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AP_IOMCU: fail to boot if IO firmware CRC and update fails

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we don't want to fly with a bad IO firmware
This commit is contained in:
Andrew Tridgell 2018-05-16 12:53:23 +10:00
parent 677b5f94b2
commit 3242b5eeb9
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -121,8 +121,6 @@ AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) :
*/
void AP_IOMCU::init(void)
{
//upload_fw(fw_name);
// uart runs at 1.5MBit
uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false);
@ -131,7 +129,10 @@ void AP_IOMCU::init(void)
// check IO firmware CRC
hal.scheduler->delay(2000);
check_crc();
AP_BoardConfig *boardconfig = AP_BoardConfig::get_instance();
if (!boardconfig || boardconfig->io_enabled() == 1) {
check_crc();
}
thread_ctx = chThdCreateFromHeap(NULL,
THD_WORKING_AREA_SIZE(1024),
@ -681,8 +682,10 @@ bool AP_IOMCU::check_crc(void)
const uint16_t magic = REBOOT_BL_MAGIC;
write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
hal.scheduler->delay(100);
upload_fw(fw_name);
if (!upload_fw(fw_name)) {
AP_BoardConfig::sensor_config_error("Failed to update IO firmware");
}
return false;
}