mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-14 16:21:35 +08:00
Daniel AgarandJulian Oes
6ab8153f32
Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Daniel Agar <daniel@agar.ca>
295 lines
11 KiB
C++
295 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
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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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/**
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* @file tap_esc_uploader.h
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* Firmware uploader definitions for TAP ESC.
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*/
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#ifndef _TAP_ESC_UPLOADER_H
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#define _TAP_ESC_UPLOADER_H
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#include <drivers/tap_esc/drv_tap_esc.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <systemlib/mavlink_log.h>
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#define TAP_ESC_FW_SEARCH_PATHS {"/etc/extras/tap_esc.bin", "/fs/microsd/tap_esc.bin", nullptr }
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#define PROTO_SUPPORT_BL_REV 5 /**< supported bootloader protocol revision */
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#define SYNC_RETRY_TIMES 5 /**< (uint8) esc sync failed allow retry times*/
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#define UPLOADER_RETRY_TIMES 2 /**< esc uploader failed allow retry times*/
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#define ESCBUS_DATA_CRC_LEN 248 /**< length of data field is 255 and plus one byte for CRC*/
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#define ESC_WAIT_BEFORE_READ 1 /**< ms, wait before reading to save read() calls*/
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#define ESC_VERSION_OFFSET_ADDR 0x200 /**< ESCs firmware version offset address in tap_esc.bin file */
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#define ESC_FW_VER_BYTES 4 /**< Number of bytes used to encode ESC firmware version */
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#define CODE_ESCS_ALREADY_UPTODATE 1
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class TAP_ESC_UPLOADER
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{
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public:
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TAP_ESC_UPLOADER(const char *device, uint8_t esc_counter);
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virtual ~TAP_ESC_UPLOADER();
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/*
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* Upload ESC firmware from a binary.
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* @param filenames
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* @return OK on success, -errno otherwise
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*/
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int upload(const char *filenames[]);
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/*
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* Compare ESC firmware CRC with that of a binary file.
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* In case of mismatch, the binary file is uploaded to the ESCs.
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* @param filenames
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* @return OK on success, -errno otherwise
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*/
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int checkcrc(const char *filenames[]);
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/*
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* Query ESCs for version information (firmware, hardware, bootloader)
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* and store the response in the corresponding parameters.
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*/
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int log_versions();
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/*
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* read version of ESC firmware from tap_esc.bin file
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* @param filenames
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* @param ver: get the ESC firmware version in format xx.yy * 100
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* @return OK on success, or -errno otherwise.
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*/
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static int read_esc_version_from_bin(int fw_fd, uint32_t &ver);
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/*
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* Update ESC firmware with newer version from binary, if necessary.
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* @param filenames
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* @return 'CODE_ESCS_ALREADY_UPTODATE' if no update is required, 'PX4_OK' if updated, or '-errno' otherwise.
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*/
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int update_fw(const char *filenames[]);
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/*
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* Open firmware binary file from a prioritized list of filenames
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* @param filenames array of paths to try and open, must be NULL-terminated
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* @param fw_fd file descriptor for firmware binary
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* @return file size on success or -errno on failure
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*/
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static int32_t initialise_firmware_file(const char *filenames[], int &fw_fd);
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private:
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#pragma pack(push,1)
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typedef enum {
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PROTO_NOP = 0x00,
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/**
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* receive tap esc feedback information
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*/
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PROTO_OK = 0x10, /**< INSYNC/OK - 'ok' response */
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PROTO_FAILED = 0x11, /**< INSYNC/FAILED - 'fail' response */
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PROTO_INVALID = 0x13, /**< INSYNC/INVALID - 'invalid' response for bad commands */
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PROTO_BAD_SILICON_REV = 0x14, /**< On the F4 series there is an issue with < Rev 3 silicon */
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/**
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* send to tap esc command information
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*/
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PROTO_GET_SYNC = 0x21, /**< NOP for re-establishing sync */
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PROTO_GET_DEVICE_INFO = 0x22, /**< get device ID bytes */
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PROTO_CHIP_ERASE = 0x23, /**< erase program area and reset program address */
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PROTO_PROG_MULTI = 0x27, /**< write bytes at program address and increment */
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PROTO_GET_CRC = 0x29, /**< compute & return a CRC */
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PROTO_GET_OTP = 0x2a, /**< read a byte from OTP at the given address */
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PROTO_GET_SN = 0x2b, /**< read a word from UDID area ( Serial) at the given address */
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PROTO_GET_CHIP = 0x2c, /**< read chip version (MCU IDCODE) */
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PROTO_SET_DELAY = 0x2d, /**< set minimum boot delay */
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PROTO_GET_CHIP_DES = 0x2e, /**< read chip version In ASCII */
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PROTO_REBOOT = 0x30, /**< boot the application */
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PROTO_MSG_ID_MAX_NUM = 0x40, /**< support protocol maximum message ID command */
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/* argument values for PROTO_GET_DEVICE */
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PROTO_DEVICE_BL_REV = 1, /**< bootloader revision */
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PROTO_DEVICE_BOARD_ID = 2, /**< board ID Use for distinguishing ESC chip, each chip corresponds to a fixed value */
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PROTO_DEVICE_BOARD_REV = 3, /**< board revision */
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PROTO_DEVICE_FW_SIZE = 4, /**< size of flashable area */
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PROTO_DEVICE_VEC_AREA = 5, /**< contents of reserved vectors 7-10 */
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PROTO_DEVICE_FW_REV = 6, /**< firmware revision */
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PROG_MULTI_MAX = 128, /**< protocol max is 255, must be multiple of 4 */
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} ESCBUS_UPLOADER_MESSAGE_ID;
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/**< tap esc feedback packet,The command is the same as the command received */
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typedef struct {
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uint8_t myID;
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ESCBUS_UPLOADER_MESSAGE_ID command;
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} EscbusBootFeedbackPacket;
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/**< the real packet definition for PROTO_GET_SYNC */
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typedef struct {
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uint8_t myID;
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} EscbusBootSyncPacket;
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/**< the real packet definition for PROTO_CHIP_ERASE */
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typedef struct {
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uint8_t myID;
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} EscbusBootErasePacket;
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/**< the real packet definition for PROTO_PROG_MULTI */
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typedef struct {
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uint8_t myID;
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uint8_t data[PROG_MULTI_MAX];
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} EscbusBootProgPacket;
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/**< the real packet definition for PROTO_GET_CRC */
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typedef struct {
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uint8_t myID;
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} EscbusFlashCRCPacket;
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/**< the real packet feedback for CRC sum */
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typedef struct {
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uint8_t myID;
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uint32_t crc32; /**< The offset address of verification, the length is fixed 128 bytes */
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ESCBUS_UPLOADER_MESSAGE_ID command;/**< The command is the same as the command received */
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} EscbusBootFeedbackCRCPacket;
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/**< the real packet definition for PROTO_REBOOT */
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typedef struct {
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uint8_t myID;
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} EscbusRebootPacket;
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/**< the real packet definition for PROTO_DEVICE */
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typedef struct {
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uint8_t myID;
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uint8_t deviceInfo;
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} EscbusGetDevicePacket;
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/**< the real packet definition for deviceInfo is PROTO_DEVICE_BL_REV */
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typedef struct {
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uint8_t myID;
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uint32_t version;
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} EscbusBootloaderRevisionPacket;
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/**< the real packet definition for deviceInfo is PROTO_DEVICE_BOARD_ID */
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typedef struct {
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uint8_t myID;
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uint32_t targetSystemId;/**< Use for distinguishing ESC chip, each chip corresponds to a fixed value(e.g. H520 targetSystemId is 0x02) */
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} EscbusHardwareIDPacket;
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/**< the real packet definition for deviceInfo is PROTO_DEVICE_BOARD_REV */
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typedef struct {
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uint8_t myID;
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uint32_t boardRev;
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} EscbusHardwareRevisionPacket;
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/**< the real packet definition for deviceInfo is PROTO_DEVICE_VERSION */
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typedef struct {
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uint8_t myID;
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uint32_t FwRev;
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uint32_t HwRev;
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uint32_t blRev;
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} EscbusDeviceInfoPacket;
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/**< the real packet definition for deviceInfo is PROTO_DEVICE_FW_SIZE */
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typedef struct {
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uint8_t myID;
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uint32_t FwSize;
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} EscbusFirmwareSizePacket;
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/**< the real packet definition for deviceInfo is PROTO_DEVICE_FW_REV */
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typedef struct {
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uint8_t myID;
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uint32_t FwRev;
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} EscbusFirmwareRevisionPacket;
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/**< the real packet definition for PROTO_INVALID,When the package to ESC is parsed fail, ESC sends the command */
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typedef struct {
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uint8_t myID;
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} EscbusProtocolInvalidPacket;
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/*
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* ESCBUS bootloader message type
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*/
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typedef struct {
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uint8_t head; /**< start sign for a message package */
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uint8_t len; /**< length of data field */
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uint8_t msg_id; /**< ID for this message */
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union {
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EscbusBootFeedbackPacket feedback_packet;
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EscbusBootSyncPacket sync_packet;
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EscbusBootErasePacket erase_packet;
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EscbusBootProgPacket program_packet;
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EscbusFlashCRCPacket flash_crc_packet;
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EscbusBootFeedbackCRCPacket feedback_crc_packet;
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EscbusRebootPacket reboot_packet;
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EscbusGetDevicePacket device_info_packet;
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EscbusBootloaderRevisionPacket bootloader_revis_packet;
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EscbusHardwareIDPacket hardware_id_packet;
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EscbusHardwareRevisionPacket hardware_revis_packet;
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EscbusFirmwareSizePacket firmware_size_packet;
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EscbusFirmwareRevisionPacket firmware_revis_packet;
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EscbusProtocolInvalidPacket protocal_invalid_packet;
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EscbusDeviceInfoPacket esc_version_packet;
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uint8_t data[ESCBUS_DATA_CRC_LEN]; /**< length of data field is 255 and plus one byte for CRC */
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} d;
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uint8_t crc_data;
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} EscUploaderMessage;
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#pragma pack(pop)
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int _esc_fd{-1};
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int _fw_fd{-1};
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const char *_device;
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uint8_t _esc_counter{0};
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/* _device_mux_map[sel]:Asign the id's to the ESC to match the mux */
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static const uint8_t _device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
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EscUploaderMessage _uploader_packet{};
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orb_advert_t _mavlink_log_pub{nullptr};
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int upload_id(uint8_t esc_id, int32_t fw_size);
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int recv_byte_with_timeout(uint8_t *c, unsigned timeout);
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int read_and_parse_data(unsigned timeout = 50);
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int parse_tap_esc_feedback(uint8_t decode_data, EscUploaderMessage *packetdata);
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uint8_t crc8_esc(uint8_t *p, uint8_t len);
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uint8_t crc_packet(EscUploaderMessage &p);
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int send_packet(EscUploaderMessage &packet, int responder);
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int sync(uint8_t esc_id);
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int get_device_info(uint8_t esc_id, uint8_t msg_id, uint8_t msg_arg, uint32_t &val);
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int get_esc_versions(uint8_t esc_id, uint32_t &fw_ver, uint32_t &hw_ver, uint32_t &bl_ver);
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int erase(uint8_t esc_id);
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int program(uint8_t esc_id, size_t fw_size);
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int verify_crc(uint8_t esc_id, size_t fw_size_local);
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int reboot(uint8_t esc_id);
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};
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#endif
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