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AP_IOMCU: use compressed interface for IO fw upload

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This commit is contained in:
Andrew Tridgell 2018-07-09 16:47:35 +10:00
parent 27c435e217
commit e200de1f57
3 changed files with 12 additions and 9 deletions
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11
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -643,9 +643,8 @@ bool AP_IOMCU::check_crc(void)
{
// flash size minus 4k bootloader
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) {
hal.console->printf("failed to find %s\n", fw_name);
return false;
@ -664,16 +663,22 @@ bool AP_IOMCU::check_crc(void)
io_crc == crc) {
hal.console->printf("IOMCU: CRC ok\n");
crc_is_ok = true;
free(fw);
fw = nullptr;
return true;
}
const uint16_t magic = REBOOT_BL_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");
}
free(fw);
fw = nullptr;
return false;
}

5
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -211,9 +211,10 @@ private:
// firmware upload
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_bytes(uint8_t *p, uint32_t count);
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
*/
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
uart.begin(115200, 256, 256);