Erik van de Coevering
Latest version of my quadcopter controller with an LPC1768 and MPU9250.
Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.
Diff: IAP/IAP.h
- Revision:
- 0:0929d3d566cf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IAP/IAP.h Mon Jul 09 16:31:40 2018 +0000
@@ -0,0 +1,496 @@
+/** IAP : internal Flash memory access library
+ *
+ * The internal Flash memory access is described in the LPC1768 and LPC11U24 usermanual.
+ * http://www.nxp.com/documents/user_manual/UM10360.pdf
+ * http://www.nxp.com/documents/user_manual/UM10462.pdf
+ *
+ * LPC1768 --
+ * Chapter 2: "LPC17xx Memory map"
+ * Chapter 32: "LPC17xx Flash memory interface and programming"
+ * refering Rev. 01 - 4 January 2010
+ *
+ * LPC11U24 --
+ * Chapter 2: "LPC11Uxx Memory mapping"
+ * Chapter 20: "LPC11Uxx Flash programming firmware"
+ * refering Rev. 03 - 16 July 2012
+ *
+ * Released under the MIT License: http://mbed.org/license/mit
+ *
+ * revision 1.0 09-Mar-2010 1st release
+ * revision 1.1 12-Mar-2010 chaged: to make possible to reserve flash area for user
+ * it can be set by USER_FLASH_AREA_START and USER_FLASH_AREA_SIZE in IAP.h
+ * revision 2.0 26-Nov-2012 LPC11U24 code added
+ * revision 2.1 26-Nov-2012 EEPROM access code imported from Suga koubou san's (http://mbed.org/users/okini3939/) library
+ * http://mbed.org/users/okini3939/code/M0_EEPROM_test/
+ * revision 3.0 09-Jan-2015 LPC812 and LPC824 support added
+ * revision 3.1 13-Jan-2015 LPC1114 support added
+ * revision 3.1.1 16-Jan-2015 Target MCU name changed for better compatibility across the platforms
+ */
+
+
+#ifndef MBED_IAP
+#define MBED_IAP
+
+#include "mbed.h"
+
+#if defined(TARGET_LPC176X)
+
+#define USER_FLASH_AREA_START FLASH_SECTOR_29
+#define USER_FLASH_AREA_SIZE (FLASH_SECTOR_SIZE_16_TO_29 * 1)
+
+/*
+ * memory map information is available in next URL also.
+ * http://mbed.org/projects/libraries/svn/mbed/trunk/LPC1768/LPC17xx.h
+ */
+
+/** Table for start adress of sectors
+ *
+ * LPC1768 internal flash memory sector numbers and addresses
+ *
+ * LPC1768 flash memory are and sector number/size
+ * Table 568 "Sectors in a LPC17xx device", Section 5. "Sector numbers", usermanual
+ *
+ * 0x00000000 - 0x0007FFFF flash (29 sectors)
+ *
+ * Sector0: 0x00000000 - 0x00000FFF 4K
+ * Sector1: 0x00001000 - 0x00001FFF 4K
+ * Sector2: 0x00002000 - 0x00002FFF 4K
+ * Sector3: 0x00003000 - 0x00003FFF 4K
+ * Sector4: 0x00004000 - 0x00004FFF 4K
+ * Sector5: 0x00005000 - 0x00005FFF 4K
+ * Sector6: 0x00006000 - 0x00006FFF 4K
+ * Sector7: 0x00007000 - 0x00007FFF 4K
+ * Sector8: 0x00008000 - 0x00008FFF 4K
+ * Sector9: 0x00009000 - 0x00009FFF 4K
+ * Sector10: 0x0000A000 - 0x0000AFFF 4K
+ * Sector11: 0x0000B000 - 0x0000BFFF 4K
+ * Sector12: 0x0000C000 - 0x0000CFFF 4K
+ * Sector13: 0x0000D000 - 0x0000DFFF 4K
+ * Sector14: 0x0000E000 - 0x0000EFFF 4K
+ * Sector15: 0x0000F000 - 0x0000FFFF 4K
+ *
+ * Sector16: 0x00010000 - 0x00017FFF 32K
+ * Sector17: 0x00018000 - 0x0001FFFF 32K
+ * Sector18: 0x00020000 - 0x00027FFF 32K
+ * Sector19: 0x00028000 - 0x0002FFFF 32K
+ * Sector20: 0x00030000 - 0x00037FFF 32K
+ * Sector21: 0x00038000 - 0x0003FFFF 32K
+ * Sector22: 0x00040000 - 0x00047FFF 32K
+ * Sector23: 0x00048000 - 0x0004FFFF 32K
+ * Sector24: 0x00050000 - 0x00057FFF 32K
+ * Sector25: 0x00058000 - 0x0005FFFF 32K
+ * Sector26: 0x00060000 - 0x00067FFF 32K
+ * Sector27: 0x00068000 - 0x0006FFFF 32K
+ * Sector28: 0x00070000 - 0x00077FFF 32K
+ * Sector29: 0x00078000 - 0x0007FFFF 32K
+ */
+
+#define FLASH_SECTOR_0 0x00000000
+#define FLASH_SECTOR_1 0x00001000
+#define FLASH_SECTOR_2 0x00002000
+#define FLASH_SECTOR_3 0x00003000
+#define FLASH_SECTOR_4 0x00004000
+#define FLASH_SECTOR_5 0x00005000
+#define FLASH_SECTOR_6 0x00006000
+#define FLASH_SECTOR_7 0x00007000
+#define FLASH_SECTOR_8 0x00008000
+#define FLASH_SECTOR_9 0x00009000
+#define FLASH_SECTOR_10 0x0000A000
+#define FLASH_SECTOR_11 0x0000B000
+#define FLASH_SECTOR_12 0x0000C000
+#define FLASH_SECTOR_13 0x0000D000
+#define FLASH_SECTOR_14 0x0000E000
+#define FLASH_SECTOR_15 0x0000F000
+#define FLASH_SECTOR_16 0x00010000
+#define FLASH_SECTOR_17 0x00018000
+#define FLASH_SECTOR_18 0x00020000
+#define FLASH_SECTOR_19 0x00028000
+#define FLASH_SECTOR_20 0x00030000
+#define FLASH_SECTOR_21 0x00038000
+#define FLASH_SECTOR_22 0x00040000
+#define FLASH_SECTOR_23 0x00048000
+#define FLASH_SECTOR_24 0x00050000
+#define FLASH_SECTOR_25 0x00058000
+#define FLASH_SECTOR_26 0x00060000
+#define FLASH_SECTOR_27 0x00068000
+#define FLASH_SECTOR_28 0x00070000
+#define FLASH_SECTOR_29 0x00078000
+#define FLASH_SECTOR_SIZE_0_TO_15 ( 4 * 1024)
+#define FLASH_SECTOR_SIZE_16_TO_29 (32 * 1024)
+
+static char * sector_start_adress[] = {
+ (char *)FLASH_SECTOR_0,
+ (char *)FLASH_SECTOR_1,
+ (char *)FLASH_SECTOR_2,
+ (char *)FLASH_SECTOR_3,
+ (char *)FLASH_SECTOR_4,
+ (char *)FLASH_SECTOR_5,
+ (char *)FLASH_SECTOR_6,
+ (char *)FLASH_SECTOR_7,
+ (char *)FLASH_SECTOR_8,
+ (char *)FLASH_SECTOR_9,
+ (char *)FLASH_SECTOR_10,
+ (char *)FLASH_SECTOR_11,
+ (char *)FLASH_SECTOR_12,
+ (char *)FLASH_SECTOR_13,
+ (char *)FLASH_SECTOR_14,
+ (char *)FLASH_SECTOR_15,
+ (char *)FLASH_SECTOR_16,
+ (char *)FLASH_SECTOR_17,
+ (char *)FLASH_SECTOR_18,
+ (char *)FLASH_SECTOR_19,
+ (char *)FLASH_SECTOR_20,
+ (char *)FLASH_SECTOR_21,
+ (char *)FLASH_SECTOR_22,
+ (char *)FLASH_SECTOR_23,
+ (char *)FLASH_SECTOR_24,
+ (char *)FLASH_SECTOR_25,
+ (char *)FLASH_SECTOR_26,
+ (char *)FLASH_SECTOR_27,
+ (char *)FLASH_SECTOR_28,
+ (char *)FLASH_SECTOR_29
+};
+
+#elif defined(TARGET_LPC11UXX) || defined(TARGET_LPC11XX)
+
+#define USER_FLASH_AREA_START FLASH_SECTOR_7
+#define USER_FLASH_AREA_SIZE (FLASH_SECTOR_SIZE * 1)
+
+/** Table for start adress of sectors
+ *
+ * LPC11U24 internal flash memory sector numbers and addresses
+ *
+ * LPC11U24 flash memory are and sector number/size
+ * Table 334 "LPC11U1x/2x flash sectors", Section 20. "Sector numbers", usermanual
+ *
+ * 0x00000000 - 0x00007FFF flash (8 sectors)
+ *
+ * Sector0: 0x00000000 - 0x00000FFF 4K
+ * Sector1: 0x00001000 - 0x00001FFF 4K
+ * Sector2: 0x00002000 - 0x00002FFF 4K
+ * Sector3: 0x00003000 - 0x00003FFF 4K
+ * Sector4: 0x00004000 - 0x00004FFF 4K
+ * Sector5: 0x00005000 - 0x00005FFF 4K
+ * Sector6: 0x00006000 - 0x00006FFF 4K
+ * Sector7: 0x00007000 - 0x00007FFF 4K
+ */
+
+#define FLASH_SECTOR_0 0x00000000
+#define FLASH_SECTOR_1 0x00001000
+#define FLASH_SECTOR_2 0x00002000
+#define FLASH_SECTOR_3 0x00003000
+#define FLASH_SECTOR_4 0x00004000
+#define FLASH_SECTOR_5 0x00005000
+#define FLASH_SECTOR_6 0x00006000
+#define FLASH_SECTOR_7 0x00007000
+#define FLASH_SECTOR_SIZE (4 * 1024)
+
+static char * sector_start_adress[] = {
+ (char *)FLASH_SECTOR_0,
+ (char *)FLASH_SECTOR_1,
+ (char *)FLASH_SECTOR_2,
+ (char *)FLASH_SECTOR_3,
+ (char *)FLASH_SECTOR_4,
+ (char *)FLASH_SECTOR_5,
+ (char *)FLASH_SECTOR_6,
+ (char *)FLASH_SECTOR_7,
+};
+
+#elif defined(TARGET_LPC81X) || defined(TARGET_LPC82X)
+
+#define USER_FLASH_AREA_START FLASH_SECTOR_15
+#define USER_FLASH_AREA_SIZE (FLASH_SECTOR_SIZE * 1)
+
+/** Table for start adress of sectors
+ *
+ * LPC812/LPC824 internal flash memory sector numbers and addresses
+ *
+ * 0x00000000 - 0x00003FFF flash (16 sectors for LPC812)
+ * 0x00000000 - 0x00007FFF flash (32 sectors for LPC824)
+ *
+ * Sector0: 0x00000000 - 0x000003FF 1K
+ * Sector1: 0x00000400 - 0x000007FF 1K
+ * Sector2: 0x00000800 - 0x00000BFF 1K
+ * Sector3: 0x00000C00 - 0x00000FFF 1K
+ * Sector4: 0x00001000 - 0x000013FF 1K
+ * Sector5: 0x00001400 - 0x000017FF 1K
+ * Sector6: 0x00001800 - 0x00001BFF 1K
+ * Sector7: 0x00001C00 - 0x00001FFF 1K
+ * Sector8: 0x00002000 - 0x000023FF 1K
+ * Sector9: 0x00002400 - 0x000027FF 1K
+ * Sector10: 0x00002800 - 0x00002BFF 1K
+ * Sector11: 0x00002C00 - 0x00002FFF 1K
+ * Sector12: 0x00003000 - 0x000033FF 1K
+ * Sector13: 0x00003400 - 0x000037FF 1K
+ * Sector14: 0x00003800 - 0x00003BFF 1K
+ * Sector15: 0x00003C00 - 0x00003FFF 1K
+ * Sector16: 0x00004000 - 0x000043FF 1K (LPC824 only)
+ * Sector17: 0x00004400 - 0x000047FF 1K (LPC824 only)
+ * Sector18: 0x00004800 - 0x00004BFF 1K (LPC824 only)
+ * Sector19: 0x00004C00 - 0x00004FFF 1K (LPC824 only)
+ * Sector20: 0x00005000 - 0x000053FF 1K (LPC824 only)
+ * Sector21: 0x00005400 - 0x000057FF 1K (LPC824 only)
+ * Sector22: 0x00005800 - 0x00005BFF 1K (LPC824 only)
+ * Sector23: 0x00005C00 - 0x00005FFF 1K (LPC824 only)
+ * Sector24: 0x00006000 - 0x000063FF 1K (LPC824 only)
+ * Sector25: 0x00006400 - 0x000067FF 1K (LPC824 only)
+ * Sector26: 0x00006800 - 0x00006BFF 1K (LPC824 only)
+ * Sector27: 0x00006C00 - 0x00006FFF 1K (LPC824 only)
+ * Sector28: 0x00007000 - 0x000073FF 1K (LPC824 only)
+ * Sector29: 0x00007400 - 0x000077FF 1K (LPC824 only)
+ * Sector30: 0x00007800 - 0x00007BFF 1K (LPC824 only)
+ * Sector31: 0x00007C00 - 0x00007FFF 1K (LPC824 only)
+ */
+
+#define FLASH_SECTOR_0 0x00000000
+#define FLASH_SECTOR_1 0x00000400
+#define FLASH_SECTOR_2 0x00000800
+#define FLASH_SECTOR_3 0x00000C00
+#define FLASH_SECTOR_4 0x00001000
+#define FLASH_SECTOR_5 0x00001400
+#define FLASH_SECTOR_6 0x00001800
+#define FLASH_SECTOR_7 0x00001C00
+#define FLASH_SECTOR_8 0x00002000
+#define FLASH_SECTOR_9 0x00002400
+#define FLASH_SECTOR_10 0x00002800
+#define FLASH_SECTOR_11 0x00002C00
+#define FLASH_SECTOR_12 0x00003000
+#define FLASH_SECTOR_13 0x00003400
+#define FLASH_SECTOR_14 0x00003800
+#define FLASH_SECTOR_15 0x00003C00
+#define FLASH_SECTOR_16 0x00004000 // for LPC824 only
+#define FLASH_SECTOR_17 0x00004400 // for LPC824 only
+#define FLASH_SECTOR_18 0x00004800 // for LPC824 only
+#define FLASH_SECTOR_19 0x00004C00 // for LPC824 only
+#define FLASH_SECTOR_20 0x00005000 // for LPC824 only
+#define FLASH_SECTOR_21 0x00005400 // for LPC824 only
+#define FLASH_SECTOR_22 0x00005800 // for LPC824 only
+#define FLASH_SECTOR_23 0x00005C00 // for LPC824 only
+#define FLASH_SECTOR_24 0x00006000 // for LPC824 only
+#define FLASH_SECTOR_25 0x00006400 // for LPC824 only
+#define FLASH_SECTOR_26 0x00006800 // for LPC824 only
+#define FLASH_SECTOR_27 0x00006C00 // for LPC824 only
+#define FLASH_SECTOR_28 0x00007000 // for LPC824 only
+#define FLASH_SECTOR_29 0x00007400 // for LPC824 only
+#define FLASH_SECTOR_30 0x00007800 // for LPC824 only
+#define FLASH_SECTOR_31 0x00007C00 // for LPC824 only
+#define FLASH_SECTOR_SIZE (1 * 1024)
+
+static char * sector_start_adress[] = {
+ (char *)FLASH_SECTOR_0,
+ (char *)FLASH_SECTOR_1,
+ (char *)FLASH_SECTOR_2,
+ (char *)FLASH_SECTOR_3,
+ (char *)FLASH_SECTOR_4,
+ (char *)FLASH_SECTOR_5,
+ (char *)FLASH_SECTOR_6,
+ (char *)FLASH_SECTOR_7,
+ (char *)FLASH_SECTOR_8,
+ (char *)FLASH_SECTOR_9,
+ (char *)FLASH_SECTOR_10,
+ (char *)FLASH_SECTOR_11,
+ (char *)FLASH_SECTOR_12,
+ (char *)FLASH_SECTOR_13,
+ (char *)FLASH_SECTOR_14,
+ (char *)FLASH_SECTOR_15,
+ (char *)FLASH_SECTOR_16, // for LPC824 only
+ (char *)FLASH_SECTOR_17, // for LPC824 only
+ (char *)FLASH_SECTOR_18, // for LPC824 only
+ (char *)FLASH_SECTOR_19, // for LPC824 only
+ (char *)FLASH_SECTOR_20, // for LPC824 only
+ (char *)FLASH_SECTOR_21, // for LPC824 only
+ (char *)FLASH_SECTOR_22, // for LPC824 only
+ (char *)FLASH_SECTOR_23, // for LPC824 only
+ (char *)FLASH_SECTOR_24, // for LPC824 only
+ (char *)FLASH_SECTOR_25, // for LPC824 only
+ (char *)FLASH_SECTOR_26, // for LPC824 only
+ (char *)FLASH_SECTOR_27, // for LPC824 only
+ (char *)FLASH_SECTOR_28, // for LPC824 only
+ (char *)FLASH_SECTOR_29, // for LPC824 only
+ (char *)FLASH_SECTOR_30, // for LPC824 only
+ (char *)FLASH_SECTOR_31 // for LPC824 only
+};
+
+#endif
+
+/** Error code by IAP routine
+ *
+ * Table 588 "ISP Return Codes Summary", Section 7.15 "ISP Return Codes", usermanual
+ */
+
+enum error_code {
+ CMD_SUCCESS,
+ INVALID_COMMAND,
+ SRC_ADDR_ERROR,
+ DST_ADDR_ERROR,
+ SRC_ADDR_NOT_MAPPED,
+ DST_ADDR_NOT_MAPPED,
+ COUNT_ERROR,
+ INVALID_SECTOR,
+ SECTOR_NOT_BLANK,
+ SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION,
+ COMPARE_ERROR,
+ BUSY,
+ PARAM_ERROR,
+ ADDR_ERROR,
+ ADDR_NOT_MAPPED,
+ CMD_LOCKED,
+ INVALID_CODE,
+ INVALID_BAUD_RATE,
+ INVALID_STOP_BIT,
+ CODE_READ_PROTECTION_ENABLED
+};
+
+
+
+/*
+ * IAP routine entry
+ *
+ * "IAP commands"
+ */
+
+#define IAP_LOCATION 0x1fff1ff1
+typedef void (*IAP_call)(unsigned int [], unsigned int []);
+
+
+/** IAP class
+ *
+ * Interface for internal flash memory access
+ */
+
+class IAP
+{
+public:
+
+ /** Constructor for IAP
+ *
+ */
+ IAP() : iap_entry( reinterpret_cast<IAP_call>(IAP_LOCATION) ), cclk_kHz( SystemCoreClock / 1000 ) {}
+
+ /** Reinvoke ISP
+ *
+ * @return error code
+ */
+ int reinvoke_isp( void );
+
+ /** Read part identification number
+ *
+ * @return device ID
+ * @see read_serial()
+ */
+ int read_ID( void );
+
+ /** Read device serial number
+ *
+ * @return device serial number
+ * @see read_ID()
+ */
+ int *read_serial( void );
+
+ /** Blank check sector(s)
+ *
+ * @param start a Start Sector Number
+ * @param end an End Sector Number (should be greater than or equal to start sector number).
+ * @return error code: CMD_SUCCESS | BUSY | SECTOR_NOT_BLANK | INVALID_SECTOR
+ */
+ int blank_check( int start, int end );
+
+ /** Erase Sector(s)
+ *
+ * @param start a Start Sector Number
+ * @param end an End Sector Number (should be greater than or equal to start sector number).
+ * @return error code: CMD_SUCCESS | BUSY | SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION | INVALID_SECTOR
+ */
+ int erase( int start, int end );
+
+ /** Prepare sector(s) for write operation
+ *
+ * @param start a Start Sector Number
+ * @param end an End Sector Number (should be greater than or equal to start sector number).
+ * @return error code: CMD_SUCCESS | BUSY | INVALID_SECTOR
+ */
+ int prepare( int start, int end );
+
+ /** Copy RAM to Flash
+ *
+ * @param source_addr Source RAM address from which data bytes are to be read. This address should be a word boundary.
+ * @param target_addr Destination flash address where data bytes are to be written. This address should be a 256 byte boundary.
+ * @param size Number of bytes to be written. Should be 256 | 512 | 1024 | 4096.
+ * @return error code: CMD_SUCCESS | SRC_ADDR_ERROR (Address not a word boundary) | DST_ADDR_ERROR (Address not on correct boundary) | SRC_ADDR_NOT_MAPPED | DST_ADDR_NOT_MAPPED | COUNT_ERROR (Byte count is not 256 | 512 | 1024 | 4096) | SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION | BUSY
+ */
+ int write( char *source_addr, char *target_addr, int size );
+
+ /** Compare <address1> <address2> <no of bytes>
+ *
+ * @param source_addr Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
+ * @param target_addr Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
+ * @param size Number of bytes to be compared; should be a multiple of 4.
+ * @return error code: CMD_SUCCESS | COMPARE_ERROR | COUNT_ERROR (Byte count is not a multiple of 4) | ADDR_ERROR | ADDR_NOT_MAPPED
+ */
+ int compare( char *source_addr, char *target_addr, int size );
+
+ /** Read Boot code version number
+ *
+ * @return 2 bytes of boot code version number
+ */
+ int read_BootVer( void );
+
+ /** Get user reserved flash start address
+ *
+ * @return start address of user reserved flash memory
+ * @see reserved_flash_area_size()
+ */
+
+ char *reserved_flash_area_start( void );
+
+ /** Get user reserved flash size
+ *
+ * @return size of user reserved flash memory
+ * @see reserved_flash_area_start()
+ */
+ int reserved_flash_area_size( void );
+
+#if defined(TARGET_LPC11UXX)
+
+ /** Copy RAM to EEPROM (LPC11U24)
+ *
+ * @param source_addr Source RAM address from which data bytes are to be read.
+ * @param target_addr Destination EEPROM address where data bytes are to be written.
+ * @param size Number of bytes to be written.
+ * @return error code: CMD_SUCCESS | SRC_ADDR_NOT_MAPPED | DST_ADDR_NOT_MAPPED
+ * Remark: The top 64 bytes of the EEPROM memory are reserved and cannot be written to.
+ */
+ int write_eeprom( char *source_addr, char *target_addr, int size );
+
+ /** Copy EEPROM to RAM (LPC11U24)
+ *
+ * @param source_addr Source EEPROM address from which data bytes are to be read.
+ * @param target_addr Destination RAM address where data bytes are to be written.
+ * @param size Number of bytes to be written.
+ * @return error code: CMD_SUCCESS | SRC_ADDR_NOT_MAPPED | DST_ADDR_NOT_MAPPED
+ * Remark: The top 64 bytes of the EEPROM memory are reserved and cannot be written to.
+ */
+ int read_eeprom( char *source_addr, char *target_addr, int size );
+
+#elif defined(TARGET_LPC81X) || defined(TARGET_LPC82X)
+
+ /** Erase page(s) (LPC812, LPC824)
+ *
+ * @param start Start page number.
+ * @param end End page number (should be greater than or equal to start page).
+ * @return error code: CMD_SUCCESS | BUSY | SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION | INVALID_SECTOR
+ */
+ int erase_page( int start, int end );
+
+#endif
+
+private:
+ IAP_call iap_entry;
+ unsigned int IAP_command[ 5 ];
+ unsigned int IAP_result[ 5 ];
+ int cclk_kHz;
+}
+;
+
+#endif // #ifndef MBED_IAP
+