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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 07:23:34 +08:00
restore UAVCAN bootloader support
- essentially reverting #7878 minus the obsolete board support
This commit is contained in:
Daniel Agar
@@ -0,0 +1,434 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Ben Dyer <ben_dyer@mac.com>
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* Pavel Kirienko <pavel.kirienko@zubax.com>
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* David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <nuttx/config.h>
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// Turn off Probes in this module
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#undef CONFIG_BOARD_USE_PROBES
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#include <boot_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <string.h>
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#include <nuttx/arch.h>
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#include <arch/irq.h>
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#include <arch/board/board.h>
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#include "px4_macros.h"
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#include "timer.h"
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#include "nvic.h"
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typedef enum {
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OneShot = modeOneShot,
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Repeating = modeRepeating,
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Timeout = modeTimeout,
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modeMsk = 0x3,
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running = modeStarted,
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inuse = 0x80,
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} bl_timer_ctl_t;
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typedef struct {
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bl_timer_cb_t usr;
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time_ms_t count;
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time_ms_t reload;
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bl_timer_ctl_t ctl;
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} bl_timer_t;
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static time_ms_t sys_tic;
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static bl_timer_t timers[OPT_BL_NUMBER_TIMERS];
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/* Use to initialize */
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const bl_timer_cb_t null_cb = { 0, 0 };
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/* We use the linker --wrap ability to wrap the NuttX stm32 call out to
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* the sceduler's sched_process_timer and service it here. Thus replacing
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* the NuttX scheduler with are timer driven scheduling.
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*/
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void __wrap_sched_process_timer(void);
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/****************************************************************************
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* Name: timer_tic
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*
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* Description:
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* Returns the system tic counter that counts in units of
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* (CONFIG_USEC_PER_TICK/1000). By default 10 Ms.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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time_ms_t timer_tic(void)
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{
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return sys_tic;
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}
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/****************************************************************************
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* Name: sched_process_timer
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*
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* Description:
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* Called by Nuttx on the ISR of the SysTic. This function run the list of
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* timers. It deducts that amount of the time of a system tick from the
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* any timers that are in use and running.
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*
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* Depending on the mode of the timer, the appropriate actions is taken on
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* expiration.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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__EXPORT void __wrap_sched_process_timer(void)
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{
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//PROBE(1, true);
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//PROBE(1, false);
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/* Increment the per-tick system counter */
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sys_tic++;
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/* todo:May need a X tick here is threads run long */
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time_ms_t ms_elapsed = (CONFIG_USEC_PER_TICK / 1000);
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/* Walk the time list from High to low and */
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bl_timer_id t;
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for (t = arraySize(timers) - 1; (int8_t) t >= 0; t--) {
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/* Timer in use and running */
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if ((timers[t].ctl & (inuse | running)) == (inuse | running)) {
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/* Is it NOT already expired nor about to expire ?*/
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if (timers[t].count != 0) {
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/* Is it off in future */
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if (timers[t].count > ms_elapsed) {
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/* Just remove the amount attributed to the tick */
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timers[t].count -= ms_elapsed;
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continue;
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}
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/* it has expired now or less than a tick ago */
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/* Mark it expired */
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timers[t].count = 0;
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/* Now perform action based on mode */
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switch (timers[t].ctl & ~(inuse | running)) {
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case OneShot: {
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bl_timer_cb_t user = timers[t].usr;
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memset(&timers[t], 0, sizeof(timers[t]));
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if (user.cb) {
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user.cb(t, user.context);
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}
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}
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break;
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case Repeating:
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timers[t].count = timers[t].reload;
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/* FALLTHROUGH */
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/* to callback */
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case Timeout:
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if (timers[t].usr.cb) {
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timers[t].usr.cb(t, timers[t].usr.context);
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}
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break;
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default:
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break;
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}
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}
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}
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}
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}
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/****************************************************************************
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* Name: timer_allocate
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*
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* Description:
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* Is used to allocate a timer. Allocation does not involve memory
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* allocation as the data for the timer are compile time generated.
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* See OPT_BL_NUMBER_TIMERS
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*
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* There is an inherent priority to the timers in that the first timer
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* allocated is the first timer run per tick.
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*
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* There are 3 modes of operation for the timers. All modes support an
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* optional call back on expiration.
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*
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* modeOneShot - Specifies a one-shot timer. After notification timer
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* is resource is freed.
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* modeRepeating - Specifies a repeating timer that will reload and
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* call an optional.
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* modeTimeout - Specifies a persistent start / stop timer.
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*
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* modeStarted - Or'ed in to start the timer when allocated
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*
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*
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* Input Parameters:
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* mode - One of bl_timer_modes_t with the Optional modeStarted
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* msfromnow - The reload and initial value for the timer in Ms.
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* fc - A pointer or NULL (0). If it is non null it can be any
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* of the following:
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*
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* a) A bl_timer_cb_t populated on the users stack or
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* in the data segment. The values are copied into the
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* internal data structure of the timer and therefore do
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* not have to persist after the call to timer_allocate
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*
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* b) The address of null_cb. This is identical to passing
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* null for the value of fc.
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*
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* Returned Value:
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* On success a value from 0 - OPT_BL_NUMBER_TIMERS-1 that is
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* the bl_timer_id for subsequent timer operations
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* -1 on failure. This indicates there are no free timers.
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*
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****************************************************************************/
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bl_timer_id timer_allocate(bl_timer_modes_t mode, time_ms_t msfromnow, bl_timer_cb_t *fc)
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{
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bl_timer_id t;
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irqstate_t s = enter_critical_section();
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for (t = arraySize(timers) - 1; (int8_t)t >= 0; t--) {
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if ((timers[t].ctl & inuse) == 0) {
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timers[t].reload = msfromnow;
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timers[t].count = msfromnow;
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timers[t].usr = fc ? *fc : null_cb;
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timers[t].ctl = (mode & (modeMsk | running)) | (inuse);
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break;
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}
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}
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leave_critical_section(s);
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return t;
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}
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/****************************************************************************
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* Name: timer_free
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*
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* Description:
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* Is used to free a timer. Freeing a timer does not involve memory
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* deallocation as the data for the timer are compile time generated.
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* See OPT_BL_NUMBER_TIMERS
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*
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* Input Parameters:
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* id - Returned from timer_allocate;
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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void timer_free(bl_timer_id id)
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{
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DEBUGASSERT(id >= 0 && id < arraySize(timers));
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irqstate_t s = enter_critical_section();
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memset(&timers[id], 0, sizeof(timers[id]));
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leave_critical_section(s);
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}
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/****************************************************************************
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* Name: timer_start
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*
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* Description:
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* Is used to Start a timer. The reload value is copied to the counter.
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* And the running bit it set. There is no problem in Starting a running
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* timer. But it will restart the timeout.
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*
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* Input Parameters:
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* id - Returned from timer_allocate;
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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void timer_start(bl_timer_id id)
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{
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DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
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irqstate_t s = enter_critical_section();
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timers[id].count = timers[id].reload;
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timers[id].ctl |= running;
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leave_critical_section(s);
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}
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/****************************************************************************
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* Name: timer_stop
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*
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* Description:
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* Is used to stop a timer. It is Ok to stop a stopped timer.
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*
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* Input Parameters:
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* id - Returned from timer_allocate;
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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void timer_stop(bl_timer_id id)
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{
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DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
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irqstate_t s = enter_critical_section();
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timers[id].ctl &= ~running;
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leave_critical_section(s);
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}
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/****************************************************************************
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* Name: timer_expired
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*
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* Description:
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* Test if a timer that was configured as a modeTimeout timer is expired.
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* To be expired the time has to be running and have a count of 0.
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*
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* Input Parameters:
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* id - Returned from timer_allocate;
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*
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* Returned Value:
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* Non Zero if the timer is expired otherwise zero.
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*
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****************************************************************************/
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int timer_expired(bl_timer_id id)
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{
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DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
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irqstate_t s = enter_critical_section();
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int rv = ((timers[id].ctl & running) && timers[id].count == 0);
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leave_critical_section(s);
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return rv;
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}
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/****************************************************************************
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* Name: timer_restart
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*
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* Description:
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* Is used to re start a timer with a new reload count. The reload value
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* is copied to the counter and the running bit it set. There is no
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* problem in restarting a running timer.
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*
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* Input Parameters:
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* id - Returned from timer_allocate;
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* ms - Is a time_ms_t and the new reload value to use.
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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void timer_restart(bl_timer_id id, time_ms_t ms)
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{
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DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
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irqstate_t s = enter_critical_section();
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timers[id].count = timers[id].reload = ms;
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timers[id].ctl |= running;
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leave_critical_section(s);
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}
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/****************************************************************************
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* Name: timer_ref
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*
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* Description:
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* Returns an time_ref_t that is a reference (ponter) to the internal counter
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* of the timer selected by id. It should only be used with calls to
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* timer_ref_expired.
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*
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* Input Parameters:
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* id - Returned from timer_allocate;
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*
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* Returned Value:
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* An internal reference that should be treated as opaque by the caller and
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* should only be used with calls to timer_ref_expired.
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* There is no reference counting on the reference and therefore does not
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* require any operation to free it.
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*
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*************************************************************************/
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time_ref_t timer_ref(bl_timer_id id)
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{
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DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
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return (time_ref_t) &timers[id].count;
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}
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/****************************************************************************
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* Name: timer_init
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*
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* Description:
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* Called early in os_start to initialize the data associated with
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* the timers
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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__EXPORT void timer_init(void)
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{
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/* For system timing probing see bord.h and
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* CONFIG_BOARD_USE_PROBES
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*/
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//PROBE_INIT(7);
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//PROBE(1, true);
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//PROBE(2, true);
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//PROBE(3, true);
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//PROBE(1, false);
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//PROBE(2, false);
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//PROBE(3, false);
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/* This is the lowlevel IO if needed to instrument timing
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* with the smallest impact
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* *((uint32_t *)0x40011010) = 0x100; // PROBE(3,true);
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* *((uint32_t *)0x40011014) = 0x100; // PROBE(3,false);
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*/
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/* Initialize timer data */
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sys_tic = 0;
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memset(timers, 0, sizeof(timers));
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}
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