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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/modules/px4iofirmware/px4io.c
+20
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@@ -45,6 +45,7 @@
#include <string.h>
#include <poll.h>
#include <signal.h>
#include <crc32.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
@@ -124,6 +125,22 @@ heartbeat_blink(void)
LED_BLUE(heartbeat = !heartbeat);
}
static void
calculate_fw_crc(void)
{
#define APP_SIZE_MAX 0xf000
#define APP_LOAD_ADDRESS 0x08001000
// compute CRC of the current firmware
uint32_t sum = 0;
for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) {
uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS);
sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum);
}
r_page_setup[PX4IO_P_SETUP_CRC] = sum & 0xFFFF;
r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16;
}
int
user_start(int argc, char *argv[])
{
@@ -136,6 +153,9 @@ user_start(int argc, char *argv[])
/* configure the high-resolution time/callout interface */
hrt_init();
/* calculate our fw CRC so FMU can decide if we need to update */
calculate_fw_crc();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.