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AP_IOMCU: fixed compat with nuttx firmwares

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this allows older firmwares to change the IO firmware back to a nuttx
based firmware
This commit is contained in:
Andrew Tridgell 2018-11-01 17:39:24 +11:00
parent c767828f11
commit a8d91a24b6
4 changed files with 18 additions and 8 deletions
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12
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -105,11 +105,12 @@ void AP_IOMCU::thread_main(void)
if (mask & EVENT_MASK(IOEVENT_INIT)) { if (mask & EVENT_MASK(IOEVENT_INIT)) {
// get protocol version // get protocol version
if (!read_registers(PAGE_CONFIG, PAGE_CONFIG_PROTOCOL_VERSION, sizeof(config)/2, (uint16_t *)&config)) { if (!read_registers(PAGE_CONFIG, 0, sizeof(config)/2, (uint16_t *)&config)) {
event_failed(IOEVENT_INIT); event_failed(IOEVENT_INIT);
continue; continue;
} }
debug("io protocol: %u\n", config.protocol_version); is_chibios_backend = (config.protocol_version == IOMCU_PROTOCOL_VERSION &&
config.protocol_version2 == IOMCU_PROTOCOL_VERSION2);
// set IO_ARM_OK and FMU_ARMED // set IO_ARM_OK and FMU_ARMED
if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, 0, if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, 0,
@ -359,7 +360,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
pkt.crc = 0; pkt.crc = 0;
uint8_t pkt_size = pkt.get_size(); uint8_t pkt_size = pkt.get_size();
if (config.protocol_version == IOMCU_PROTOCOL_VERSION) { if (is_chibios_backend) {
// save bandwidth on reads // save bandwidth on reads
pkt_size = 4; pkt_size = 4;
} }
@ -789,8 +790,7 @@ void AP_IOMCU::shutdown(void)
*/ */
void AP_IOMCU::bind_dsm(uint8_t mode) void AP_IOMCU::bind_dsm(uint8_t mode)
{ {
if (config.protocol_version != IOMCU_PROTOCOL_VERSION || if (!is_chibios_backend || hal.util->get_soft_armed()) {
hal.util->get_soft_armed()) {
// only with ChibiOS IO firmware, and disarmed // only with ChibiOS IO firmware, and disarmed
return; return;
} }
@ -805,7 +805,7 @@ void AP_IOMCU::bind_dsm(uint8_t mode)
bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan, bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask) float mixing_gain, uint16_t manual_rc_mask)
{ {
if (config.protocol_version != IOMCU_PROTOCOL_VERSION) { if (!is_chibios_backend) {
return false; return false;
} }
bool changed = false; bool changed = false;

1
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -195,6 +195,7 @@ private:
bool crc_is_ok; bool crc_is_ok;
bool initialised; bool initialised;
bool is_chibios_backend;
uint32_t protocol_fail_count; uint32_t protocol_fail_count;

6
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -153,7 +153,10 @@ void loop(void)
void AP_IOMCU_FW::init() void AP_IOMCU_FW::init()
{ {
// the first protocol version must be 4 to allow downgrade to
// old NuttX based firmwares
config.protocol_version = IOMCU_PROTOCOL_VERSION; config.protocol_version = IOMCU_PROTOCOL_VERSION;
config.protocol_version2 = IOMCU_PROTOCOL_VERSION2;
thread_ctx = chThdGetSelfX(); thread_ctx = chThdGetSelfX();
@ -408,9 +411,12 @@ bool AP_IOMCU_FW::handle_code_read()
/* correct the data pointer and count for the offset */ /* correct the data pointer and count for the offset */
values += rx_io_packet.offset; values += rx_io_packet.offset;
tx_io_packet.page = rx_io_packet.page;
tx_io_packet.offset = rx_io_packet.offset;
tx_io_packet.count -= rx_io_packet.offset; tx_io_packet.count -= rx_io_packet.offset;
tx_io_packet.count = MIN(tx_io_packet.count, rx_io_packet.count); tx_io_packet.count = MIN(tx_io_packet.count, rx_io_packet.count);
tx_io_packet.count = MIN(tx_io_packet.count, PKT_MAX_REGS); tx_io_packet.count = MIN(tx_io_packet.count, PKT_MAX_REGS);
tx_io_packet.code = CODE_SUCCESS;
memcpy(tx_io_packet.regs, values, sizeof(uint16_t)*tx_io_packet.count); memcpy(tx_io_packet.regs, values, sizeof(uint16_t)*tx_io_packet.count);
tx_io_packet.crc = 0; tx_io_packet.crc = 0;
tx_io_packet.crc = crc_crc8((const uint8_t *)&tx_io_packet, tx_io_packet.get_size()); tx_io_packet.crc = crc_crc8((const uint8_t *)&tx_io_packet, tx_io_packet.get_size());

5
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -82,7 +82,9 @@ enum iopage {
// config page registers // config page registers
#define PAGE_CONFIG_PROTOCOL_VERSION 0 #define PAGE_CONFIG_PROTOCOL_VERSION 0
#define IOMCU_PROTOCOL_VERSION 10 #define PAGE_CONFIG_PROTOCOL_VERSION2 1
#define IOMCU_PROTOCOL_VERSION 4
#define IOMCU_PROTOCOL_VERSION2 10
// magic value for rebooting to bootloader // magic value for rebooting to bootloader
#define REBOOT_BL_MAGIC 14662 #define REBOOT_BL_MAGIC 14662
@ -93,6 +95,7 @@ enum iopage {
struct PACKED page_config { struct PACKED page_config {
uint16_t protocol_version; uint16_t protocol_version;
uint16_t protocol_version2;
}; };
struct PACKED page_reg_status { struct PACKED page_reg_status {