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AP_Periph: support updating bootloader with FLASH_BOOTLOADER option

This commit is contained in:
Andrew Tridgell 2019-10-23 18:57:27 +11:00
parent c6a372bfdd
commit 0c00bb935a
3 changed files with 21 additions and 0 deletions
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5
Tools/AP_Periph/Parameters.cpp
View File

@ -29,6 +29,11 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// can node baudrate
GSCALAR(can_baudrate, "CAN_BAUDRATE", 1000000),
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
// trigger bootloader flash
GSCALAR(flash_bootloader, "FLASH_BOOTLOADER", 0),
#endif
#ifdef HAL_PERIPH_ENABLE_BUZZER
GSCALAR(buzz_volume, "BUZZER_VOLUME", 100),

5
Tools/AP_Periph/Parameters.h
View File

@ -21,6 +21,7 @@ public:
k_param_led_brightness,
k_param_airspeed,
k_param_rangefinder,
k_param_flash_bootloader,
};
AP_Int16 format_version;
@ -33,6 +34,10 @@ public:
AP_Int8 led_brightness;
#endif
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
AP_Int8 flash_bootloader;
#endif
Parameters() {}
};

11
Tools/AP_Periph/can.cpp
View File

@ -828,6 +828,17 @@ static void process1HzTasks(uint64_t timestamp_usec)
}
}
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
if (periph.g.flash_bootloader.get()) {
periph.g.flash_bootloader.set_and_save_ifchanged(0);
if (hal.util->flash_bootloader()) {
can_printf("Flash bootloader OK\n");
} else {
can_printf("Flash bootloader FAILED\n");
}
}
#endif
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
}