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HAL_ChibiOS: improve error messages for flashing bootloader

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send progress as statustext messages
This commit is contained in:
Andrew Tridgell 2020-05-11 13:39:22 +10:00
parent 0ca4b589a7
commit 8088923162
2 changed files with 42 additions and 18 deletions
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58
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -185,7 +185,14 @@ uint64_t Util::get_hw_rtc() const
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
bool Util::flash_bootloader()
#if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD)
#define Debug(fmt, args ...) do { hal.console->printf(fmt, ## args); } while (0)
#else
#include <GCS_MAVLink/GCS.h>
#define Debug(fmt, args ...) do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
#endif
Util::FlashBootloader Util::flash_bootloader()
{
uint32_t fw_size;
const char *fw_name = "bootloader.bin";
@ -194,8 +201,8 @@ bool Util::flash_bootloader()
const uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
hal.console->printf("failed to find %s\n", fw_name);
return false;
Debug("failed to find %s\n", fw_name);
return FlashBootloader::NOT_AVAILABLE;
}
// make sure size is multiple of 32
@ -203,36 +210,53 @@ bool Util::flash_bootloader()
const uint32_t addr = hal.flash->getpageaddr(0);
if (!memcmp(fw, (const void*)addr, fw_size)) {
hal.console->printf("Bootloader up-to-date\n");
Debug("Bootloader up-to-date\n");
AP_ROMFS::free(fw);
return true;
return FlashBootloader::NO_CHANGE;
}
hal.console->printf("Erasing\n");
if (!hal.flash->erasepage(0)) {
hal.console->printf("Erase failed\n");
AP_ROMFS::free(fw);
return false;
Debug("Erasing\n");
uint32_t erased_size = 0;
uint8_t erase_page = 0;
while (erased_size < fw_size) {
uint32_t page_size = hal.flash->getpagesize(erase_page);
if (page_size == 0) {
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
hal.scheduler->expect_delay_ms(1000);
if (!hal.flash->erasepage(erase_page)) {
Debug("Erase %u failed\n", erase_page);
AP_ROMFS::free(fw);
return FlashBootloader::FAIL;
}
erased_size += page_size;
erase_page++;
}
hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
Debug("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
const uint8_t max_attempts = 10;
hal.flash->keep_unlocked(true);
for (uint8_t i=0; i<max_attempts; i++) {
hal.scheduler->expect_delay_ms(1000);
bool ok = hal.flash->write(addr, fw, fw_size);
if (!ok) {
hal.console->printf("Flash failed! (attempt=%u/%u)\n",
Debug("Flash failed! (attempt=%u/%u)\n",
i+1,
max_attempts);
hal.scheduler->delay(1000);
hal.scheduler->delay(100);
continue;
}
hal.console->printf("Flash OK\n");
Debug("Flash OK\n");
hal.flash->keep_unlocked(false);
AP_ROMFS::free(fw);
return true;
return FlashBootloader::OK;
}
hal.console->printf("Flash failed after %u attempts\n", max_attempts);
hal.flash->keep_unlocked(false);
Debug("Flash failed after %u attempts\n", max_attempts);
AP_ROMFS::free(fw);
return false;
return FlashBootloader::FAIL;
}
#endif // !HAL_NO_FLASH_SUPPORT && !HAL_NO_ROMFS_SUPPORT

2
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -86,7 +86,7 @@ private:
*/
uint64_t get_hw_rtc() const override;
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
bool flash_bootloader() override;
FlashBootloader flash_bootloader() override;
#endif
#ifdef ENABLE_HEAP