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AP_Bootloader: fixed can bootloader with old UAVCAN GUI tool

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the part that was failing was the write of the leading words. That
part is not actually needed in this bootloader as we use a CRC before
running, so remove it, which fixes the old windows GUI tool.

This also saves some memory and flash
This commit is contained in:
Andrew Tridgell 2020-12-15 18:00:22 +11:00 committed by Tom Pittenger
parent 908b348c31
commit e0e4198358
1 changed files with 1 additions and 11 deletions
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12
Tools/AP_Bootloader/can.cpp
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@ -71,7 +71,6 @@ static uint8_t node_id_allocation_transfer_id;
static uavcan_protocol_NodeStatus node_status; static uavcan_protocol_NodeStatus node_status;
static uint32_t send_next_node_id_allocation_request_at_ms; static uint32_t send_next_node_id_allocation_request_at_ms;
static uint8_t node_id_allocation_unique_id_offset; static uint8_t node_id_allocation_unique_id_offset;
static uint32_t app_first_words[8];
static struct { static struct {
uint64_t ofs; uint64_t ofs;
@ -226,12 +225,7 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
flash_func_erase_sector(fw_update.sector+1); flash_func_erase_sector(fw_update.sector+1);
} }
for (uint16_t i=0; i<len/4; i++) { for (uint16_t i=0; i<len/4; i++) {
if (fw_update.sector == 0 && (fw_update.ofs+i*4) < sizeof(app_first_words)) { flash_write_buffer(fw_update.ofs+i*4, &buf32[i], 1);
// keep first word aside, to be flashed last
app_first_words[i] = buf32[i];
} else {
flash_write_buffer(fw_update.ofs+i*4, &buf32[i], 1);
}
} }
fw_update.ofs += len; fw_update.ofs += len;
fw_update.sector_ofs += len; fw_update.sector_ofs += len;
@ -241,8 +235,6 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
} }
if (len < UAVCAN_PROTOCOL_FILE_READ_RESPONSE_DATA_MAX_LENGTH) { if (len < UAVCAN_PROTOCOL_FILE_READ_RESPONSE_DATA_MAX_LENGTH) {
fw_update.node_id = 0; fw_update.node_id = 0;
// now flash the first word
flash_write_buffer(0, app_first_words, ARRAY_SIZE(app_first_words));
flash_write_flush(); flash_write_flush();
if (can_check_firmware()) { if (can_check_firmware()) {
jump_to_app(); jump_to_app();
@ -265,8 +257,6 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
return; return;
} }
memset(app_first_words, 0xff, sizeof(app_first_words));
if (fw_update.node_id == 0) { if (fw_update.node_id == 0) {
uint32_t offset = 0; uint32_t offset = 0;
canardDecodeScalar(transfer, 0, 8, false, (void*)&fw_update.node_id); canardDecodeScalar(transfer, 0, 8, false, (void*)&fw_update.node_id);