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AP_IOMCU: retry forcing IOMCU into bootloader multiple times 

this fixes an issue where the update of IO firmware can fail
This commit is contained in:
Andrew Tridgell 2023-12-24 06:28:34 +11:00
parent ec2696a77f
commit 5ef3a36610
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -869,8 +869,13 @@ bool AP_IOMCU::check_crc(void)
DEV_PRINTF("IOMCU: CRC mismatch expected: 0x%X got: 0x%X\n", (unsigned)crc, (unsigned)io_crc);
}
// get IOMCU into the bootloader. We retry to maximise the chances
// of success
const uint16_t magic = REBOOT_BL_MAGIC;
write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
for (uint8_t i=0; i<16; i++) {
write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
hal.scheduler->delay(1);
}
// avoid internal error on fw upload delay
last_reg_read_ms = 0;