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HAL_ChibiOS: added expected delay in bootloader flash

This commit is contained in:
Andrew Tridgell 2019-10-25 20:11:59 +11:00
parent dc6948f336
commit 378d5c7a5a
1 changed files with 12 additions and 5 deletions
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17
libraries/AP_HAL_ChibiOS/Util.cpp
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@ -238,6 +238,8 @@ Util::FlashBootloader Util::flash_bootloader()
hal.console->printf("failed to find %s\n", fw_name); hal.console->printf("failed to find %s\n", fw_name);
return FlashBootloader::NOT_AVAILABLE; return FlashBootloader::NOT_AVAILABLE;
} }
// make sure size is multiple of 32
fw_size = (fw_size + 31U) & ~31U;
const uint32_t addr = hal.flash->getpageaddr(0); const uint32_t addr = hal.flash->getpageaddr(0);
if (!memcmp(fw, (const void*)addr, fw_size)) { if (!memcmp(fw, (const void*)addr, fw_size)) {
@ -250,13 +252,14 @@ Util::FlashBootloader Util::flash_bootloader()
uint32_t erased_size = 0; uint32_t erased_size = 0;
uint8_t erase_page = 0; uint8_t erase_page = 0;
while (erased_size < fw_size) { while (erased_size < fw_size) {
if (!hal.flash->erasepage(erase_page)) { uint32_t page_size = hal.flash->getpagesize(erase_page);
hal.console->printf("Erase %u failed\n", erase_page); if (page_size == 0) {
AP_ROMFS::free(fw); AP_ROMFS::free(fw);
return FlashBootloader::FAIL; return FlashBootloader::FAIL;
} }
uint32_t page_size = hal.flash->getpagesize(erase_page); hal.scheduler->expect_delay_ms(1000);
if (page_size == 0) { if (!hal.flash->erasepage(erase_page)) {
hal.console->printf("Erase %u failed\n", erase_page);
AP_ROMFS::free(fw); AP_ROMFS::free(fw);
return FlashBootloader::FAIL; return FlashBootloader::FAIL;
} }
@ -266,20 +269,24 @@ Util::FlashBootloader Util::flash_bootloader()
hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr); hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
const uint8_t max_attempts = 10; const uint8_t max_attempts = 10;
hal.flash->keep_unlocked(true);
for (uint8_t i=0; i<max_attempts; i++) { for (uint8_t i=0; i<max_attempts; i++) {
hal.scheduler->expect_delay_ms(1000);
bool ok = hal.flash->write(addr, fw, fw_size); bool ok = hal.flash->write(addr, fw, fw_size);
if (!ok) { if (!ok) {
hal.console->printf("Flash failed! (attempt=%u/%u)\n", hal.console->printf("Flash failed! (attempt=%u/%u)\n",
i+1, i+1,
max_attempts); max_attempts);
hal.scheduler->delay(1000); hal.scheduler->delay(100);
continue; continue;
} }
hal.console->printf("Flash OK\n"); hal.console->printf("Flash OK\n");
hal.flash->keep_unlocked(false);
AP_ROMFS::free(fw); AP_ROMFS::free(fw);
return FlashBootloader::OK; return FlashBootloader::OK;
} }
hal.flash->keep_unlocked(false);
hal.console->printf("Flash failed after %u attempts\n", max_attempts); hal.console->printf("Flash failed after %u attempts\n", max_attempts);
AP_ROMFS::free(fw); AP_ROMFS::free(fw);
return FlashBootloader::FAIL; return FlashBootloader::FAIL;