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HAL_ChibiOS: allow for delay in bootloader flash

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This commit is contained in:
Andrew Tridgell 2019-04-20 16:11:41 +10:00
parent 2313970eaf
commit 3b5463f061
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_HAL_ChibiOS/Util.cpp
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@ -230,9 +230,12 @@ bool Util::flash_bootloader()
uint32_t fw_size; uint32_t fw_size;
const char *fw_name = "bootloader.bin"; const char *fw_name = "bootloader.bin";
hal.scheduler->expect_delay_ms(5000);
uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size); uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) { if (!fw) {
hal.console->printf("failed to find %s\n", fw_name); hal.console->printf("failed to find %s\n", fw_name);
hal.scheduler->expect_delay_ms(0);
return false; return false;
} }
@ -240,6 +243,7 @@ bool Util::flash_bootloader()
if (!memcmp(fw, (const void*)addr, fw_size)) { if (!memcmp(fw, (const void*)addr, fw_size)) {
hal.console->printf("Bootloader up-to-date\n"); hal.console->printf("Bootloader up-to-date\n");
free(fw); free(fw);
hal.scheduler->expect_delay_ms(0);
return true; return true;
} }
@ -247,6 +251,7 @@ bool Util::flash_bootloader()
if (!hal.flash->erasepage(0)) { if (!hal.flash->erasepage(0)) {
hal.console->printf("Erase failed\n"); hal.console->printf("Erase failed\n");
free(fw); free(fw);
hal.scheduler->expect_delay_ms(0);
return false; return false;
} }
hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr); hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
@ -264,11 +269,13 @@ bool Util::flash_bootloader()
} }
hal.console->printf("Flash OK\n"); hal.console->printf("Flash OK\n");
free(fw); free(fw);
hal.scheduler->expect_delay_ms(0);
return true; return true;
} }
hal.console->printf("Flash failed after %u attempts\n", max_attempts); hal.console->printf("Flash failed after %u attempts\n", max_attempts);
free(fw); free(fw);
hal.scheduler->expect_delay_ms(0);
return false; return false;
} }
#endif //#ifndef HAL_NO_FLASH_SUPPORT #endif //#ifndef HAL_NO_FLASH_SUPPORT