mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 13:33:33 +08:00
Merge branch 'master' into batt_fixes
This commit is contained in:
Anton Babushkin
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Copyright (c) 2013, 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
|
||||
@@ -49,21 +48,75 @@
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* L1 period
|
||||
*
|
||||
* This is the L1 distance and defines the tracking
|
||||
* point ahead of the aircraft its following.
|
||||
* A value of 25 meters works for most aircraft. Shorten
|
||||
* slowly during tuning until response is sharp without oscillation.
|
||||
*
|
||||
* @min 1.0
|
||||
* @max 100.0
|
||||
* @group L1 Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
|
||||
|
||||
|
||||
/**
|
||||
* L1 damping
|
||||
*
|
||||
* Damping factor for L1 control.
|
||||
*
|
||||
* @min 0.6
|
||||
* @max 0.9
|
||||
* @group L1 Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
|
||||
|
||||
|
||||
/**
|
||||
* Default Loiter Radius
|
||||
*
|
||||
* This radius is used when no other loiter radius is set.
|
||||
*
|
||||
* @min 10.0
|
||||
* @max 100.0
|
||||
* @group L1 Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
|
||||
|
||||
|
||||
/**
|
||||
* Cruise throttle
|
||||
*
|
||||
* This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @group L1 Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
|
||||
|
||||
|
||||
/**
|
||||
* Negative pitch limit
|
||||
*
|
||||
* The minimum negative pitch the controller will output.
|
||||
*
|
||||
* @unit degrees
|
||||
* @min -60.0
|
||||
* @max 0.0
|
||||
* @group L1 Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
|
||||
|
||||
|
||||
/**
|
||||
* Positive pitch limit
|
||||
*
|
||||
* The maximum positive pitch the controller will output.
|
||||
*
|
||||
* @unit degrees
|
||||
* @min 0.0
|
||||
* @max 60.0
|
||||
* @group L1 Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
|
||||
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* 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
|
||||
@@ -38,6 +35,10 @@
|
||||
* @file sensor_params.c
|
||||
*
|
||||
* Parameters defined by the sensors task.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
@@ -45,41 +46,98 @@
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/**
|
||||
* Gyro X offset FIXME
|
||||
* Gyro X offset
|
||||
*
|
||||
* This is an X-axis offset for the gyro.
|
||||
* Adjust it according to the calibration data.
|
||||
* This is an X-axis offset for the gyro. Adjust it according to the calibration data.
|
||||
*
|
||||
* @min -10.0
|
||||
* @max 10.0
|
||||
* @group Gyro Config
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
|
||||
|
||||
/**
|
||||
* Gyro Y offset FIXME with dot.
|
||||
* Gyro Y offset
|
||||
*
|
||||
* @min -10.0
|
||||
* @max 10.0
|
||||
* @group Gyro Config
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
|
||||
|
||||
/**
|
||||
* Gyro Z offset FIXME
|
||||
* Gyro Z offset
|
||||
*
|
||||
* @min -5.0
|
||||
* @max 5.0
|
||||
* @group Gyro Config
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
|
||||
|
||||
/**
|
||||
* Gyro X scaling
|
||||
*
|
||||
* X-axis scaling.
|
||||
*
|
||||
* @min -1.5
|
||||
* @max 1.5
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
|
||||
|
||||
/**
|
||||
* Gyro Y scaling
|
||||
*
|
||||
* Y-axis scaling.
|
||||
*
|
||||
* @min -1.5
|
||||
* @max 1.5
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
|
||||
|
||||
/**
|
||||
* Gyro Z scaling
|
||||
*
|
||||
* Z-axis scaling.
|
||||
*
|
||||
* @min -1.5
|
||||
* @max 1.5
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
|
||||
|
||||
/**
|
||||
* Magnetometer X offset
|
||||
*
|
||||
* This is an X-axis offset for the magnetometer.
|
||||
*
|
||||
* @min -500.0
|
||||
* @max 500.0
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
|
||||
|
||||
/**
|
||||
* Magnetometer Y offset
|
||||
*
|
||||
* This is an Y-axis offset for the magnetometer.
|
||||
*
|
||||
* @min -500.0
|
||||
* @max 500.0
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
|
||||
|
||||
/**
|
||||
* Magnetometer Z offset
|
||||
*
|
||||
* This is an Z-axis offset for the magnetometer.
|
||||
*
|
||||
* @min -500.0
|
||||
* @max 500.0
|
||||
* @group Sensor Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
|
||||
@@ -100,16 +158,114 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
|
||||
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
|
||||
PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
|
||||
|
||||
/**
|
||||
* RC Channel 1 Minimum
|
||||
*
|
||||
* Minimum value for RC channel 1
|
||||
*
|
||||
* @min 800.0
|
||||
* @max 1500.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 1 Trim
|
||||
*
|
||||
* Mid point value (same as min for throttle)
|
||||
*
|
||||
* @min 800.0
|
||||
* @max 2200.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 1 Maximum
|
||||
*
|
||||
* Maximum value for RC channel 1
|
||||
*
|
||||
* @min 1500.0
|
||||
* @max 2200.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 1 Reverse
|
||||
*
|
||||
* Set to -1 to reverse channel.
|
||||
*
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 1 dead zone
|
||||
*
|
||||
* The +- range of this value around the trim value will be considered as zero.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 100.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
|
||||
/**
|
||||
* RC Channel 2 Minimum
|
||||
*
|
||||
* Minimum value for RC channel 2
|
||||
*
|
||||
* @min 800.0
|
||||
* @max 1500.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 2 Trim
|
||||
*
|
||||
* Mid point value (same as min for throttle)
|
||||
*
|
||||
* @min 800.0
|
||||
* @max 2200.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 2 Maximum
|
||||
*
|
||||
* Maximum value for RC channel 2
|
||||
*
|
||||
* @min 1500.0
|
||||
* @max 2200.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 2 Reverse
|
||||
*
|
||||
* Set to -1 to reverse channel.
|
||||
*
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
|
||||
|
||||
/**
|
||||
* RC Channel 2 dead zone
|
||||
*
|
||||
* The +- range of this value around the trim value will be considered as zero.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 100.0
|
||||
* @group Radio Calibration
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
|
||||
|
||||
@@ -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;
|
||||
}
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -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
|
||||
Reference in New Issue
Block a user