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AP_Bootloader: added more protection against line noisy triggering bootloader 

this is in reponse to a report from Ryan of the Hybrid project who
found that mavlink on telem1 could make bootloader get stuck
This commit is contained in:
Andrew Tridgell 2019-12-06 10:48:44 +11:00 committed by Randy Mackay
parent 3901471eaf
commit 436662c0d7
1 changed files with 19 additions and 2 deletions
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21
Tools/AP_Bootloader/bl_protocol.cpp
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@ -462,7 +462,9 @@ bootloader(unsigned timeout)
uint32_t first_words[RESERVE_LEAD_WORDS];
bool done_sync = false;
bool done_get_device = false;
bool done_erase = false;
static bool done_timer_init;
unsigned original_timeout = timeout;
memset(first_words, 0xFF, sizeof(first_words));
@ -596,12 +598,17 @@ bootloader(unsigned timeout)
// lower chance of random data on a uart triggering erase
goto cmd_bad;
}
/* expect EOC */
if (!wait_for_eoc(2)) {
goto cmd_bad;
}
// once erase is done there is no going back, set timeout
// to zero
done_erase = true;
timeout = 0;
flash_set_keep_unlocked(true);
// clear the bootloader LED while erasing - it stops blinking at random
@ -911,7 +918,11 @@ bootloader(unsigned timeout)
break;
case PROTO_SET_BAUD: {
/* expect arg then EOC */
if (!done_sync || !done_get_device) {
// prevent timeout going to zero on noise
goto cmd_bad;
}
/* expect arg then EOC */
uint32_t baud = 0;
if (cin_word(&baud, 100)) {
@ -957,6 +968,12 @@ bootloader(unsigned timeout)
sync_response();
continue;
cmd_bad:
// if we get a bad command it could be line noise on a
// uart. Set timeout back to original timeout so we don't get
// stuck in the bootloader
if (!done_erase) {
timeout = original_timeout;
}
// send an 'invalid' response but don't kill the timeout - could be garbage
invalid_response();
continue;