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| author | Andrew Tridgell <tridge@samba.org> | 2013-12-13 11:30:07 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 11:21:00 +0100 |
| commit | 6016fbe55d3fd402012168b5a704a550bcfc4d28 (patch) | |
| tree | 66434a0cec21b472b0aa9792e2e49cec8ef52335 /src/modules | |
| parent | 8f90efa312b4bccbacb9e9173e2cba7d7b4bc193 (diff) | |
| download | px4-firmware-6016fbe55d3fd402012168b5a704a550bcfc4d28.tar.gz px4-firmware-6016fbe55d3fd402012168b5a704a550bcfc4d28.tar.bz2 px4-firmware-6016fbe55d3fd402012168b5a704a550bcfc4d28.zip | |
Merged PX4IO crc checks and force update
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 3 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 26 |
2 files changed, 29 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 5e5396782..2856bdea4 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -186,6 +186,9 @@ enum { /* DSM bind states */ /* 8 */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ + /* autopilot control values, -10000..10000 */ #define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 86a40bc22..6785e5366 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -45,6 +45,8 @@ #include <drivers/drv_hrt.h> #include <drivers/drv_pwm_output.h> +#include <systemlib/systemlib.h> +#include <stm32_pwr.h> #include "px4io.h" #include "protocol.h" @@ -154,6 +156,7 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_VBATT_SCALE] = 10000, #endif [PX4IO_P_SETUP_SET_DEBUG] = 0, + [PX4IO_P_SETUP_REBOOT_BL] = 0, }; #define PX4IO_P_SETUP_FEATURES_VALID (0) @@ -501,6 +504,29 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]); break; + case PX4IO_P_SETUP_REBOOT_BL: + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + // don't allow reboot while armed + break; + } + + // check the magic value + if (value != PX4IO_REBOOT_BL_MAGIC) + break; + + // note that we don't set BL_WAIT_MAGIC in + // BKP_DR1 as that is not necessary given the + // timing of the forceupdate command. The + // bootloader on px4io waits for enough time + // anyway, and this method works with older + // bootloader versions (tested with both + // revision 3 and revision 4). + + up_systemreset(); + break; + case PX4IO_P_SETUP_DSM: dsm_bind(value & 0x0f, (value >> 4) & 7); break; |