mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Merge branch 'checkcrc_nostart' into autostart_cleanup
This commit is contained in:
Anton Babushkin
commit
891cb3f8c2
@ -302,7 +302,7 @@ CONFIG_USART2_RXDMA=y
|
||||
CONFIG_USART3_RXDMA=y
|
||||
# CONFIG_UART4_RS485 is not set
|
||||
CONFIG_UART4_RXDMA=y
|
||||
# CONFIG_UART5_RXDMA is not set
|
||||
CONFIG_UART5_RXDMA=y
|
||||
# CONFIG_USART6_RS485 is not set
|
||||
CONFIG_USART6_RXDMA=y
|
||||
# CONFIG_UART7_RS485 is not set
|
||||
|
||||
@ -60,6 +60,7 @@ __BEGIN_DECLS
|
||||
|
||||
/* PX4IO connection configuration */
|
||||
#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
//#ifdef CONFIG_STM32_SPI2
|
||||
//# error "SPI2 is not supported on this board"
|
||||
|
||||
@ -52,6 +52,8 @@ __BEGIN_DECLS
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
|
||||
@ -65,6 +65,7 @@
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/pwm_limit/pwm_limit.h>
|
||||
#include <systemlib/board_serial.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
|
||||
@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
|
||||
_armed(false),
|
||||
_pwm_on(false),
|
||||
_mixers(nullptr),
|
||||
_failsafe_pwm( {0}),
|
||||
_disarmed_pwm( {0}),
|
||||
_num_failsafe_set(0),
|
||||
_num_disarmed_set(0)
|
||||
_failsafe_pwm({0}),
|
||||
_disarmed_pwm({0}),
|
||||
_num_failsafe_set(0),
|
||||
_num_disarmed_set(0)
|
||||
{
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
_min_pwm[i] = PWM_DEFAULT_MIN;
|
||||
@ -575,7 +576,7 @@ PX4FMU::task_main()
|
||||
if (i >= outputs.noutputs ||
|
||||
!isfinite(outputs.output[i]) ||
|
||||
outputs.output[i] < -1.0f ||
|
||||
outputs.output[i] > 1.0f) {
|
||||
outputs.output[i] > 1.0f) {
|
||||
/*
|
||||
* Value is NaN, INF or out of band - set to the minimum value.
|
||||
* This will be clearly visible on the servo status and will limit the risk of accidentally
|
||||
@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_SET(3):
|
||||
case PWM_SERVO_SET(2):
|
||||
if (_mode < MODE_4PWM) {
|
||||
@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_SET(1):
|
||||
case PWM_SERVO_SET(0):
|
||||
if (arg <= 2100) {
|
||||
@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_GET(3):
|
||||
case PWM_SERVO_GET(2):
|
||||
if (_mode < MODE_4PWM) {
|
||||
@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_GET(1):
|
||||
case PWM_SERVO_GET(0):
|
||||
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
|
||||
@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
|
||||
errx(0, "FMU driver stopped");
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "id")) {
|
||||
char id[12];
|
||||
(void)get_board_serial(id);
|
||||
|
||||
errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
|
||||
(unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
|
||||
(unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
|
||||
}
|
||||
|
||||
|
||||
if (fmu_start() != OK)
|
||||
errx(1, "failed to start the FMU driver");
|
||||
@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
|
||||
sensor_reset(0);
|
||||
warnx("resettet default time");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -35,7 +35,7 @@
|
||||
* @file px4io.cpp
|
||||
* Driver for the PX4IO board.
|
||||
*
|
||||
* PX4IO is connected via I2C.
|
||||
* PX4IO is connected via I2C or DMA enabled high-speed UART.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
|
||||
|
||||
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
|
||||
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
retries--;
|
||||
|
||||
log("mixer sent");
|
||||
@ -2419,6 +2422,69 @@ detect(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
checkcrc(int argc, char *argv[])
|
||||
{
|
||||
bool keep_running = false;
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
/* allocate the interface */
|
||||
device::Device *interface = get_interface();
|
||||
|
||||
/* create the driver - it will set g_dev */
|
||||
(void)new PX4IO(interface);
|
||||
|
||||
if (g_dev == nullptr)
|
||||
errx(1, "driver alloc failed");
|
||||
} else {
|
||||
/* its already running, don't kill the driver */
|
||||
keep_running = true;
|
||||
}
|
||||
|
||||
/*
|
||||
check IO CRC against CRC of a file
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||||
*/
|
||||
if (argc < 2) {
|
||||
printf("usage: px4io checkcrc filename\n");
|
||||
exit(1);
|
||||
}
|
||||
int fd = open(argv[1], O_RDONLY);
|
||||
if (fd == -1) {
|
||||
printf("open of %s failed - %d\n", argv[1], 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 (!keep_running) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
if (ret != OK) {
|
||||
printf("check CRC failed - %d\n", ret);
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||||
exit(1);
|
||||
}
|
||||
printf("CRCs match\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
bind(int argc, char *argv[])
|
||||
{
|
||||
@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
|
||||
if (!strcmp(argv[1], "detect"))
|
||||
detect(argc - 1, argv + 1);
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||||
|
||||
if (!strcmp(argv[1], "checkcrc"))
|
||||
checkcrc(argc - 1, argv + 1);
|
||||
|
||||
if (!strcmp(argv[1], "update")) {
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
@ -2798,49 +2867,6 @@ 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") ||
|
||||
|
||||
60
src/modules/systemlib/board_serial.c
Normal file
60
src/modules/systemlib/board_serial.c
Normal file
@ -0,0 +1,60 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_serial.h
|
||||
* Read off the board serial
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "otp.h"
|
||||
#include "board_config.h"
|
||||
#include "board_serial.h"
|
||||
|
||||
int get_board_serial(char *serialid)
|
||||
{
|
||||
const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
|
||||
union udid id;
|
||||
val_read((unsigned *)&id, udid_ptr, sizeof(id));
|
||||
|
||||
|
||||
/* Copy the serial from the chips non-write memory and swap endianess */
|
||||
serialid[0] = id.data[3]; serialid[1] = id.data[2]; serialid[2] = id.data[1]; serialid[3] = id.data[0];
|
||||
serialid[4] = id.data[7]; serialid[5] = id.data[6]; serialid[6] = id.data[5]; serialid[7] = id.data[4];
|
||||
serialid[8] = id.data[11]; serialid[9] = id.data[10]; serialid[10] = id.data[9]; serialid[11] = id.data[8];
|
||||
|
||||
return 0;
|
||||
}
|
||||
49
src/modules/systemlib/board_serial.h
Normal file
49
src/modules/systemlib/board_serial.h
Normal file
@ -0,0 +1,49 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_serial.h
|
||||
* Read off the board serial
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
__EXPORT int get_board_serial(char *serialid);
|
||||
|
||||
__END_DECLS
|
||||
@ -49,4 +49,7 @@ SRCS = err.c \
|
||||
airspeed.c \
|
||||
system_params.c \
|
||||
mavlink_log.c \
|
||||
rc_check.c
|
||||
rc_check.c \
|
||||
otp.c \
|
||||
board_serial.c
|
||||
|
||||
|
||||
224
src/modules/systemlib/otp.c
Normal file
224
src/modules/systemlib/otp.c
Normal file
@ -0,0 +1,224 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
|
||||
* Authors:
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
* David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file otp.c
|
||||
* otp estimation
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h> // memset
|
||||
#include "conversions.h"
|
||||
#include "otp.h"
|
||||
#include "err.h" // warnx
|
||||
#include <assert.h>
|
||||
|
||||
|
||||
int val_read(void *dest, volatile const void *src, int bytes)
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
for (i = 0; i < bytes / 4; i++) {
|
||||
*(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
|
||||
}
|
||||
|
||||
return i * 4;
|
||||
}
|
||||
|
||||
|
||||
int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
|
||||
{
|
||||
|
||||
warnx("write_otp: PX4 / %02X / %02X / %02X / ... etc \n", id_type, vid, pid);
|
||||
|
||||
int errors = 0;
|
||||
|
||||
// descriptor
|
||||
if (F_write_byte(ADDR_OTP_START, 'P'))
|
||||
errors++;
|
||||
// write the 'P' from PX4. to first byte in OTP
|
||||
if (F_write_byte(ADDR_OTP_START + 1, 'X'))
|
||||
errors++; // write the 'P' from PX4. to first byte in OTP
|
||||
if (F_write_byte(ADDR_OTP_START + 2, '4'))
|
||||
errors++;
|
||||
if (F_write_byte(ADDR_OTP_START + 3, '\0'))
|
||||
errors++;
|
||||
//id_type
|
||||
if (F_write_byte(ADDR_OTP_START + 4, id_type))
|
||||
errors++;
|
||||
// vid and pid are 4 bytes each
|
||||
if (F_write_word(ADDR_OTP_START + 5, vid))
|
||||
errors++;
|
||||
if (F_write_word(ADDR_OTP_START + 9, pid))
|
||||
errors++;
|
||||
|
||||
// leave some 19 bytes of space, and go to the next block...
|
||||
// then the auth sig starts
|
||||
for (int i = 0 ; i < 128 ; i++) {
|
||||
if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
|
||||
errors++;
|
||||
}
|
||||
|
||||
return errors;
|
||||
}
|
||||
|
||||
int lock_otp(void)
|
||||
{
|
||||
//determine the required locking size - can only write full lock bytes */
|
||||
// int size = sizeof(struct otp) / 32;
|
||||
//
|
||||
// struct otp_lock otp_lock_mem;
|
||||
//
|
||||
// memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
|
||||
// for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
|
||||
// otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
|
||||
//XXX add the actual call here to write the OTP_LOCK bytes only at final stage
|
||||
// val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
|
||||
|
||||
int locksize = 5;
|
||||
|
||||
int errors = 0;
|
||||
|
||||
// or just realise it's exctly 5x 32byte blocks we need to lock. 1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
|
||||
for (int i = 0 ; i < locksize ; i++) {
|
||||
if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
|
||||
errors++;
|
||||
}
|
||||
|
||||
return errors;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// COMPLETE, BUSY, or other flash error?
|
||||
int F_GetStatus(void)
|
||||
{
|
||||
int fs = F_COMPLETE;
|
||||
|
||||
if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
|
||||
|
||||
if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
|
||||
|
||||
if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
|
||||
|
||||
if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
|
||||
fs = F_COMPLETE;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return fs;
|
||||
}
|
||||
|
||||
|
||||
// enable FLASH Registers
|
||||
void F_unlock(void)
|
||||
{
|
||||
if ((FLASH->control & F_CR_LOCK) != 0) {
|
||||
FLASH->key = F_KEY1;
|
||||
FLASH->key = F_KEY2;
|
||||
}
|
||||
}
|
||||
|
||||
// lock the FLASH Registers
|
||||
void F_lock(void)
|
||||
{
|
||||
FLASH->control |= F_CR_LOCK;
|
||||
}
|
||||
|
||||
// flash write word.
|
||||
int F_write_word(uint32_t Address, uint32_t Data)
|
||||
{
|
||||
unsigned char octet[4] = {0, 0, 0, 0};
|
||||
|
||||
int ret = 0;
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
octet[i] = (Data >> (i * 8)) & 0xFF;
|
||||
ret = F_write_byte(Address + i, octet[i]);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
// flash write byte
|
||||
int F_write_byte(uint32_t Address, uint8_t Data)
|
||||
{
|
||||
volatile int status = F_COMPLETE;
|
||||
|
||||
//warnx("F_write_byte: %08X %02d", Address , Data ) ;
|
||||
|
||||
//Check the parameters
|
||||
assert(IS_F_ADDRESS(Address));
|
||||
|
||||
//Wait for FLASH operation to complete by polling on BUSY flag.
|
||||
status = F_GetStatus();
|
||||
|
||||
while (status == F_BUSY) { status = F_GetStatus();}
|
||||
|
||||
if (status == F_COMPLETE) {
|
||||
//if the previous operation is completed, proceed to program the new data
|
||||
FLASH->control &= CR_PSIZE_MASK;
|
||||
FLASH->control |= F_PSIZE_BYTE;
|
||||
FLASH->control |= F_CR_PG;
|
||||
|
||||
*(volatile uint8_t *)Address = Data;
|
||||
|
||||
//Wait for FLASH operation to complete by polling on BUSY flag.
|
||||
status = F_GetStatus();
|
||||
|
||||
while (status == F_BUSY) { status = F_GetStatus();}
|
||||
|
||||
//if the program operation is completed, disable the PG Bit
|
||||
FLASH->control &= (~F_CR_PG);
|
||||
}
|
||||
|
||||
//Return the Program Status
|
||||
return !(status == F_COMPLETE);
|
||||
}
|
||||
|
||||
|
||||
|
||||
151
src/modules/systemlib/otp.h
Normal file
151
src/modules/systemlib/otp.h
Normal file
@ -0,0 +1,151 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file otp.h
|
||||
* One TIme Programmable ( OTP ) Flash routine/s.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef OTP_H_
|
||||
#define OTP_H_
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#define ADDR_OTP_START 0x1FFF7800
|
||||
#define ADDR_OTP_LOCK_START 0x1FFF7A00
|
||||
|
||||
#define OTP_LOCK_LOCKED 0x00
|
||||
#define OTP_LOCK_UNLOCKED 0xFF
|
||||
|
||||
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
// possible flash statuses
|
||||
#define F_BUSY 1
|
||||
#define F_ERROR_WRP 2
|
||||
#define F_ERROR_PROGRAM 3
|
||||
#define F_ERROR_OPERATION 4
|
||||
#define F_COMPLETE 5
|
||||
|
||||
typedef struct {
|
||||
volatile uint32_t accesscontrol; // 0x00
|
||||
volatile uint32_t key; // 0x04
|
||||
volatile uint32_t optionkey; // 0x08
|
||||
volatile uint32_t status; // 0x0C
|
||||
volatile uint32_t control; // 0x10
|
||||
volatile uint32_t optioncontrol; //0x14
|
||||
} flash_registers;
|
||||
|
||||
#define PERIPH_BASE ((uint32_t)0x40000000) //Peripheral base address
|
||||
#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000)
|
||||
#define F_R_BASE (AHB1PERIPH_BASE + 0x3C00)
|
||||
#define FLASH ((flash_registers *) F_R_BASE)
|
||||
|
||||
#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
|
||||
#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
|
||||
#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
|
||||
#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
|
||||
#define F_PSIZE_WORD ((uint32_t)0x00000200)
|
||||
#define F_PSIZE_BYTE ((uint32_t)0x00000000)
|
||||
#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
|
||||
#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
|
||||
|
||||
#define F_KEY1 ((uint32_t)0x45670123)
|
||||
#define F_KEY2 ((uint32_t)0xCDEF89AB)
|
||||
#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
|
||||
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
|
||||
/*
|
||||
* The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
|
||||
* The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
|
||||
* to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
|
||||
* until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
|
||||
* contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
|
||||
*/
|
||||
|
||||
struct otp {
|
||||
// first 32 bytes = the '0' Block
|
||||
char id[4]; ///4 bytes < 'P' 'X' '4' '\n'
|
||||
uint8_t id_type; ///1 byte < 0 for USB VID, 1 for generic VID
|
||||
uint32_t vid; ///4 bytes
|
||||
uint32_t pid; ///4 bytes
|
||||
char unused[19]; ///19 bytes
|
||||
// Cert-of-Auth is next 4 blocks ie 1-4 ( where zero is first block )
|
||||
char signature[128];
|
||||
// insert extras here
|
||||
uint32_t lock_bytes[4];
|
||||
};
|
||||
|
||||
struct otp_lock {
|
||||
uint8_t lock_bytes[16];
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
#define ADDR_F_SIZE 0x1FFF7A22
|
||||
|
||||
#pragma pack(push, 1)
|
||||
union udid {
|
||||
uint32_t serial[3];
|
||||
char data[12];
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
/**
|
||||
* s
|
||||
*/
|
||||
//__EXPORT float calc_indicated_airspeed(float differential_pressure);
|
||||
|
||||
__EXPORT void F_unlock(void);
|
||||
__EXPORT void F_lock(void);
|
||||
__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
|
||||
__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
|
||||
__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
|
||||
__EXPORT int lock_otp(void);
|
||||
|
||||
|
||||
__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
|
||||
__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
#endif
|
||||
@ -38,6 +38,7 @@
|
||||
*/
|
||||
|
||||
#include <sys/stat.h>
|
||||
#include <poll.h>
|
||||
#include <dirent.h>
|
||||
#include <stdio.h>
|
||||
#include <stddef.h>
|
||||
@ -51,6 +52,38 @@
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
int check_user_abort();
|
||||
|
||||
int check_user_abort() {
|
||||
/* check if user wants to abort */
|
||||
char c;
|
||||
|
||||
struct pollfd fds;
|
||||
int ret;
|
||||
fds.fd = 0; /* stdin */
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 0);
|
||||
|
||||
if (ret > 0) {
|
||||
|
||||
read(0, &c, 1);
|
||||
|
||||
switch (c) {
|
||||
case 0x03: // ctrl-c
|
||||
case 0x1b: // esc
|
||||
case 'c':
|
||||
case 'q':
|
||||
{
|
||||
warnx("Test aborted.");
|
||||
return OK;
|
||||
/* not reached */
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int
|
||||
test_file(int argc, char *argv[])
|
||||
{
|
||||
@ -108,6 +141,9 @@ test_file(int argc, char *argv[])
|
||||
fsync(fd);
|
||||
//perf_end(wperf);
|
||||
|
||||
if (!check_user_abort())
|
||||
return OK;
|
||||
|
||||
}
|
||||
end = hrt_absolute_time();
|
||||
|
||||
@ -142,6 +178,9 @@ test_file(int argc, char *argv[])
|
||||
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
}
|
||||
|
||||
if (!check_user_abort())
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
@ -152,7 +191,7 @@ test_file(int argc, char *argv[])
|
||||
int ret = unlink("/fs/microsd/testfile");
|
||||
fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
|
||||
|
||||
warnx("testing aligned writes - please wait..");
|
||||
warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
|
||||
|
||||
start = hrt_absolute_time();
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
@ -162,6 +201,9 @@ test_file(int argc, char *argv[])
|
||||
err(1, "WRITE ERROR!");
|
||||
}
|
||||
|
||||
if (!check_user_abort())
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
fsync(fd);
|
||||
@ -190,6 +232,9 @@ test_file(int argc, char *argv[])
|
||||
align_read_ok = false;
|
||||
break;
|
||||
}
|
||||
|
||||
if (!check_user_abort())
|
||||
return OK;
|
||||
}
|
||||
|
||||
if (!align_read_ok) {
|
||||
@ -228,6 +273,9 @@ test_file(int argc, char *argv[])
|
||||
if (unalign_read_err_count > 10)
|
||||
break;
|
||||
}
|
||||
|
||||
if (!check_user_abort())
|
||||
return OK;
|
||||
}
|
||||
|
||||
if (!unalign_read_ok) {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user