From 5b7d1af5d83554d3119e3e0669d6429fc1aef262 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 13 Dec 2013 12:44:11 +1100
Subject: Merged crccheck command

---
 src/modules/px4iofirmware/protocol.h  |  2 ++
 src/modules/px4iofirmware/px4io.c     | 20 ++++++++++++++++++++
 src/modules/px4iofirmware/registers.c |  1 +
 3 files changed, 23 insertions(+)

(limited to 'src/modules/px4iofirmware')

diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 2856bdea4..cffabbb45 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -189,6 +189,8 @@ enum {							/* DSM bind states */
 #define PX4IO_P_SETUP_REBOOT_BL		       10	/* reboot IO into bootloader */
 #define PX4IO_REBOOT_BL_MAGIC               14662       /* required argument for reboot (random) */
 
+#define PX4IO_P_SETUP_CRC		       11	/* get CRC of IO firmware */
+
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS		51		/* 0..CONFIG_CONTROL_COUNT */
 
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index cd9bd197b..745bd5705 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -45,6 +45,7 @@
 #include <string.h>
 #include <poll.h>
 #include <signal.h>
+#include <crc32.h>
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
@@ -124,6 +125,22 @@ heartbeat_blink(void)
 	LED_BLUE(heartbeat = !heartbeat);
 }
 
+
+static void
+calculate_fw_crc(void)
+{
+#define APP_SIZE_MAX 0xf000
+#define APP_LOAD_ADDRESS 0x08001000
+	// compute CRC of the current firmware
+	uint32_t sum = 0;
+	for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) {
+		uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS);
+		sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum);
+	}
+	r_page_setup[PX4IO_P_SETUP_CRC]   = sum & 0xFFFF;
+	r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16;
+}
+
 int
 user_start(int argc, char *argv[])
 {
@@ -136,6 +153,9 @@ user_start(int argc, char *argv[])
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
+	/* calculate our fw CRC so FMU can decide if we need to update */
+	calculate_fw_crc();
+
 	/*
 	 * Poll at 1ms intervals for received bytes that have not triggered
 	 * a DMA event.
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 6785e5366..1a8519aec 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -157,6 +157,7 @@ volatile uint16_t	r_page_setup[] =
 #endif
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
+	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
 };
 
 #define PX4IO_P_SETUP_FEATURES_VALID	(0)
-- 
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