Common

Message definitions for the unified bootloader. More...

Data Structures
struct	bl_messages
struct	xfer_state
struct	led_pwm_state
struct	bl_fsm_context
struct	bl_transition

Macros
#define	BL_INCLUDE_CAP_EXTENSIONS
#define	BL_MSG_FLAGS_ECHO_REQ   0x80
#define	BL_MSG_FLAGS_ECHO_REP   0x40
#define	BL_MSG_FLAGS_MASK   0xC0
#define	BL_MSG_COMMAND_MASK   0x3F
#define	MIN(x, y)   ((x) < (y) ? (x) : (y))
#define	MSEC_TO_USEC(ms)   ((ms) * 1000)
#define	SEC_TO_MSEC(s)   ((s) * 1000)
#define	SEC_TO_USEC(s)   ((s) * 1000 * 1000)
#define	BL_DETECT_BREAK_TO_BL_TIMER_WITH_VSENSE   MSEC_TO_USEC(2)
#define	BL_DETECT_BREAK_TO_BL_TIMER_NO_VSENSE   MSEC_TO_USEC(500)
#define	BL_WAIT_FOR_DFU_TIMER   SEC_TO_USEC(6)
#define	BL_RECOVER_FROM_FAULT_TIMER   SEC_TO_USEC(10)

Enumerations
enum	bl_commands {   BL_MSG_RESERVED = 0, BL_MSG_CAP_REQ, BL_MSG_CAP_REP, BL_MSG_ENTER_DFU,   BL_MSG_JUMP_FW, BL_MSG_RESET, BL_MSG_OP_ABORT, BL_MSG_WRITE_CONT,   BL_MSG_OP_END, BL_MSG_READ_START, BL_MSG_READ_CONT, BL_MSG_STATUS_REQ,   BL_MSG_STATUS_REP, BL_MSG_WIPE_PARTITION, BL_MSG_WRITE_START = 0x27 }
enum	dfu_partition_label
enum	bl_states {   BL_STATE_FSM_FAULT = 0, BL_STATE_INIT, BL_STATE_DETECT_BREAK_TO_BL, BL_STATE_WAIT_FOR_DFU,   BL_STATE_JUMPING_TO_APP, BL_STATE_JUMP_FAILED, BL_STATE_DFU_OPERATION_FAILED, BL_STATE_DFU_OPERATION_OK,   BL_STATE_DFU_IDLE, BL_STATE_DFU_READ_IN_PROGRESS, BL_STATE_DFU_WRITE_IN_PROGRESS, BL_STATE_NUM_STATES }
enum	legacy_dfu_states {   DFU_IDLE = 0, DFU_WRITING, DFU_WRONG_PACKET_RX, DFU_TOO_MANY_PACKETS,   DFU_TOO_FEW_PACKETS, DFU_LAST_OP_SUCCESS, DFU_READING, DFU_BL_IDLE,   DFU_LAST_OP_FAILED, DFU_WRITE_START, DFU_OUTSIDE_DEV_CAP, DFU_CRC_FAIL,   DFU_FAILED_JUMP }
enum	bl_events {   BL_EVENT_ENTER_DFU, BL_EVENT_USB_CONNECTED, BL_EVENT_USB_DISCONNECTED, BL_EVENT_JUMP_TO_APP,   BL_EVENT_TIMER_EXPIRY, BL_EVENT_READ_START, BL_EVENT_WRITE_START, BL_EVENT_ABORT_OPERATION,   BL_EVENT_TRANSFER_DONE, BL_EVENT_TRANSFER_ERROR, BL_EVENT_AUTO, BL_EVENT_FORCE_BOOT,   BL_EVENT_NUM_EVENTS }

Functions
enum dfu_partition_label	__attribute__ ((packed))
static uint32_t	bl_compute_partition_crc (uintptr_t partition_id, uint32_t partition_offset, uint32_t length)
bool	bl_xfer_completed_p (const struct xfer_state *xfer)
bool	bl_xfer_crc_ok_p (const struct xfer_state *xfer)
bool	bl_xfer_read_start (struct xfer_state *xfer, const struct msg_xfer_start *xfer_start)
bool	bl_xfer_send_next_read_packet (struct xfer_state *xfer)
bool	bl_xfer_write_start (struct xfer_state *xfer, const struct msg_xfer_start *xfer_start)
bool	bl_xfer_write_cont (struct xfer_state *xfer, const struct msg_xfer_cont *xfer_cont)
bool	bl_xfer_wipe_partition (const struct msg_wipe_partition *wipe_partition)
bool	bl_xfer_send_capabilities_self (void)
static uint32_t	led_pwm_on_p (uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t uptime, uint8_t *fraction)
void	led_pwm_config (struct led_pwm_state *leds, uint32_t pwm_1_period_us, uint32_t pwm_1_sweep_steps, uint32_t pwm_2_period_us, uint32_t pwm_2_sweep_steps)
void	led_pwm_add_ticks (struct led_pwm_state *leds, uint32_t elapsed_us)
bool	led_pwm_update_leds (struct led_pwm_state *leds)
void	PIOS_Board_Init (void)
static void	go_fsm_fault (struct bl_fsm_context *context)
static void	go_detect_break_to_bl (struct bl_fsm_context *context)
static void	go_wait_for_dfu (struct bl_fsm_context *context)
static void	go_jumping_to_app (struct bl_fsm_context *context)
static void	go_dfu_idle (struct bl_fsm_context *context)
static void	go_read_in_progress (struct bl_fsm_context *context)
static void	go_write_in_progress (struct bl_fsm_context *context)
static void	go_dfu_operation_ok (struct bl_fsm_context *context)
static void	go_dfu_operation_failed (struct bl_fsm_context *context)
static enum bl_states	bl_fsm_get_state (struct bl_fsm_context *context)
static void	bl_fsm_timer_start (struct bl_fsm_context *context, uint32_t timer_duration_us)
static void	bl_fsm_timer_cancel (struct bl_fsm_context *context)
static void	bl_fsm_timer_add_ticks (struct bl_fsm_context *context, uint32_t elapsed_us)
static bool	bl_fsm_timer_expired_p (struct bl_fsm_context *context)
static void	bl_fsm_process_auto (struct bl_fsm_context *context)
static void	bl_fsm_inject_event (struct bl_fsm_context *context, enum bl_events event)
static void	bl_fsm_init (struct bl_fsm_context *context)
static void	process_packet_rx (struct bl_fsm_context *context, const struct bl_messages *msg)
int	main (void)
static bool	bl_select_dfu_device (struct bl_fsm_context *context, uint8_t device_number)
static bool	bl_send_status (struct bl_fsm_context *context)
static bool	bl_send_capabilities (struct bl_fsm_context *context, uint8_t device_number)

Variables
static const uint8_t	fsm_to_dfu_state_map []
bool	have_vsense
static const struct bl_transition	bl_transitions [BL_STATE_NUM_STATES]

Detailed Description

Message definitions for the unified bootloader.

Unified bootloader main loop and FSM.

LED PWM emulation for the unified bootloader.

Data transfer functions for the unified bootloader.

Macro Definition Documentation

#define BL_DETECT_BREAK_TO_BL_TIMER_NO_VSENSE   MSEC_TO_USEC(500)

Definition at line 46 of file main.c.

#define BL_DETECT_BREAK_TO_BL_TIMER_WITH_VSENSE   MSEC_TO_USEC(2)

Definition at line 45 of file main.c.

#define BL_INCLUDE_CAP_EXTENSIONS

Definition at line 30 of file bl_messages.h.

#define BL_MSG_COMMAND_MASK   0x3F

Definition at line 58 of file bl_messages.h.

#define BL_MSG_FLAGS_ECHO_REP   0x40

Definition at line 56 of file bl_messages.h.

#define BL_MSG_FLAGS_ECHO_REQ   0x80

Definition at line 55 of file bl_messages.h.

#define BL_MSG_FLAGS_MASK   0xC0

Definition at line 57 of file bl_messages.h.

#define BL_RECOVER_FROM_FAULT_TIMER   SEC_TO_USEC(10)

Definition at line 49 of file main.c.

#define BL_WAIT_FOR_DFU_TIMER   SEC_TO_USEC(6)

Definition at line 48 of file main.c.

#define MIN	(		x,
			y
	)		((x) < (y) ? (x) : (y))

Definition at line 42 of file bl_xfer.c.

#define MSEC_TO_USEC

(

ms

)

((ms) * 1000)

Definition at line 41 of file main.c.

#define SEC_TO_MSEC

(

s

)

((s) * 1000)

Definition at line 42 of file main.c.

#define SEC_TO_USEC

(

s

)

((s) * 1000 * 1000)

Definition at line 43 of file main.c.

Enumeration Type Documentation

enum bl_commands

Enumerator
BL_MSG_RESERVED
BL_MSG_CAP_REQ
BL_MSG_CAP_REP
BL_MSG_ENTER_DFU
BL_MSG_JUMP_FW
BL_MSG_RESET
BL_MSG_OP_ABORT
BL_MSG_WRITE_CONT
BL_MSG_OP_END
BL_MSG_READ_START
BL_MSG_READ_CONT
BL_MSG_STATUS_REQ
BL_MSG_STATUS_REP
BL_MSG_WIPE_PARTITION
BL_MSG_WRITE_START

Definition at line 36 of file bl_messages.h.

enum bl_events

Enumerator
BL_EVENT_ENTER_DFU
BL_EVENT_USB_CONNECTED
BL_EVENT_USB_DISCONNECTED
BL_EVENT_JUMP_TO_APP
BL_EVENT_TIMER_EXPIRY
BL_EVENT_READ_START
BL_EVENT_WRITE_START
BL_EVENT_ABORT_OPERATION
BL_EVENT_TRANSFER_DONE
BL_EVENT_TRANSFER_ERROR
BL_EVENT_AUTO
BL_EVENT_FORCE_BOOT
BL_EVENT_NUM_EVENTS

Definition at line 98 of file main.c.

enum bl_states

Enumerator
BL_STATE_FSM_FAULT
BL_STATE_INIT
BL_STATE_DETECT_BREAK_TO_BL
BL_STATE_WAIT_FOR_DFU
BL_STATE_JUMPING_TO_APP
BL_STATE_JUMP_FAILED
BL_STATE_DFU_OPERATION_FAILED
BL_STATE_DFU_OPERATION_OK
BL_STATE_DFU_IDLE
BL_STATE_DFU_READ_IN_PROGRESS
BL_STATE_DFU_WRITE_IN_PROGRESS
BL_STATE_NUM_STATES

Definition at line 51 of file main.c.

enum dfu_partition_label

Definition at line 64 of file bl_messages.h.

enum legacy_dfu_states

Enumerator
DFU_IDLE
DFU_WRITING
DFU_WRONG_PACKET_RX
DFU_TOO_MANY_PACKETS
DFU_TOO_FEW_PACKETS
DFU_LAST_OP_SUCCESS
DFU_READING
DFU_BL_IDLE
DFU_LAST_OP_FAILED
DFU_WRITE_START
DFU_OUTSIDE_DEV_CAP
DFU_CRC_FAIL
DFU_FAILED_JUMP

Definition at line 67 of file main.c.

Function Documentation

enum dfu_partition_label __attribute__

(

(packed)

)

Definition at line 38 of file serial_4way.h.

static uint32_t bl_compute_partition_crc ( uintptr_t  partition_id, uint32_t  partition_offset, uint32_t  length  )

static

Definition at line 44 of file bl_xfer.c.

static enum bl_states bl_fsm_get_state ( struct bl_fsm_context *  context )

static

Definition at line 255 of file main.c.

static void bl_fsm_init ( struct bl_fsm_context *  context )

static

Definition at line 431 of file main.c.

static void bl_fsm_inject_event ( struct bl_fsm_context *  context, enum bl_events  event  )

static

Definition at line 411 of file main.c.

static void bl_fsm_process_auto ( struct bl_fsm_context *  context )

static

Definition at line 399 of file main.c.

static void bl_fsm_timer_add_ticks ( struct bl_fsm_context *  context, uint32_t  elapsed_us  )

static

Definition at line 271 of file main.c.

static void bl_fsm_timer_cancel ( struct bl_fsm_context *  context )

static

Definition at line 266 of file main.c.

static bool bl_fsm_timer_expired_p ( struct bl_fsm_context *  context )

static

Definition at line 284 of file main.c.

static void bl_fsm_timer_start ( struct bl_fsm_context *  context, uint32_t  timer_duration_us  )

static

Definition at line 260 of file main.c.

static bool bl_select_dfu_device ( struct bl_fsm_context *  context, uint8_t  device_number  )

static

Todo:

Should check if we're in the right state for this

Definition at line 537 of file main.c.

static bool bl_send_capabilities ( struct bl_fsm_context *  context, uint8_t  device_number  )

static

Definition at line 565 of file main.c.

static bool bl_send_status ( struct bl_fsm_context *  context )

static

Definition at line 551 of file main.c.

bool bl_xfer_completed_p

(

const struct xfer_state *

xfer

)

Definition at line 66 of file bl_xfer.c.

bool bl_xfer_crc_ok_p

(

const struct xfer_state *

xfer

)

Definition at line 71 of file bl_xfer.c.

bool bl_xfer_read_start	(	struct xfer_state *	xfer,
		const struct msg_xfer_start *	xfer_start
	)

Definition at line 85 of file bl_xfer.c.

bool bl_xfer_send_capabilities_self

(

void

)

Definition at line 354 of file bl_xfer.c.

bool bl_xfer_send_next_read_packet

(

struct xfer_state *

xfer

)

Definition at line 149 of file bl_xfer.c.

bool bl_xfer_wipe_partition

(

const struct msg_wipe_partition *

wipe_partition

)

Definition at line 314 of file bl_xfer.c.

bool bl_xfer_write_cont	(	struct xfer_state *	xfer,
		const struct msg_xfer_cont *	xfer_cont
	)

Definition at line 270 of file bl_xfer.c.

bool bl_xfer_write_start	(	struct xfer_state *	xfer,
		const struct msg_xfer_start *	xfer_start
	)

Definition at line 189 of file bl_xfer.c.

static void go_detect_break_to_bl ( struct bl_fsm_context *  context )

static

Definition at line 298 of file main.c.

static void go_dfu_idle ( struct bl_fsm_context *  context )

static

Definition at line 369 of file main.c.

static void go_dfu_operation_failed ( struct bl_fsm_context *  context )

static

Definition at line 393 of file main.c.

static void go_dfu_operation_ok ( struct bl_fsm_context *  context )

static

Definition at line 387 of file main.c.

static void go_fsm_fault ( struct bl_fsm_context *  context )

static

Definition at line 292 of file main.c.

static void go_jumping_to_app ( struct bl_fsm_context *  context )

static

Definition at line 321 of file main.c.

static void go_read_in_progress ( struct bl_fsm_context *  context )

static

Definition at line 375 of file main.c.

static void go_wait_for_dfu ( struct bl_fsm_context *  context )

static

Definition at line 313 of file main.c.

static void go_write_in_progress ( struct bl_fsm_context *  context )

static

Definition at line 381 of file main.c.

void led_pwm_add_ticks	(	struct led_pwm_state *	leds,
		uint32_t	elapsed_us
	)

Definition at line 77 of file led_pwm.c.

void led_pwm_config	(	struct led_pwm_state *	leds,
		uint32_t	pwm_1_period_us,
		uint32_t	pwm_1_sweep_steps,
		uint32_t	pwm_2_period_us,
		uint32_t	pwm_2_sweep_steps
	)

Definition at line 51 of file led_pwm.c.

static uint32_t led_pwm_on_p ( uint32_t  pwm_period, uint32_t  pwm_sweep_steps, uint32_t  uptime, uint8_t *  fraction  )

static

Definition at line 29 of file led_pwm.c.

bool led_pwm_update_leds

(

struct led_pwm_state *

leds

)

Definition at line 82 of file led_pwm.c.

int main

(

void

)

dRonin Main function:

Initialize PiOS
Create the "System" task (SystemModInitializein Modules/System/systemmod.c)
Start the RTOS Scheduler

CortexM3 CPU vectors

CortexM3 CPU vectors

Definition at line 441 of file main.c.

void PIOS_Board_Init

(

)

PIOS_Board_Init() initializes all the core subsystems on this specific hardware called from System/openpilot.c

Initialise PWM Output for black/white level setting PIOS_Board_Init() initializes all the core subsystems on this specific hardware called from System/openpilot.c

PIOS_Board_Init() initializes all the core subsystems on this specific hardware

PIOS_Board_Init() initializes all the core systems on this specific hardware called from System/openpilot.c

Definition at line 44 of file pios_board.c.

static void process_packet_rx ( struct bl_fsm_context *  context, const struct bl_messages *  msg  )

static

Definition at line 586 of file main.c.

Variable Documentation

const struct bl_transition bl_transitions[BL_STATE_NUM_STATES]

static

Definition at line 150 of file main.c.

const uint8_t fsm_to_dfu_state_map[]

static

Initial value:

= {
        [BL_STATE_FSM_FAULT]             = DFU_OUTSIDE_DEV_CAP,
        [BL_STATE_INIT]                  = DFU_BL_IDLE,
        [BL_STATE_DETECT_BREAK_TO_BL]    = DFU_BL_IDLE,
        [BL_STATE_WAIT_FOR_DFU]          = DFU_BL_IDLE,
        [BL_STATE_JUMPING_TO_APP]        = DFU_IDLE,
        [BL_STATE_JUMP_FAILED]           = DFU_FAILED_JUMP,
        [BL_STATE_DFU_OPERATION_FAILED]  = DFU_LAST_OP_FAILED,
        [BL_STATE_DFU_OPERATION_OK]      = DFU_LAST_OP_SUCCESS,
        [BL_STATE_DFU_IDLE]              = DFU_IDLE,
        [BL_STATE_DFU_READ_IN_PROGRESS]  = DFU_READING,
        [BL_STATE_DFU_WRITE_IN_PROGRESS] = DFU_WRITING,
}

Definition at line 84 of file main.c.

bool have_vsense

Definition at line 133 of file main.c.