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HAL_ChibiOS: fixed multi-page bootloader update 

and use new enum
This commit is contained in:
Andrew Tridgell 2019-10-25 13:15:25 +11:00
parent 9a778418a5
commit 81325ab14d
2 changed files with 22 additions and 10 deletions
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30
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -226,7 +226,7 @@ uint64_t Util::get_hw_rtc() const
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
bool Util::flash_bootloader()
Util::FlashBootloader Util::flash_bootloader()
{
uint32_t fw_size;
const char *fw_name = "bootloader.bin";
@ -236,22 +236,34 @@ bool Util::flash_bootloader()
const uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
hal.console->printf("failed to find %s\n", fw_name);
return false;
return FlashBootloader::NOT_AVAILABLE;
}
const uint32_t addr = hal.flash->getpageaddr(0);
if (!memcmp(fw, (const void*)addr, fw_size)) {
hal.console->printf("Bootloader up-to-date\n");
AP_ROMFS::free(fw);
return true;
return FlashBootloader::NO_CHANGE;
}
hal.console->printf("Erasing\n");
if (!hal.flash->erasepage(0)) {
hal.console->printf("Erase failed\n");
AP_ROMFS::free(fw);
return false;
uint32_t erased_size = 0;
uint8_t erase_page = 0;
while (erased_size < fw_size) {
if (!hal.flash->erasepage(erase_page)) {
hal.console->printf("Erase %u failed\n", erase_page);
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
uint32_t page_size = hal.flash->getpagesize(erase_page);
if (page_size == 0) {
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
erased_size += page_size;
erase_page++;
}
hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
const uint8_t max_attempts = 10;
for (uint8_t i=0; i<max_attempts; i++) {
@ -265,12 +277,12 @@ bool Util::flash_bootloader()
}
hal.console->printf("Flash OK\n");
AP_ROMFS::free(fw);
return true;
return FlashBootloader::OK;
}
hal.console->printf("Flash failed after %u attempts\n", max_attempts);
AP_ROMFS::free(fw);
return false;
return FlashBootloader::FAIL;
}
#endif // !HAL_NO_FLASH_SUPPORT && !HAL_NO_ROMFS_SUPPORT

2
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -100,7 +100,7 @@ private:
*/
uint64_t get_hw_rtc() const override;
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
bool flash_bootloader() override;
FlashBootloader flash_bootloader() override;
#endif
#ifdef ENABLE_HEAP