mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 01:05:27 +03:00
Normalize all the line endings
This commit is contained in:
Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,343 +1,343 @@
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/*
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This file is part of AutoQuad.
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AutoQuad is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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AutoQuad is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with AutoQuad. If not, see <http://www.gnu.org/licenses/>.
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Copyright © 2011 Bill Nesbitt
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*/
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#ifndef _GNU_SOURCE
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#define _GNU_SOURCE
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#endif
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#include "serial.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <ctype.h>
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#define STM_RETRIES_SHORT 1000
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#define STM_RETRIES_LONG 50000
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unsigned char getResults[11];
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unsigned char stmHexToChar(const char *hex) {
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char hex1, hex2;
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unsigned char nibble1, nibble2;
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// force data to upper case
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hex1 = toupper(hex[0]);
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hex2 = toupper(hex[1]);
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if (hex1 < 65)
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nibble1 = hex1 - 48;
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else
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nibble1 = hex1 - 55;
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if (hex2 < 65)
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nibble2 = hex2 - 48;
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else
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nibble2 = hex2 - 55;
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return (nibble1 << 4 | nibble2);
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}
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unsigned char stmWaitAck(serialStruct_t *s, int retries) {
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unsigned char c;
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unsigned int i;
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for (i = 0; i < retries; i++) {
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if (serialAvailable(s)) {
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c = serialRead(s);
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if (c == 0x79) {
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// putchar('+'); fflush(stdout);
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return 1;
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}
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if (c == 0x1f) {
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putchar('-'); fflush(stdout);
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return 0;
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}
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else {
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printf("?%x?", c); fflush(stdout);
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return 0;
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}
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}
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usleep(500);
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}
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return 0;
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}
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unsigned char stmWrite(serialStruct_t *s, const char *hex) {
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unsigned char c;
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unsigned char ck;
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unsigned char i;
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ck = 0;
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i = 0;
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while (*hex) {
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c = stmHexToChar(hex);
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serialWrite(s, (char *)&c, 1);
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ck ^= c;
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hex += 2;
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i++;
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}
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if (i == 1)
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ck = 0xff ^ c;
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// send checksum
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serialWrite(s, (char *)&ck, 1);
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return stmWaitAck(s, STM_RETRIES_LONG);
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}
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void stmWriteCommand(serialStruct_t *s, char *msb, char *lsb, char *len, char *data) {
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char startAddress[9];
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char lenPlusData[128];
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char c;
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strncpy(startAddress, msb, sizeof(startAddress));
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strcat(startAddress, lsb);
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sprintf(lenPlusData, "%02x%s", stmHexToChar(len) - 1, data);
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write:
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// send WRITE MEMORY command
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do {
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c = getResults[5];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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// send address
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if (!stmWrite(s, startAddress)) {
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putchar('A');
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goto write;
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}
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// send len + data
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if (!stmWrite(s, lenPlusData)) {
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putchar('D');
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goto write;
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}
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putchar('='); fflush(stdout);
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}
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char *stmHexLoader(serialStruct_t *s, FILE *fp) {
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char hexByteCount[3], hexAddressLSB[5], hexRecordType[3], hexData[128];
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char addressMSB[5];
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static char addressJump[9];
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// bzero(addressJump, sizeof(addressJump));
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// bzero(addressMSB, sizeof(addressMSB));
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memset(addressJump, 0, sizeof(addressJump));
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memset(addressMSB, 0, sizeof(addressMSB));
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while (fscanf(fp, ":%2s%4s%2s%s\n", hexByteCount, hexAddressLSB, hexRecordType, hexData) != EOF) {
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unsigned int byteCount, addressLSB, recordType;
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recordType = stmHexToChar(hexRecordType);
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hexData[stmHexToChar(hexByteCount) * 2] = 0; // terminate at CHKSUM
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// printf("Record Type: %d\n", recordType);
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switch (recordType) {
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case 0x00:
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stmWriteCommand(s, addressMSB, hexAddressLSB, hexByteCount, hexData);
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break;
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case 0x01:
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// EOF
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return addressJump;
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break;
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case 0x04:
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// MSB of destination 32 bit address
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strncpy(addressMSB, hexData, 4);
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break;
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case 0x05:
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// 32 bit address to run after load
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strncpy(addressJump, hexData, 8);
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break;
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}
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}
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return 0;
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}
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void stmLoader(serialStruct_t *s, FILE *fp, unsigned char overrideParity, unsigned char noSendR) {
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char c;
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unsigned char b1, b2, b3;
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unsigned char i, n;
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char *jumpAddress;
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// turn on parity generation
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if (!overrideParity)
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serialEvenParity(s);
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if(!noSendR) {
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top:
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printf("Sending R to place Baseflight in bootloader, press a key to continue");
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serialFlush(s);
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c = 'R';
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serialWrite(s, &c, 1);
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getchar();
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printf("\n");
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}
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serialFlush(s);
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printf("Poking the MCU to check whether bootloader is alive...");
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// poke the MCU
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do {
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printf("p"); fflush(stdout);
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c = 0x7f;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_SHORT));
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printf("STM bootloader alive...\n");
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// send GET command
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do {
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c = 0x00;
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serialWrite(s, &c, 1);
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c = 0xff;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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b1 = serialRead(s); // number of bytes
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b2 = serialRead(s); // bootloader version
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for (i = 0; i < b1; i++)
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getResults[i] = serialRead(s);
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stmWaitAck(s, STM_RETRIES_LONG);
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printf("Received commands.\n");
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// send GET VERSION command
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do {
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c = getResults[1];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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b1 = serialRead(s);
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b2 = serialRead(s);
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b3 = serialRead(s);
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stmWaitAck(s, STM_RETRIES_LONG);
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printf("STM Bootloader version: %d.%d\n", (b1 & 0xf0) >> 4, (b1 & 0x0f));
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// send GET ID command
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do {
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c = getResults[2];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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n = serialRead(s);
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printf("STM Device ID: 0x");
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for (i = 0; i <= n; i++) {
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b1 = serialRead(s);
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printf("%02x", b1);
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}
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stmWaitAck(s, STM_RETRIES_LONG);
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printf("\n");
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/*
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flash_size:
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// read Flash size
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c = getResults[3];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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// if read not allowed, unprotect (which also erases)
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if (!stmWaitAck(s, STM_RETRIES_LONG)) {
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// unprotect command
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do {
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c = getResults[10];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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// wait for results
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if (stmWaitAck(s, STM_RETRIES_LONG))
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goto top;
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}
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// send address
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if (!stmWrite(s, "1FFFF7E0"))
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goto flash_size;
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// send # bytes (N-1 = 1)
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if (!stmWrite(s, "01"))
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goto flash_size;
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b1 = serialRead(s);
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b2 = serialRead(s);
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printf("STM Flash Size: %dKB\n", b2<<8 | b1);
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*/
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// erase flash
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erase_flash:
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printf("Global flash erase [command 0x%x]...", getResults[6]); fflush(stdout);
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do {
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c = getResults[6];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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// global erase
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if (getResults[6] == 0x44) {
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// mass erase
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if (!stmWrite(s, "FFFF"))
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goto erase_flash;
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}
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else {
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c = 0xff;
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serialWrite(s, &c, 1);
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c = 0x00;
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serialWrite(s, &c, 1);
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if (!stmWaitAck(s, STM_RETRIES_LONG))
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goto erase_flash;
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}
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printf("Done.\n");
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// upload hex file
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printf("Flashing device...\n");
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jumpAddress = stmHexLoader(s, fp);
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if (jumpAddress) {
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printf("\nFlash complete, executing.\n");
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go:
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// send GO command
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do {
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c = getResults[4];
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serialWrite(s, &c, 1);
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c = 0xff ^ c;
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serialWrite(s, &c, 1);
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} while (!stmWaitAck(s, STM_RETRIES_LONG));
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|
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// send address
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if (!stmWrite(s, jumpAddress))
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goto go;
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}
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else {
|
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printf("\nFlash complete.\n");
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}
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||||
}
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/*
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This file is part of AutoQuad.
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||||
|
||||
AutoQuad is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
AutoQuad is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with AutoQuad. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Copyright © 2011 Bill Nesbitt
|
||||
*/
|
||||
|
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#ifndef _GNU_SOURCE
|
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#define _GNU_SOURCE
|
||||
#endif
|
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|
||||
#include "serial.h"
|
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#include <stdio.h>
|
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#include <unistd.h>
|
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#include <string.h>
|
||||
#include <ctype.h>
|
||||
|
||||
#define STM_RETRIES_SHORT 1000
|
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#define STM_RETRIES_LONG 50000
|
||||
|
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unsigned char getResults[11];
|
||||
|
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unsigned char stmHexToChar(const char *hex) {
|
||||
char hex1, hex2;
|
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unsigned char nibble1, nibble2;
|
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|
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// force data to upper case
|
||||
hex1 = toupper(hex[0]);
|
||||
hex2 = toupper(hex[1]);
|
||||
|
||||
if (hex1 < 65)
|
||||
nibble1 = hex1 - 48;
|
||||
else
|
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nibble1 = hex1 - 55;
|
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|
||||
if (hex2 < 65)
|
||||
nibble2 = hex2 - 48;
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||||
else
|
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nibble2 = hex2 - 55;
|
||||
|
||||
return (nibble1 << 4 | nibble2);
|
||||
}
|
||||
|
||||
|
||||
unsigned char stmWaitAck(serialStruct_t *s, int retries) {
|
||||
unsigned char c;
|
||||
unsigned int i;
|
||||
|
||||
for (i = 0; i < retries; i++) {
|
||||
if (serialAvailable(s)) {
|
||||
c = serialRead(s);
|
||||
if (c == 0x79) {
|
||||
// putchar('+'); fflush(stdout);
|
||||
return 1;
|
||||
}
|
||||
if (c == 0x1f) {
|
||||
putchar('-'); fflush(stdout);
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
printf("?%x?", c); fflush(stdout);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
usleep(500);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
unsigned char stmWrite(serialStruct_t *s, const char *hex) {
|
||||
unsigned char c;
|
||||
unsigned char ck;
|
||||
unsigned char i;
|
||||
|
||||
ck = 0;
|
||||
i = 0;
|
||||
while (*hex) {
|
||||
c = stmHexToChar(hex);
|
||||
serialWrite(s, (char *)&c, 1);
|
||||
ck ^= c;
|
||||
hex += 2;
|
||||
i++;
|
||||
}
|
||||
if (i == 1)
|
||||
ck = 0xff ^ c;
|
||||
|
||||
// send checksum
|
||||
serialWrite(s, (char *)&ck, 1);
|
||||
|
||||
return stmWaitAck(s, STM_RETRIES_LONG);
|
||||
}
|
||||
|
||||
void stmWriteCommand(serialStruct_t *s, char *msb, char *lsb, char *len, char *data) {
|
||||
char startAddress[9];
|
||||
char lenPlusData[128];
|
||||
char c;
|
||||
|
||||
strncpy(startAddress, msb, sizeof(startAddress));
|
||||
strcat(startAddress, lsb);
|
||||
|
||||
sprintf(lenPlusData, "%02x%s", stmHexToChar(len) - 1, data);
|
||||
|
||||
write:
|
||||
// send WRITE MEMORY command
|
||||
do {
|
||||
c = getResults[5];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
|
||||
// send address
|
||||
if (!stmWrite(s, startAddress)) {
|
||||
putchar('A');
|
||||
goto write;
|
||||
}
|
||||
|
||||
// send len + data
|
||||
if (!stmWrite(s, lenPlusData)) {
|
||||
putchar('D');
|
||||
goto write;
|
||||
}
|
||||
|
||||
putchar('='); fflush(stdout);
|
||||
}
|
||||
|
||||
char *stmHexLoader(serialStruct_t *s, FILE *fp) {
|
||||
char hexByteCount[3], hexAddressLSB[5], hexRecordType[3], hexData[128];
|
||||
char addressMSB[5];
|
||||
static char addressJump[9];
|
||||
|
||||
// bzero(addressJump, sizeof(addressJump));
|
||||
// bzero(addressMSB, sizeof(addressMSB));
|
||||
memset(addressJump, 0, sizeof(addressJump));
|
||||
memset(addressMSB, 0, sizeof(addressMSB));
|
||||
|
||||
while (fscanf(fp, ":%2s%4s%2s%s\n", hexByteCount, hexAddressLSB, hexRecordType, hexData) != EOF) {
|
||||
unsigned int byteCount, addressLSB, recordType;
|
||||
|
||||
recordType = stmHexToChar(hexRecordType);
|
||||
hexData[stmHexToChar(hexByteCount) * 2] = 0; // terminate at CHKSUM
|
||||
|
||||
// printf("Record Type: %d\n", recordType);
|
||||
switch (recordType) {
|
||||
case 0x00:
|
||||
stmWriteCommand(s, addressMSB, hexAddressLSB, hexByteCount, hexData);
|
||||
break;
|
||||
case 0x01:
|
||||
// EOF
|
||||
return addressJump;
|
||||
break;
|
||||
case 0x04:
|
||||
// MSB of destination 32 bit address
|
||||
strncpy(addressMSB, hexData, 4);
|
||||
break;
|
||||
case 0x05:
|
||||
// 32 bit address to run after load
|
||||
strncpy(addressJump, hexData, 8);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void stmLoader(serialStruct_t *s, FILE *fp, unsigned char overrideParity, unsigned char noSendR) {
|
||||
char c;
|
||||
unsigned char b1, b2, b3;
|
||||
unsigned char i, n;
|
||||
char *jumpAddress;
|
||||
|
||||
// turn on parity generation
|
||||
if (!overrideParity)
|
||||
serialEvenParity(s);
|
||||
|
||||
if(!noSendR) {
|
||||
top:
|
||||
printf("Sending R to place Baseflight in bootloader, press a key to continue");
|
||||
serialFlush(s);
|
||||
c = 'R';
|
||||
serialWrite(s, &c, 1);
|
||||
getchar();
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
serialFlush(s);
|
||||
|
||||
printf("Poking the MCU to check whether bootloader is alive...");
|
||||
|
||||
// poke the MCU
|
||||
do {
|
||||
printf("p"); fflush(stdout);
|
||||
c = 0x7f;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_SHORT));
|
||||
printf("STM bootloader alive...\n");
|
||||
|
||||
// send GET command
|
||||
do {
|
||||
c = 0x00;
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
|
||||
b1 = serialRead(s); // number of bytes
|
||||
b2 = serialRead(s); // bootloader version
|
||||
|
||||
for (i = 0; i < b1; i++)
|
||||
getResults[i] = serialRead(s);
|
||||
|
||||
stmWaitAck(s, STM_RETRIES_LONG);
|
||||
printf("Received commands.\n");
|
||||
|
||||
|
||||
// send GET VERSION command
|
||||
do {
|
||||
c = getResults[1];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
b1 = serialRead(s);
|
||||
b2 = serialRead(s);
|
||||
b3 = serialRead(s);
|
||||
stmWaitAck(s, STM_RETRIES_LONG);
|
||||
printf("STM Bootloader version: %d.%d\n", (b1 & 0xf0) >> 4, (b1 & 0x0f));
|
||||
|
||||
// send GET ID command
|
||||
do {
|
||||
c = getResults[2];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
n = serialRead(s);
|
||||
printf("STM Device ID: 0x");
|
||||
for (i = 0; i <= n; i++) {
|
||||
b1 = serialRead(s);
|
||||
printf("%02x", b1);
|
||||
}
|
||||
stmWaitAck(s, STM_RETRIES_LONG);
|
||||
printf("\n");
|
||||
|
||||
/*
|
||||
flash_size:
|
||||
// read Flash size
|
||||
c = getResults[3];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
|
||||
// if read not allowed, unprotect (which also erases)
|
||||
if (!stmWaitAck(s, STM_RETRIES_LONG)) {
|
||||
// unprotect command
|
||||
do {
|
||||
c = getResults[10];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
|
||||
// wait for results
|
||||
if (stmWaitAck(s, STM_RETRIES_LONG))
|
||||
goto top;
|
||||
}
|
||||
|
||||
// send address
|
||||
if (!stmWrite(s, "1FFFF7E0"))
|
||||
goto flash_size;
|
||||
|
||||
// send # bytes (N-1 = 1)
|
||||
if (!stmWrite(s, "01"))
|
||||
goto flash_size;
|
||||
|
||||
b1 = serialRead(s);
|
||||
b2 = serialRead(s);
|
||||
printf("STM Flash Size: %dKB\n", b2<<8 | b1);
|
||||
*/
|
||||
|
||||
// erase flash
|
||||
erase_flash:
|
||||
printf("Global flash erase [command 0x%x]...", getResults[6]); fflush(stdout);
|
||||
do {
|
||||
c = getResults[6];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
|
||||
// global erase
|
||||
if (getResults[6] == 0x44) {
|
||||
// mass erase
|
||||
if (!stmWrite(s, "FFFF"))
|
||||
goto erase_flash;
|
||||
}
|
||||
else {
|
||||
c = 0xff;
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0x00;
|
||||
serialWrite(s, &c, 1);
|
||||
|
||||
if (!stmWaitAck(s, STM_RETRIES_LONG))
|
||||
goto erase_flash;
|
||||
}
|
||||
|
||||
printf("Done.\n");
|
||||
|
||||
// upload hex file
|
||||
printf("Flashing device...\n");
|
||||
jumpAddress = stmHexLoader(s, fp);
|
||||
if (jumpAddress) {
|
||||
printf("\nFlash complete, executing.\n");
|
||||
|
||||
go:
|
||||
// send GO command
|
||||
do {
|
||||
c = getResults[4];
|
||||
serialWrite(s, &c, 1);
|
||||
c = 0xff ^ c;
|
||||
serialWrite(s, &c, 1);
|
||||
} while (!stmWaitAck(s, STM_RETRIES_LONG));
|
||||
|
||||
// send address
|
||||
if (!stmWrite(s, jumpAddress))
|
||||
goto go;
|
||||
}
|
||||
else {
|
||||
printf("\nFlash complete.\n");
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue