int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
read_description(data.Description);
data.BoardRevision= BOARD_REVISION;
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}
static void
presets_list_select_preset (GtkTreeSelection *selection,
gpointer data)
{
GtkTreeIter iter;
GtkTreeModel *model;
if (gtk_tree_selection_get_selected (selection, &model, &iter))
{
gchar *preset_name;
gchar *preset_filename;
gtk_tree_model_get (model, &iter, PRESETS_LIST_COLUMN_OBJECT_NAME,
&preset_name, -1);
gtk_tree_model_get (model, &iter, PRESETS_LIST_COLUMN_FILENAME,
&preset_filename, -1);
/* TODO : Maybe make the factory defaults behavior in regards
* to the preset's object name and filename more robust?
*
*/
if (strcmp (preset_filename, factory_defaults))
{
gtk_entry_set_text (GTK_ENTRY (presetnameentry), preset_name);
g_free (selected_preset_orig_name);
g_free (selected_preset_filename);
selected_preset_orig_name = g_strdup (preset_name);
selected_preset_filename = g_strdup (selected_preset_filename);
}
read_description (preset_filename);
g_free (preset_name);
g_free (preset_filename);
}
}
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;
}
}
}
