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AP_IOMCU: prevent internal error on bootloader flash

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when we flash the bootloader on boards with an IOMCU we expect a long
delay as the CPU stops during the flash
This commit is contained in:
Andrew Tridgell 2021-01-22 06:38:06 +11:00
parent bb278a1cc7
commit 87528f47c8
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -1016,8 +1016,12 @@ void AP_IOMCU::check_iomcu_reset(void)
} }
uint32_t dt_ms = reg_status.timestamp_ms - last_iocmu_timestamp_ms; uint32_t dt_ms = reg_status.timestamp_ms - last_iocmu_timestamp_ms;
uint32_t ts1 = last_iocmu_timestamp_ms; uint32_t ts1 = last_iocmu_timestamp_ms;
// when we are in an expected delay allow for a larger time
// delta. This copes with flash erase, such as bootloader update
const uint32_t max_delay = hal.scheduler->in_expected_delay()?5000:500;
last_iocmu_timestamp_ms = reg_status.timestamp_ms; last_iocmu_timestamp_ms = reg_status.timestamp_ms;
if (dt_ms < 500) {
if (dt_ms < max_delay) {
// all OK // all OK
return; return;
} }