wip

Author: jschall

bootloader/Makefile

@@ -24,14 +24,19 @@ uavcan_nodestatus_publisher \
 uavcan_allocatee \
 spi_device \
 driver_profiLED \
-uavcan_timesync
+uavcan_timesync \
+uavcan_debug
 
 MESSAGES_ENABLED = \
 uavcan.protocol.GetNodeInfo \
 uavcan.protocol.file.BeginFirmwareUpdate \
 uavcan.protocol.file.Read \
 uavcan.protocol.RestartNode \
-uavcan.equipment.indication.LightsCommand
+uavcan.equipment.indication.LightsCommand \
+com.hex.file.FileStreamStart \
+com.hex.file.FileStreamChunk
+
+DSDL_NAMESPACE_DIRS += dsdl/com
 
 LOAD_REGION = bl
 

bootloader/dsdl/com/hex/equipment/gnss/20210.BodyPosition.uavcan

@@ -0,0 +1 @@
+int18[3] body_pos_mm

bootloader/dsdl/com/hex/equipment/gnss/20211.MovingBaseFix.uavcan

@@ -0,0 +1,10 @@
+uavcan.Timestamp timestamp
+uint8[16] base_in_use_hwid
+void6
+uint2 CARRIER_SOLUTION_TYPE_NONE = 0
+uint2 CARRIER_SOLUTION_TYPE_FLOAT = 1
+uint2 CARRIER_SOLUTION_TYPE_FIXED = 2
+uint2 carrier_solution_type
+float32[<=3] pos_rel_body
+float32[3] pos_rel_ecef
+float16[<=6] pos_rel_ecef_covariance

bootloader/dsdl/com/hex/equipment/gnss/gnss.zip

@@ -0,0 +1,10 @@
+bool preserve_source
+bool overwrite_destination
+void6
+
+uavcan.protocol.file.Path source
+uavcan.protocol.file.Path destination
+
+---
+
+uavcan.protocol.file.Error error

bootloader/dsdl/com/hex/file/242.Modify.uavcan

@@ -0,0 +1,4 @@
+uavcan.protocol.file.Path path
+uint40 offset
+---
+uavcan.protocol.file.Error error

bootloader/dsdl/com/hex/file/243.FileStreamStart.uavcan

@@ -0,0 +1,6 @@
+uint8 source_node_id
+uavcan.protocol.file.Path source_path
+uavcan.protocol.file.Path dest_path
+---
+void7
+bool ack

bootloader/dsdl/com/hex/file/244.StartDownload.uavcan

@@ -0,0 +1,3 @@
+uavcan.protocol.file.Path path
+uint40 offset
+uint8[<=256] data

bootloader/dsdl/com/hex/file/42444.FileStreamChunk.uavcan

@@ -1,12 +1,4 @@
 source [find interface/stlink.cfg]
 source [find target/stm32h7x.cfg]
-reset_config srst_only separate connect_assert_srst
-$_TARGETNAME configure -rtos ChibiOS
-$_TARGETNAME configure -event gdb-attach {
-  halt
-}
-$_TARGETNAME configure -event gdb-attach {
-  reset init
-}
+$_CHIPNAME.cpu0 configure -rtos ChibiOS
 init
-reset halt