Merge branch 'navigator_new' into navigator_new_vector

5 files changed, 488 insertions, 1 deletions

diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c
new file mode 100644
index 000000000..ad8c2bf83
--- /dev/null
+++ b/src/modules/systemlib/board_serial.c
@@ -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;
+}
\ No newline at end of file
diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h
new file mode 100644
index 000000000..b14bb4376
--- /dev/null
+++ b/src/modules/systemlib/board_serial.h
@@ -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
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 843cda722..8c6c300d6 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -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
+
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
new file mode 100644
index 000000000..695574fdc
--- /dev/null
+++ b/src/modules/systemlib/otp.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);
+}
+
+
+
diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h
new file mode 100644
index 000000000..f10e129d8
--- /dev/null
+++ b/src/modules/systemlib/otp.h
@@ -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