL_RW_BUF_LEN);
// Immediately read back what was written to keep the 'imgHdr' variable in sync with flash.
if (t16 == SBL_ADDR_IMG_HDR)
{
SBL_READ_IMG_HDR();
}
}
else
{
rsp = SBL_FAILURE;
}
break;
case SBL_READ_CMD:
if ((t16 >= SBL_ADDR_BEG) && (t16 <= SBL_ADDR_END))
{
len = SBL_RW_BUF_LEN + SBL_READ_HDR_LEN;
sbBuf[SBL_RSP_ADDR_MSB] = sbBuf[SBL_REQ_ADDR_MSB];
sbBuf[SBL_RSP_ADDR_LSB] = sbBuf[SBL_REQ_ADDR_LSB];
SBL_NVM_GET(t16, (sbBuf + SBL_RSP_DAT0), SBL_RW_BUF_LEN);
if (SBL_SECURE || (SBL_SIGNER && signMode))
{
if (t16 == SBL_ADDR_IMG_HDR)
{
aesCrypt(1, sbBuf + SBL_RSP_DAT0);
}
else
{
aesCrypt(0, sbBuf + SBL_RSP_DAT0);
}
}
}
else
{
rsp = SBL_FAILURE;
}
break;
case SBL_ENABLE_CMD:
if (SBL_SIGNER) // A Signer must never enable the image for clean read back with crc[1]=0xFFFF.
{
signMode = FALSE; // PC Tool read back must be un-encrypted after downloading a new image.
}
else if (!SBL_SECURE)
{
imgHdr.crc[1] = imgHdr.crc[0];
imgHdr.crc[0] = 0xFFFF;
SBL_NVM_SET(SBL_ADDR_CRC, imgHdr.crc, sizeof(imgHdr.crc));
SBL_READ_IMG_HDR();
}
else if (!checkRC())
{
rsp = SBL_VALIDATE_FAILED;
}
break;
case SBL_HANDSHAKE_CMD:
break;
case SBL_SIGNATURE_CMD:
len = ((rsp = procSignatureCmd((sbBuf + RPC_POS_DAT0 + 1))) == SBL_SUCCESS) ? 17 : 1;
break;
default:
rsp = SBL_FAILURE;
break;
}
sbBuf[RPC_POS_LEN] = len;
sbBuf[RPC_POS_CMD1] |= SBL_RSP_MASK;
sbBuf[RPC_POS_DAT0] = rsp;
}
