void FirmwareIAPObjBoardTypeGet( uint8_t *NewBoardType )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)NewBoardType, offsetof( FirmwareIAPObjData, BoardType), sizeof(uint8_t));
}
void FirmwareIAPObjArmResetGet( uint8_t *NewArmReset )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)NewArmReset, offsetof( FirmwareIAPObjData, ArmReset), sizeof(uint8_t));
}
void FirmwareIAPObjDescriptionGet( uint8_t *NewDescription )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)NewDescription, offsetof( FirmwareIAPObjData, Description), 100*sizeof(uint8_t));
}
void FirmwareIAPObjCPUSerialGet( uint8_t *NewCPUSerial )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)NewCPUSerial, offsetof( FirmwareIAPObjData, CPUSerial), 12*sizeof(uint8_t));
}
void FirmwareIAPObjBoardRevisionGet( uint16_t *NewBoardRevision )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)NewBoardRevision, offsetof( FirmwareIAPObjData, BoardRevision), sizeof(uint16_t));
}
void FirmwareIAPObjCommandGet( uint16_t *NewCommand )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)NewCommand, offsetof( FirmwareIAPObjData, Command), sizeof(uint16_t));
}
void FirmwareIAPObjcrcGet( uint32_t *Newcrc )
{
UAVObjGetDataField(FirmwareIAPObjHandle(), (void*)Newcrc, offsetof( FirmwareIAPObjData, crc), sizeof(uint32_t));
}
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
if(iap_state == IAP_STATE_RESETTING)
return;
if ( ev->obj == FirmwareIAPObjHandle() ) {
// Get the input object data
FirmwareIAPObjGet(&data);
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if((data.BoardType==BOARD_TYPE)&&(data.crc != iap_calc_crc()))
{
read_description(data.Description);
data.BoardRevision=BOARD_REVISION;
data.crc = iap_calc_crc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
{
data.ArmReset=0;
FirmwareIAPObjSet( &data );
}
switch(iap_state) {
case IAP_STATE_READY:
if( data.Command == IAP_CMD_STEP_1 ) {
iap_state = IAP_STATE_STEP_1;
} break;
case IAP_STATE_STEP_1:
if( data.Command == IAP_CMD_STEP_2 ) {
if( delta > iap_time_2_low_end && delta < iap_time_2_high_end ) {
iap_state = IAP_STATE_STEP_2;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_STEP_2:
if( data.Command == IAP_CMD_STEP_3 ) {
if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
// we've met the three sequence of command numbers
// we've met the time requirements.
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
/* Note: Cant just wait timeout value, because first time is randomized */
reset_count = 0;
lastResetSysTime = xTaskGetTickCount();
UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
memset(ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(ev, resetTask, 100);
iap_state = IAP_STATE_RESETTING;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_RESETTING:
// stay here permanentally, should reboot
break;
default:
iap_state = IAP_STATE_READY;
break;
}
}
}
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
if(iap_state == IAP_STATE_RESETTING)
return;
if ( ev->obj == FirmwareIAPObjHandle() ) {
// Get the input object data
FirmwareIAPObjGet(&data);
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=bdinfo->board_rev;
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
{
data.ArmReset=0;
FirmwareIAPObjSet( &data );
}
switch(iap_state) {
case IAP_STATE_READY:
if( data.Command == IAP_CMD_STEP_1 ) {
iap_state = IAP_STATE_STEP_1;
} break;
case IAP_STATE_STEP_1:
if( data.Command == IAP_CMD_STEP_2 ) {
if( delta > iap_time_2_low_end && delta < iap_time_2_high_end ) {
iap_state = IAP_STATE_STEP_2;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_STEP_2:
if( data.Command == IAP_CMD_STEP_3 ) {
if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
// Abort any attempts if not disarmed
iap_state = IAP_STATE_READY;
break;
}
// we've met the three sequence of command numbers
// we've met the time requirements.
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
/* Note: Cant just wait timeout value, because first time is randomized */
reset_count = 0;
lastResetSysTime = xTaskGetTickCount();
UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
memset(ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(ev, resetTask, 100);
iap_state = IAP_STATE_RESETTING;
} else {
iap_state = IAP_STATE_READY;
}
} else {
iap_state = IAP_STATE_READY;
}
break;
case IAP_STATE_RESETTING:
// stay here permanentally, should reboot
break;
default:
iap_state = IAP_STATE_READY;
last_time = 0; // Reset the time counter, as we are not doing a IAP reset
break;
}
}
}
