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AP_Bootloader: use MAINTAINENCE mode for CAN bootloader 

this makes it obvious we are in the bootloader
This commit is contained in:
Andrew Tridgell 2019-10-26 13:07:18 +11:00
parent 482e0d4787
commit cc1f86e1f1
1 changed files with 3 additions and 1 deletions
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4
Tools/AP_Bootloader/can.cpp
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@ -539,7 +539,7 @@ static void process1HzTasks(uint64_t timestamp_usec)
canardCleanupStaleTransfers(&canard, timestamp_usec);
if (canardGetLocalNodeID(&canard) != CANARD_BROADCAST_NODE_ID) {
node_status.mode = fw_update.node_id?UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE:UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
node_status.mode = fw_update.node_id?UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE:UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE;
send_node_status();
}
}
@ -608,6 +608,8 @@ void can_check_update(void)
void can_start()
{
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE;
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, baudrate, &timings);