Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-25 18:18:49 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_IOMCU: use compressed interface for IO fw upload

Browse Source
This commit is contained in:
Andrew Tridgell 2018-07-09 16:47:35 +10:00 committed by Randy Mackay
parent 230e1f681b
commit 9384bc9b03
3 changed files with 12 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -650,9 +650,8 @@ bool AP_IOMCU::check_crc(void)
{ {
// flash size minus 4k bootloader // flash size minus 4k bootloader
const uint32_t flash_size = 0x10000 - 0x1000; const uint32_t flash_size = 0x10000 - 0x1000;
uint32_t fw_size;
fw = AP_ROMFS::find_file(fw_name, fw_size); fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) { if (!fw) {
hal.console->printf("failed to find %s\n", fw_name); hal.console->printf("failed to find %s\n", fw_name);
return false; return false;
@ -671,16 +670,22 @@ bool AP_IOMCU::check_crc(void)
io_crc == crc) { io_crc == crc) {
hal.console->printf("IOMCU: CRC ok\n"); hal.console->printf("IOMCU: CRC ok\n");
crc_is_ok = true; crc_is_ok = true;
free(fw);
fw = nullptr;
return true; return true;
} }
const uint16_t magic = REBOOT_BL_MAGIC; const uint16_t magic = REBOOT_BL_MAGIC;
write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic); write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
if (!upload_fw(fw_name)) { if (!upload_fw()) {
free(fw);
fw = nullptr;
AP_BoardConfig::sensor_config_error("Failed to update IO firmware"); AP_BoardConfig::sensor_config_error("Failed to update IO firmware");
} }
free(fw);
fw = nullptr;
return false; return false;
} }

5
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -211,9 +211,10 @@ private:
// firmware upload // firmware upload
const char *fw_name = "io_firmware.bin"; const char *fw_name = "io_firmware.bin";
const uint8_t *fw; uint8_t *fw;
uint32_t fw_size;
bool upload_fw(const char *filename); bool upload_fw(void);
bool recv_byte_with_timeout(uint8_t *c, uint32_t timeout_ms); bool recv_byte_with_timeout(uint8_t *c, uint32_t timeout_ms);
bool recv_bytes(uint8_t *p, uint32_t count); bool recv_bytes(uint8_t *p, uint32_t count);
void drain(void); void drain(void);

5
libraries/AP_IOMCU/fw_uploader.cpp
View File

@ -63,11 +63,8 @@ extern const AP_HAL::HAL &hal;
/* /*
upload a firmware to the IOMCU upload a firmware to the IOMCU
*/ */
bool AP_IOMCU::upload_fw(const char *filename) bool AP_IOMCU::upload_fw(void)
{ {
uint32_t fw_size;
fw = AP_ROMFS::find_file(filename, fw_size);
// set baudrate for bootloader // set baudrate for bootloader
uart.begin(115200, 256, 256); uart.begin(115200, 256, 256);