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AP_Periph: implement 30s mark of good firmware

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This commit is contained in:
Andrew Tridgell 2019-10-26 12:46:22 +11:00
parent c1ef2e29d7
commit 482e0d4787
3 changed files with 43 additions and 11 deletions
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27
Tools/AP_Periph/AP_Periph.cpp
View File

@ -25,6 +25,7 @@
#include "hal.h"
#include <stdio.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
extern const AP_HAL::HAL &hal;
@ -47,18 +48,42 @@ void loop(void)
static uint32_t start_ms;
const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor")));;
/*
declare constant app_descriptor in flash
*/
const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor"))) = {
.sig = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 },
.image_crc1 = 0,
.image_crc2 = 0,
.image_size = 0,
.git_hash = 0,
.version_major = AP::fwversion().major,
.version_minor = AP::fwversion().minor,
.board_id = APJ_BOARD_ID,
.reserved = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
};
void AP_Periph_FW::init()
{
// always run with watchdog enabled. This should have already been
// setup by the bootloader, but if not then enable now
stm32_watchdog_init();
stm32_watchdog_pat();
hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 128);
hal.uartB->begin(115200, 32, 128);
load_parameters();
stm32_watchdog_pat();
can_start();
serial_manager.init();
stm32_watchdog_pat();
#ifdef HAL_BOARD_AP_PERIPH_ZUBAXGNSS
// setup remapping register for ZubaxGNSS
uint32_t mapr = AFIO->MAPR;

11
Tools/AP_Periph/AP_Periph.h
View File

@ -6,6 +6,7 @@
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Common/AP_FWVersion.h>
#include "../AP_Bootloader/app_comms.h"
#if defined(HAL_PERIPH_NEOPIXEL_COUNT) || defined(HAL_PERIPH_ENABLE_NCP5623_LED)
#define AP_PERIPH_HAVE_LED
@ -17,16 +18,6 @@
/*
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 = AP::fwversion().major;
uint8_t version_minor = AP::fwversion().minor;
uint8_t reserved[6] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
};
extern const struct app_descriptor app_descriptor;
class AP_Periph_FW {

16
Tools/AP_Periph/can.cpp
View File

@ -853,6 +853,20 @@ static void process1HzTasks(uint64_t timestamp_usec)
#endif
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
#if 0
// test code for watchdog reset
if (AP_HAL::millis() > 15000) {
while (true) ;
}
#endif
if (AP_HAL::millis() > 30000) {
// use RTC to mark that we have been running fine for
// 30s. This is used along with watchdog resets to ensure the
// user has a chance to load a fixed firmware
set_fast_reboot(RTC_BOOT_FWOK);
}
}
/*
@ -866,6 +880,8 @@ static void can_wait_node_id(void)
{
printf("Waiting for dynamic node ID allocation... (pool %u)\n", pool_peak_percent());
stm32_watchdog_pat();
send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
(uint32_t)(getRandomFloat() * UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);