Merge branch 'master' into dev-tdoa2

CONTRIBUTING.md

@@ -0,0 +1,46 @@
+Contributing
+============
+
+👍🎉 Thanks a lot for considering contributing 🎉👍
+
+We welcome and encourage contribution. There is many way to contribute: you can
+write bug report, contribute code or documentation.
+You can also go to the [bitcraze forum](https://forum.bitcraze.io) and help others.
+
+## Reporting issues
+
+When reporting issues the more information you can supply the better.
+
+ - **Information about the environment:**
+   - What version of the firmware are you running
+ - **How to reproduce the issue:** Step-by-step guide on how the issue can be reproduced (or at least how you reproduce it).
+ Include everything you think might be useful, the more information the better.
+
+## Improvements request and proposal
+
+We and the community are continuously working to improve the firmware.
+Feel free to make an issue to request a new functionality.
+
+## Contributing code/Pull-Request
+
+We welcome code contribution, this can be done by starting a pull-request.
+
+If the change is big, typically if the change span to more than one file, consider starting an issue first to discuss the improvement.
+This will makes it much easier to make the change fit well into the firmware.
+
+There is some basic requirement for us to merge a pull request:
+ - Describe the change
+ - Refer to any issues it effects
+ - Separate one pull request per functionality: if you start writing "and" in the feature description consider if it could be separated in two pull requests.
+ - The pull request must pass the automated test (see test section bellow)
+
+In your code:
+ - 2 spaces indentation
+ - Make sure the coding style of your code follows the style of the file.
+
+### Run test
+
+In order to run the tests you can run:
+```
+./tools/build/build
+```

Makefile

@@ -1,11 +1,11 @@
 OPENOCD           ?= openocd
 OPENOCD_INTERFACE ?= interface/stlink-v2.cfg
-REV								?= B
+REV               ?= B
 PYTHON2           ?= python2
-# CFLAGS						+= -fdiagnostics-color=auto
+# CFLAGS          += -fdiagnostics-color=auto
 # CFLAGS += -DUSE_FTDI_UART
 
-BOOTLOAD 					?= 0
+BOOTLOAD          ?= 0
 
 ifeq ($(strip $(REV)),A)
 $(error Rev.A not supported anymore)
@@ -74,12 +74,13 @@ CC=$(PREFIX)gcc
 LD=$(PREFIX)gcc
 AS=$(PREFIX)as
 OBJCOPY=$(PREFIX)objcopy
+SIZE=$(PREFIX)size
 
 all: check_submodules bin/lps-node-firmware.elf bin/lps-node-firmware.dfu
 
 bin/lps-node-firmware.elf: $(OBJS)
 	$(LD) -o $@ $^ $(LDFLAGS)
-	arm-none-eabi-size $@
+	$(SIZE) $@
 	@echo BOOTLOADER Support: $(BOOTLOAD)
 
 clean:
@@ -96,7 +97,11 @@ openocd:
 	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets
 
 dfu:
-	dfu-util -d 0483:df11 -a 0 -D bin/lps-node-firmware.dfu -R
+	dfu-util -d 0483:df11 -a 0 -D bin/lps-node-firmware.dfu -s :leave
+
+reset_and_dfu:
+	tools/make/reset-to-dfu.py
+	dfu-util -d 0483:df11 -a 0 -D bin/lps-node-firmware.dfu -s :leave
 
 # Generic rules
 %.bin: %.elf

src/main.c

@@ -59,6 +59,7 @@ static void changeMode(unsigned int newMode);
 static void printModeList();
 static void printMode();
 static void help();
+static void bootload(void);
 
 static void main_task(void *pvParameters) {
   int i;
@@ -242,6 +243,8 @@ static void handleSerialInput(char ch) {
           printf("System halted, reset to continue\r\n");
           while(true){}
           break;
+        case 'u':
+          bootload();
         default:
           configChanged = false;
           break;
@@ -358,6 +361,7 @@ static void help() {
   printf("s   - sniffer mode\r\n");
   printf("m   - List and change mode\r\n");
   printf("d   - reset configuration\r\n");
+  printf("u   - enter BSL (DFU mode)\r\n");
   printf("h   - This help\r\n");
   printf("---- For machine only\r\n");
   printf("b   - Switch to binary mode (sniffer only)\r\n");
@@ -385,6 +389,26 @@ int main() {
   return 0;
 }
 
+// Enter bootloader from software: Taken from micropython machine_bootloader function
+static void bootload(void) {
+    printf("Entering DFU Mode\r\n");
+    HAL_Delay(500);
+
+    HAL_RCC_DeInit();
+    HAL_DeInit();
+
+    __HAL_REMAPMEMORY_SYSTEMFLASH();
+
+    // arm-none-eabi-gcc 4.9.0 does not correctly inline this
+    //     //     // MSP function, so we write it out explicitly here.
+    //__set_MSP(*((uint32_t*) 0x00000000));
+    __ASM volatile ("movs r3, #0\nldr r3, [r3, #0]\nMSR msp, r3\n" : : : "r3", "sp");
+
+    ((void (*)(void)) *((uint32_t*) 0x00000004))();
+
+    while (1);
+}
+
 // Freertos required callbacks
 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
 {

tools/make/reset-to-dfu.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+
+import serial
+import sys
+import serial.tools.list_ports
+import time
+
+ports = serial.tools.list_ports.comports()
+nodes = list(filter(lambda p: p.description == "Loco Positioning Node", ports))
+
+if len(nodes) > 0:
+    print("Resetting node to DFU ...")
+    try:
+        ser = serial.Serial(nodes[0].device)
+        ser.write(b'u')
+        ser.close()
+        time.sleep(2)
+    except serial.SerialException:
+        print("Error: Cannot open node serial port!")
+        sys.exit(1)
+    sys.exit(0)
+else:
+    print("Cannot find node, already in DFU mode?")
+    sys.exit(0)

tools/sniffer/sniffer_binary.py

@@ -8,19 +8,24 @@
 import struct
 import serial
 import binascii
+import yaml
 
-if len(sys.argv) != 2:
-    print("usage: {} <sniffer serial port>".format(sys.argv[0]))
+if len(sys.argv) < 2:
+    print("usage: {} <sniffer serial port> [format]".format(sys.argv[0]))
+    print("  Possible format: human (default), csv, yaml")
     sys.exit(1)
 
-ser = serial.Serial('/dev/ttyACM0')
+ser = serial.Serial(sys.argv[1], 9600)
+
+outputFormat = 'human'
+if len(sys.argv) > 2:
+    outputFormat = sys.argv[2].strip()
 
 # Switch to binary mode
 ser.write(b'b')
 
 while True:
     c = ser.read(1)
-
     if c == b'\xbc':
         ts = ser.read(5)
         ts += b'\0\0\0'
@@ -32,8 +37,22 @@
         data = ser.read(length)
         l2 = struct.unpack('<H', ser.read(2))[0]
         if length == l2:
-            print("@{:010x} from {} to {}: {}".format(ts, addrFrom, addrTo,
-                                                      binascii.hexlify(data)
-                                                      .decode('utf8')))
+            if outputFormat == 'human':
+                print("@{:010x} from {} to {}: {}".format(ts, addrFrom, addrTo,
+                      binascii.hexlify(data)
+                      .decode('utf8')))
+            elif outputFormat == 'csv':
+                print("0x{:010x}, {}, {}, {}".format(ts, addrFrom, addrTo,
+                      binascii.hexlify(data)
+                      .decode('utf8')))
+            elif outputFormat == 'yaml':
+                print("---")
+                print(yaml.dump({'ts': ts, 'from': addrFrom,
+                                 'to': addrTo, 'data': data},
+                                Dumper=yaml.CDumper))
+            else:
+                sys.stderr.write("Error: Uknown output format: {}\n".format(
+                                 outputFormat))
+
         else:
             print("Out of sync!")