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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Tools/AP_Periph/serial_tunnel.cpp
View File

@ -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 allow for locked state to change at any time, so users can
switch between locked and unlocked while connected 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; uart_monitor.locked = (pkt.options & UAVCAN_TUNNEL_TARGETTED_OPTION_LOCK_PORT) != 0;
if (uart_monitor.locked) { if (uart_monitor.locked) {
uart_monitor.uart->lock_port(TUNNEL_LOCK_KEY, TUNNEL_LOCK_KEY); 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.node_id = transfer->source_node_id;
uart_monitor.protocol = pkt.protocol.protocol; 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) { 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)); debug("begin_locked %u", unsigned(pkt.baudrate));
} }
uart_monitor.baudrate = pkt.baudrate; uart_monitor.baudrate = pkt.baudrate;