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AP_Bootloader: support app comms area for CAN fw update 

this allows MissionPlanner to update firmware
This commit is contained in:
Andrew Tridgell 2019-10-21 14:46:49 +11:00
parent 31b47f1484
commit ada699b9b1
2 changed files with 31 additions and 6 deletions
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15
Tools/AP_Bootloader/app_comms.h Normal file
View File

@ -0,0 +1,15 @@
/*
application -> bootloader communication structure This is put into
the start of RAM by AP_Periph to facilitate firmware upload with
UAVCAN
*/
#define APP_BOOTLOADER_COMMS_MAGIC 0xc544ad9a
struct app_bootloader_comms {
uint32_t magic;
uint32_t reserved[4];
uint8_t server_node_id;
uint8_t my_node_id;
uint8_t path[201];
};

22
Tools/AP_Bootloader/can.cpp
View File

@ -31,6 +31,7 @@
#include "can.h"
#include "bl_protocol.h"
#include <drivers/stm32/canard_stm32.h>
#include "app_comms.h"
static CanardInstance canard;
@ -58,10 +59,6 @@ static CANConfig cancfg = {
#define CAN_APP_NODE_NAME "org.ardupilot.ap_periph"
#endif
// darn, libcanard generates the wrong signature for file read
//#undef UAVCAN_PROTOCOL_FILE_READ_SIGNATURE
//#define UAVCAN_PROTOCOL_FILE_READ_SIGNATURE 0x8DCDCA939F33F678ULL
static uint8_t node_id_allocation_transfer_id;
static uavcan_protocol_NodeStatus node_status;
static uint32_t send_next_node_id_allocation_request_at_ms;
@ -151,7 +148,8 @@ static void handle_get_node_info(CanardInstance* ins,
static void send_fw_read(void)
{
uint32_t now = AP_HAL::millis();
if (now - fw_update.last_ms < 500) {
if (now - fw_update.last_ms < 250) {
// the server may still be responding
return;
}
fw_update.last_ms = now;
@ -170,7 +168,7 @@ static void send_fw_read(void)
UAVCAN_PROTOCOL_FILE_READ_SIGNATURE,
UAVCAN_PROTOCOL_FILE_READ_ID,
&fw_update.transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
CANARD_TRANSFER_PRIORITY_HIGH,
CanardRequest,
&buffer[0],
total_size);
@ -542,6 +540,18 @@ void can_set_node_id(uint8_t node_id)
void can_start()
{
#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);
fw_update.node_id = comms->server_node_id;
memcpy(fw_update.path, comms->path, UAVCAN_PROTOCOL_FILE_PATH_PATH_MAX_LENGTH+1);
}
// clear comms region
memset(comms, 0, sizeof(struct app_bootloader_comms));
#endif
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, baudrate, &timings);