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AP_Bootloader: speed up CAN fw load

This commit is contained in:
Andrew Tridgell 2019-10-21 17:44:02 +11:00
parent 8812466355
commit 9c4a01e0b0
3 changed files with 25 additions and 15 deletions
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1
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -83,6 +83,7 @@ int main(void)
timeout = 10000;
can_set_node_id(m & 0xFF);
}
can_check_update();
if (!can_check_firmware()) {
// bad firmware CRC, don't try and boot
timeout = 0;

13
Tools/AP_Bootloader/can.cpp
View File

@ -243,6 +243,7 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
if (transfer->payload_len < 1 || transfer->payload_len > sizeof(fw_update.path)+1) {
return;
}
if (fw_update.node_id == 0) {
uint32_t offset = 0;
canardDecodeScalar(transfer, 0, 8, false, (void*)&fw_update.node_id);
offset += 8;
@ -257,6 +258,7 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
if (fw_update.node_id == 0) {
fw_update.node_id = transfer->source_node_id;
}
}
uint8_t buffer[UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_MAX_SIZE];
uavcan_protocol_file_BeginFirmwareUpdateResponse reply {};
@ -547,6 +549,10 @@ void can_set_node_id(uint8_t node_id)
*/
bool can_check_firmware(void)
{
if (fw_update.node_id != 0) {
// we're doing an update, don't boot this fw
return false;
}
const uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
const uint8_t *flash = (const uint8_t *)(FLASH_LOAD_ADDRESS + FLASH_BOOTLOADER_LOAD_KB*1024);
const uint32_t flash_size = (BOARD_FLASH_SIZE - FLASH_BOOTLOADER_LOAD_KB)*1024;
@ -579,10 +585,10 @@ bool can_check_firmware(void)
return true;
}
void can_start()
// check for a firmware update marker left by app
void can_check_update(void)
{
#if HAL_RAM_RESERVE_START >= 256
// check for a firmware update marker left by app
struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
if (comms->magic == APP_BOOTLOADER_COMMS_MAGIC) {
can_set_node_id(comms->my_node_id);
@ -592,7 +598,10 @@ void can_start()
// clear comms region
memset(comms, 0, sizeof(struct app_bootloader_comms));
#endif
}
void can_start()
{
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, baudrate, &timings);

2
Tools/AP_Bootloader/can.h
View File

@ -2,4 +2,4 @@ void can_start();
void can_update();
void can_set_node_id(uint8_t node_id);
bool can_check_firmware(void);
void can_check_update(void);