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

AP_Bootloader: support firmware update from px4 firmware 

allows droncan_gui_tool to update px4 firmware with ArduPilot
bootloader
This commit is contained in:
Andrew Tridgell 2022-02-05 12:45:08 +11:00
parent f2308e96a9
commit 432c2d1758
3 changed files with 52 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -94,7 +94,11 @@ int main(void)
timeout = 10000;
can_set_node_id(m & 0xFF);
}
can_check_update();
if (can_check_update()) {
// trying to update firmware, stay in bootloader
try_boot = false;
timeout = 0;
}
if (!can_check_firmware()) {
// bad firmware CRC, don't try and boot
timeout = 0;

49
Tools/AP_Bootloader/can.cpp
View File

@ -678,18 +678,61 @@ bool can_check_firmware(void)
}
// check for a firmware update marker left by app
void can_check_update(void)
bool can_check_update(void)
{
bool ret = false;
#if HAL_RAM_RESERVE_START >= 256
struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
if (comms->magic == APP_BOOTLOADER_COMMS_MAGIC) {
can_set_node_id(comms->my_node_id);
fw_update.node_id = comms->server_node_id;
memcpy(fw_update.path, comms->path, UAVCAN_PROTOCOL_FILE_PATH_PATH_MAX_LENGTH+1);
ret = true;
// clear comms region
memset(comms, 0, sizeof(struct app_bootloader_comms));
}
// clear comms region
memset(comms, 0, sizeof(struct app_bootloader_comms));
#endif
#if defined(CAN1_BASE) && defined(RCC_APB1ENR_CAN1EN)
// check for px4 fw update. px4 uses the filter registers in CAN1
// to communicate with the bootloader. This only works on CAN1
if (!ret && stm32_was_software_reset()) {
uint32_t *fir = (uint32_t *)(CAN1_BASE + 0x240);
struct PACKED app_shared {
union {
uint64_t ull;
uint32_t ul[2];
uint8_t valid;
} crc;
uint32_t signature;
uint32_t bus_speed;
uint32_t node_id;
} *app = (struct app_shared *)&fir[4];
/* we need to enable the CAN peripheral in order to look at
the FIR registers.
*/
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
static const uint32_t app_signature = 0xb0a04150;
if (app->signature == app_signature &&
app->node_id > 0 && app->node_id < 128) {
// crc is in reversed word order in FIR registers
uint32_t sig[3];
memcpy((uint8_t *)&sig[0], (const uint8_t *)&app->signature, sizeof(sig));
const uint64_t crc = crc_crc64(sig, 3);
const uint32_t *crc32 = (const uint32_t *)&crc;
if (crc32[0] == app->crc.ul[1] &&
crc32[1] == app->crc.ul[0]) {
// reset signature so we don't get in a boot loop
app->signature = 0;
// setup node ID
can_set_node_id(app->node_id);
// and baudrate
baudrate = app->bus_speed;
ret = true;
}
}
}
#endif
return ret;
}
void can_start()

2
Tools/AP_Bootloader/can.h
View File

@ -2,4 +2,4 @@ void can_start();
void can_update();
void can_set_node_id(uint8_t node_id);
bool can_check_firmware(void);
void can_check_update(void);
bool can_check_update(void);