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Merged crccheck command

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Andrew Tridgell
2013-12-13 11:22:14 +01:00
committed by Lorenz Meier
parent 6016fbe55d
commit 5b7d1af5d8
4 changed files with 85 additions and 2 deletions
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src/drivers/px4io/px4io.cpp
+62 -2
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@@ -54,6 +54,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <crc32.h>
#include <arch/board/board.h>
@@ -96,6 +97,7 @@ extern device::Device *PX4IO_serial_interface() weak_function;
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2)
#define PX4IO_CHECK_CRC _IOC(0xff00, 3)
#define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz
#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
@@ -1660,11 +1662,13 @@ void
PX4IO::print_status()
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB\n",
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER));
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC+1));
printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
@@ -2157,6 +2161,19 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
ret = OK;
break;
case PX4IO_CHECK_CRC: {
/* check IO firmware CRC against passed value */
uint32_t io_crc = 0;
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
if (ret != OK)
return ret;
if (io_crc != arg) {
debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg);
return -EINVAL;
}
break;
}
case PX4IO_INAIR_RESTART_ENABLE:
/* set/clear the 'in-air restart' bit */
@@ -2717,6 +2734,49 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "checkcrc")) {
/*
check IO CRC against CRC of a file
*/
if (argc <= 2) {
printf("usage: px4io checkcrc filename\n");
exit(1);
}
if (g_dev == nullptr) {
printf("px4io is not started\n");
exit(1);
}
int fd = open(argv[2], O_RDONLY);
if (fd == -1) {
printf("open of %s failed - %d\n", argv[2], errno);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = read(fd, buf, sizeof(buf));
if (n <= 0) break;
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
if (ret != OK) {
printf("check CRC failed - %d\n", ret);
exit(1);
}
printf("CRCs match\n");
exit(0);
}
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit") ||