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AP_Bootloader: add support for secondary FC bootloader to appear on second USB endpoint

This commit is contained in:
bugobliterator 2024-06-13 16:49:50 +10:00 committed by Andrew Tridgell
parent e34c91d1aa
commit e64dfa4d58
3 changed files with 63 additions and 6 deletions
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12
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -505,8 +505,16 @@ bootloader(unsigned timeout)
led_off(LED_ACTIVITY);
do {
/* if we have a timeout and the timer has expired, return now */
if (timeout && !timer[TIMER_BL_WAIT]) {
/* if we have a timeout and the timer has expired and serial forward is not busy, return now */
#if defined(BOOTLOADER_FORWARD_OTG2_SERIAL)
bool ser_forward_active = update_otg2_serial_forward();
#endif
if (timeout && !timer[TIMER_BL_WAIT]
#if defined(BOOTLOADER_FORWARD_OTG2_SERIAL)
// do serial forward only when idle
&& !ser_forward_active
#endif
) {
return;
}

51
Tools/AP_Bootloader/support.cpp
View File

@ -445,6 +445,10 @@ void init_uarts(void)
#if HAL_USE_SERIAL_USB == TRUE
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg1);
#if HAL_HAVE_DUAL_USB_CDC
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg2);
#endif
usbDisconnectBus(serusbcfg1.usbp);
thread_sleep_ms(1000);
@ -457,7 +461,11 @@ void init_uarts(void)
for (const auto &uart : uarts) {
#if HAL_USE_SERIAL_USB == TRUE
if (uart == (BaseChannel *)&SDU1) {
if (uart == (BaseChannel *)&SDU1
#if HAL_HAVE_DUAL_USB_CDC
|| uart == (BaseChannel *)&SDU2
#endif
) {
continue;
}
#endif
@ -467,13 +475,52 @@ void init_uarts(void)
}
#if defined(BOOTLOADER_FORWARD_OTG2_SERIAL)
/* forward serial to OTG2
Used for devices containing multiple devices in one
*/
static SerialConfig forward_sercfg;
static uint32_t otg2_serial_deadline_ms;
bool update_otg2_serial_forward()
{
// get baudrate set on SDU2 and set it on HAL_FORWARD_OTG2_SERIAL if changed
if (forward_sercfg.speed != BOOTLOADER_FORWARD_OTG2_SERIAL_BAUDRATE) {
forward_sercfg.speed = BOOTLOADER_FORWARD_OTG2_SERIAL_BAUDRATE;
#if defined(BOOTLOADER_FORWARD_OTG2_SERIAL_SWAP) && BOOTLOADER_FORWARD_OTG2_SERIAL_SWAP
forward_sercfg.cr2 = USART_CR2_SWAP;
#endif
sdStart(&BOOTLOADER_FORWARD_OTG2_SERIAL, &forward_sercfg);
}
// check how many bytes are available to read from HAL_FORWARD_OTG2_SERIAL
uint8_t data[SERIAL_BUFFERS_SIZE]; // read upto SERIAL_BUFFERS_SIZE at a time
int n = chnReadTimeout(&SDU2, data, SERIAL_BUFFERS_SIZE, TIME_IMMEDIATE);
if (n > 0) {
// do a blocking write to HAL_FORWARD_OTG2_SERIAL
chnWriteTimeout(&BOOTLOADER_FORWARD_OTG2_SERIAL, data, n, TIME_IMMEDIATE);
otg2_serial_deadline_ms = AP_HAL::millis() + 1000;
}
n = chnReadTimeout(&BOOTLOADER_FORWARD_OTG2_SERIAL, data, SERIAL_BUFFERS_SIZE, TIME_IMMEDIATE);
if (n > 0) {
// do a blocking write to SDU2
chnWriteTimeout(&SDU2, data, n, TIME_IMMEDIATE);
}
return (AP_HAL::millis() > otg2_serial_deadline_ms);
}
#endif
/*
set baudrate on the current port
*/
void port_setbaud(uint32_t baudrate)
{
#if HAL_USE_SERIAL_USB == TRUE
if (uarts[last_uart] == (BaseChannel *)&SDU1) {
if (uarts[last_uart] == (BaseChannel *)&SDU1
#if HAL_HAVE_DUAL_USB_CDC
|| uarts[last_uart] == (BaseChannel *)&SDU2
#endif
) {
// can't set baudrate on USB
return;
}

4
Tools/AP_Bootloader/support.h
View File

@ -18,7 +18,9 @@ int16_t cin(unsigned timeout_ms);
int cin_word(uint32_t *wp, unsigned timeout_ms);
void cout(uint8_t *data, uint32_t len);
void port_setbaud(uint32_t baudrate);
#if defined(BOOTLOADER_FORWARD_OTG2_SERIAL)
bool update_otg2_serial_forward(void);
#endif
void flash_init();
uint32_t flash_func_read_word(uint32_t offset);