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AP_Periph: make uCenter ublox fw update more reliable 

ensure we have a big enough UART buffer and do locking
This commit is contained in:
Andrew Tridgell 2023-07-17 14:37:29 +10:00
parent f4503a5b7b
commit 1696464bac
1 changed files with 4 additions and 2 deletions
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6
Tools/AP_Periph/serial_tunnel.cpp
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@ -113,6 +113,7 @@ void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer
allow for locked state to change at any time, so users can
switch between locked and unlocked while connected
*/
const bool was_locked = uart_monitor.locked;
uart_monitor.locked = (pkt.options & UAVCAN_TUNNEL_TARGETTED_OPTION_LOCK_PORT) != 0;
if (uart_monitor.locked) {
uart_monitor.uart->lock_port(TUNNEL_LOCK_KEY, TUNNEL_LOCK_KEY);
@ -121,9 +122,10 @@ void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer
}
uart_monitor.node_id = transfer->source_node_id;
uart_monitor.protocol = pkt.protocol.protocol;
if (pkt.baudrate != uart_monitor.baudrate) {
if (pkt.baudrate != uart_monitor.baudrate || !was_locked) {
if (uart_monitor.locked && pkt.baudrate != 0) {
uart_monitor.uart->begin_locked(pkt.baudrate, 0, 0, TUNNEL_LOCK_KEY);
// ensure we have enough buffer space for a uBlox fw update and fast uCenter data
uart_monitor.uart->begin_locked(pkt.baudrate, 2048, 2048, TUNNEL_LOCK_KEY);
debug("begin_locked %u", unsigned(pkt.baudrate));
}
uart_monitor.baudrate = pkt.baudrate;