Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Bootloader: allow external flash load in middle

This commit is contained in:
Andy Piper 2022-02-03 21:25:25 +00:00 committed by Peter Hall
parent 48c21299f8
commit 10d99a52eb
2 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -44,7 +44,7 @@ struct boardinfo board_info = {
.board_type = APJ_BOARD_ID,
.board_rev = 0,
.fw_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + FLASH_RESERVE_END_KB + APP_START_OFFSET_KB))*1024,
.extf_size = (EXT_FLASH_SIZE_MB * 1024 * 1024)
.extf_size = (EXT_FLASH_SIZE_MB * 1024 * 1024) - (EXT_FLASH_RESERVE_START_KB + EXT_FLASH_RESERVE_END_KB) * 1024
};
#ifndef HAL_BOOTLOADER_TIMEOUT

11
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -643,7 +643,7 @@ bootloader(unsigned timeout)
goto cmd_bad;
}
uint32_t erased_bytes = 0;
uint32_t sector_number = 0;
uint32_t sector_number = EXT_FLASH_RESERVE_START_KB * 1024 / ext_flash.get_sector_size();
uint8_t pct_done = 0;
if (cmd_erase_bytes > (ext_flash.get_sector_size() * ext_flash.get_sector_count())) {
uprintf("Requested to erase more than we can\n");
@ -752,7 +752,8 @@ bootloader(unsigned timeout)
extf_address += arg;
break;
}
if (!ext_flash.start_program_offset(extf_address+offset, &flash_buffer.c[offset], size, programming, delay_us, timeout_us)) {
if (!ext_flash.start_program_offset(extf_address+offset+EXT_FLASH_RESERVE_START_KB*1024,
&flash_buffer.c[offset], size, programming, delay_us, timeout_us)) {
// uprintf("ext flash write command failed\n");
goto cmd_fail;
}
@ -906,13 +907,13 @@ bootloader(unsigned timeout)
} else
#endif
{
ext_flash.read(p, (uint8_t *)&bytes, sizeof(bytes));
ext_flash.read(p+EXT_FLASH_RESERVE_START_KB*1024, (uint8_t *)&bytes, sizeof(bytes));
}
sum = crc32_small(sum, (uint8_t *)&bytes, sizeof(bytes));
}
if (rembytes) {
uint8_t bytes[3];
ext_flash.read(cmd_verify_bytes-rembytes, bytes, rembytes);
ext_flash.read(EXT_FLASH_RESERVE_START_KB*1024+cmd_verify_bytes-rembytes, bytes, rembytes);
sum = crc32_small(sum, bytes, rembytes);
}
cout_word(sum);
@ -1091,7 +1092,7 @@ bootloader(unsigned timeout)
uint32_t programming;
uint32_t delay_us;
uint32_t timeout_us;
if (!ext_flash.start_program_offset(0, (const uint8_t*)first_words, sizeof(first_words), programming, delay_us, timeout_us)) {
if (!ext_flash.start_program_offset(EXT_FLASH_RESERVE_START_KB*1024, (const uint8_t*)first_words, sizeof(first_words), programming, delay_us, timeout_us)) {
// uprintf("ext flash write command failed\n");
goto cmd_fail;
}