#include "modules/px4_flash/px4_flash.h"
#include "modules/px4_flash/protocol.h"
#include "mcu_periph/sys_time_arch.h"
#include "subsystems/intermcu/intermcu_ap.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/usb_serial.h"
#include "led.h"
#include "libopencm3/cm3/scb.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	FLASH_PORT (&((FLASH_UART).device))

#define	PROTO_INSYNC 0x12
	'in sync' byte sent before status More...

#define	PROTO_EOC 0x20
	end of command More...

#define	PROTO_OK 0x10
	INSYNC/OK - 'ok' response. More...

#define	PROTO_FAILED 0x11
	INSYNC/FAILED - 'fail' response. More...

#define	PROTO_INVALID 0x13
	INSYNC/INVALID - 'invalid' response for bad commands. More...

#define	PROTO_GET_SYNC 0x21
	NOP for re-establishing sync. More...

#define	PROTO_GET_DEVICE 0x22
	get device ID bytes More...

#define	PROTO_CHIP_ERASE 0x23
	erase program area and reset program address More...

#define	PROTO_LOAD_ADDRESS 0x24
	set next programming address More...

#define	PROTO_PROG_MULTI 0x27
	write bytes at program address and increment More...

#define	PROTO_GET_CRC 0x29
	compute & return a CRC More...

#define	PROTO_BOOT 0x30
	boot the application More...

Functions
void	px4flash_init (void)

void	px4flash_event (void)

Variables
bool	setToBootloaderMode

bool	px4ioRebootTimeout

Detailed Description

Author: Kevin van Hecke Enables to flashes the px4 FBW and AP through the original px4 bootloader. Assumes the flash port on the Pixhawk is configured as the usb.

Definition in file px4_flash.c.

Macro Definition Documentation

◆ FLASH_PORT

#define FLASH_PORT (&((FLASH_UART).device))

Definition at line 47 of file px4_flash.c.

◆ PROTO_BOOT

#define PROTO_BOOT 0x30

boot the application

Definition at line 65 of file px4_flash.c.

◆ PROTO_CHIP_ERASE

#define PROTO_CHIP_ERASE 0x23

erase program area and reset program address

Definition at line 61 of file px4_flash.c.

◆ PROTO_EOC

#define PROTO_EOC 0x20

end of command

Definition at line 53 of file px4_flash.c.

◆ PROTO_FAILED

#define PROTO_FAILED 0x11

INSYNC/FAILED - 'fail' response.

Definition at line 56 of file px4_flash.c.

◆ PROTO_GET_CRC

#define PROTO_GET_CRC 0x29

compute & return a CRC

Definition at line 64 of file px4_flash.c.

◆ PROTO_GET_DEVICE

#define PROTO_GET_DEVICE 0x22

get device ID bytes

Definition at line 60 of file px4_flash.c.

◆ PROTO_GET_SYNC

#define PROTO_GET_SYNC 0x21

NOP for re-establishing sync.

Definition at line 59 of file px4_flash.c.

◆ PROTO_INSYNC

#define PROTO_INSYNC 0x12

'in sync' byte sent before status

Definition at line 52 of file px4_flash.c.

◆ PROTO_INVALID

#define PROTO_INVALID 0x13

INSYNC/INVALID - 'invalid' response for bad commands.

Definition at line 57 of file px4_flash.c.

◆ PROTO_LOAD_ADDRESS

#define PROTO_LOAD_ADDRESS 0x24

set next programming address

Definition at line 62 of file px4_flash.c.

◆ PROTO_OK

#define PROTO_OK 0x10

INSYNC/OK - 'ok' response.

Definition at line 55 of file px4_flash.c.

◆ PROTO_PROG_MULTI

#define PROTO_PROG_MULTI 0x27

write bytes at program address and increment

Definition at line 63 of file px4_flash.c.

Function Documentation

◆ px4flash_event()

void px4flash_event ( void )

Definition at line 79 of file px4_flash.c.

References b, B115200, B230400, IOPacket::count_code, IOPacket::crc, crc_packet(), FALSE, FLASH_PORT, intermcu_set_enabled(), IOPacket::offset, p, IOPacket::page, PKT_CODE_SUCCESS, PROTO_EOC, PROTO_GET_SYNC, PROTO_INSYNC, PX4IO_P_SETUP_REBOOT_BL, PX4IO_PAGE_SETUP, PX4IO_REBOOT_BL_MAGIC, px4ioRebootTimeout, IOPacket::regs, setToBootloaderMode, state, sys_time_cancel_timer(), sys_time_check_and_ack_timer(), sys_time_register_timer(), sys_time_usleep(), target, TRUE, and uart_periph_set_baudrate().

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◆ px4flash_init()

void px4flash_init ( void )

Definition at line 70 of file px4_flash.c.

References px4ioRebootTimeout, setToBootloaderMode, and sys_time_register_timer().

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Variable Documentation

◆ px4ioRebootTimeout

bool px4ioRebootTimeout

Definition at line 68 of file px4_flash.c.

Referenced by px4flash_event(), and px4flash_init().

◆ setToBootloaderMode

bool setToBootloaderMode

Definition at line 67 of file px4_flash.c.