diff options
author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-13 09:48:27 +0100 |
---|---|---|
committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-13 09:48:27 +0100 |
commit | d042b6365766b542870d88d845482315bd8459d0 (patch) | |
tree | 7b12bd677cc399db365995c6313e0e01ae405b17 /src/modules | |
parent | 9b711d6a722fc254bb0d461b9aec66d20fbf59b1 (diff) | |
parent | f595b204eab82679a52ca5f43408797988cfdf42 (diff) | |
download | px4-firmware-d042b6365766b542870d88d845482315bd8459d0.tar.gz px4-firmware-d042b6365766b542870d88d845482315bd8459d0.tar.bz2 px4-firmware-d042b6365766b542870d88d845482315bd8459d0.zip |
Merge branch 'master' into batt_fixes
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 67 | ||||
-rw-r--r-- | src/modules/sensors/module.mk | 2 | ||||
-rw-r--r-- | src/modules/sensors/sensor_params.c | 186 | ||||
-rw-r--r-- | src/modules/systemlib/board_serial.c | 60 | ||||
-rw-r--r-- | src/modules/systemlib/board_serial.h | 49 | ||||
-rw-r--r-- | src/modules/systemlib/module.mk | 5 | ||||
-rw-r--r-- | src/modules/systemlib/otp.c | 224 | ||||
-rw-r--r-- | src/modules/systemlib/otp.h | 151 |
8 files changed, 720 insertions, 24 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 3bb872405..31a9cdefa 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -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); diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk index ebbc580e1..aa538fd6b 100644 --- a/src/modules/sensors/module.mk +++ b/src/modules/sensors/module.mk @@ -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 diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 241c5b99b..3b3e56c88 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -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); 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 |