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AP_Periph: added application descriptor

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this is used by MissionPlanner to see if correct fw is already loaded
This commit is contained in:
Andrew Tridgell 2019-10-21 13:35:01 +11:00
parent 6a413babe0
commit 30195ea6b5
3 changed files with 43 additions and 6 deletions
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13
Tools/AP_Periph/AP_Periph.cpp
View File

@ -47,6 +47,8 @@ void loop(void)
static uint32_t start_ms;
const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor")));;
void AP_Periph_FW::init()
{
hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 128);
@ -65,6 +67,17 @@ void AP_Periph_FW::init()
AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP;
#endif
printf("Booting %08x:%08x %u/%u len=%u 0x%08x\n",
app_descriptor.image_crc1,
app_descriptor.image_crc2,
app_descriptor.version_major, app_descriptor.version_minor,
app_descriptor.image_size,
app_descriptor.git_hash);
if (hal.util->was_watchdog_reset()) {
printf("Reboot after watchdog reset\n");
}
#ifdef HAL_PERIPH_ENABLE_GPS
gps.init(serial_manager);
#endif

21
Tools/AP_Periph/AP_Periph.h
View File

@ -13,6 +13,27 @@
#include "Parameters.h"
#include "ch.h"
#ifndef CAN_APP_VERSION_MAJOR
#define CAN_APP_VERSION_MAJOR 1
#endif
#ifndef CAN_APP_VERSION_MINOR
#define CAN_APP_VERSION_MINOR 0
#endif
/*
app descriptor compatible with MissionPlanner
*/
struct app_descriptor {
uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
uint32_t image_crc1 = 0;
uint32_t image_crc2 = 0;
uint32_t image_size = 0;
uint32_t git_hash = 0;
uint8_t version_major = CAN_APP_VERSION_MAJOR;
uint8_t version_minor = CAN_APP_VERSION_MINOR;
uint8_t reserved[6] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
};
extern const struct app_descriptor app_descriptor;
class AP_Periph_FW {
public:

15
Tools/AP_Periph/can.cpp
View File

@ -60,12 +60,6 @@ static uint32_t canard_memory_pool[2048/4];
static uint8_t PreferredNodeID = HAL_CAN_DEFAULT_NODE_ID;
static uint8_t transfer_id;
#ifndef CAN_APP_VERSION_MAJOR
#define CAN_APP_VERSION_MAJOR 1
#endif
#ifndef CAN_APP_VERSION_MINOR
#define CAN_APP_VERSION_MINOR 0
#endif
#ifndef CAN_APP_NODE_NAME
#define CAN_APP_NODE_NAME "org.ardupilot.ap_periph"
#endif
@ -117,6 +111,11 @@ static void handle_get_node_info(CanardInstance* ins,
pkt.status = node_status;
pkt.software_version.major = CAN_APP_VERSION_MAJOR;
pkt.software_version.minor = CAN_APP_VERSION_MINOR;
pkt.software_version.optional_field_flags = UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_VCS_COMMIT | UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_IMAGE_CRC;
pkt.software_version.vcs_commit = app_descriptor.git_hash;
uint32_t *crc = (uint32_t *)&pkt.software_version.image_crc;
crc[0] = app_descriptor.image_crc1;
crc[1] = app_descriptor.image_crc2;
readUniqueID(pkt.hardware_version.unique_id);
@ -555,6 +554,10 @@ static void can_safety_button_update(void)
static void onTransferReceived(CanardInstance* ins,
CanardRxTransfer* transfer)
{
#ifdef HAL_GPIO_PIN_LED_CAN1
palToggleLine(HAL_GPIO_PIN_LED_CAN1);
#endif
/*
* Dynamic node ID allocation protocol.
* Taking this branch only if we don't have a node ID, ignoring otherwise.