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px4-firmware
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Merge pull request #1165 from jean-m-cyr/master 

px4io_uploader cleanup and minor optimization
This commit is contained in:
Lorenz Meier 2014-07-16 09:40:06 +02:00
parent c67f76e0c7 25b036c6a5
commit 1dd4282099
2 changed files with 20 additions and 32 deletions
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51
src/drivers/px4io/px4io_uploader.cpp
View File

@ -204,12 +204,8 @@ PX4IO_Uploader::upload(const char *filenames[])
if (bl_rev <= 2) {
ret = verify_rev2(fw_size);
} else if(bl_rev == 3) {
ret = verify_rev3(fw_size);
} else {
/* verify rev 4 and higher still uses the same approach and
* every version *needs* to be verified.
*/
/* verify rev 3 and higher. Every version *needs* to be verified. */
ret = verify_rev3(fw_size);
}
@ -276,14 +272,14 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
int
PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
int ret;
while (count--) {
int ret = recv(*p++, 5000);
ret = recv(*p++, 5000);
if (ret != OK)
return ret;
break;
}
return OK;
return ret;
}
void
@ -314,21 +310,19 @@ PX4IO_Uploader::send(uint8_t c)
#endif
if (write(_io_fd, &c, 1) != 1)
return -errno;
return OK;
}
int
PX4IO_Uploader::send(uint8_t *p, unsigned count)
{
int ret;
while (count--) {
int ret = send(*p++);
ret = send(*p++);
if (ret != OK)
return ret;
break;
}
return OK;
return ret;
}
int
@ -419,12 +413,15 @@ PX4IO_Uploader::program(size_t fw_size)
int ret;
size_t sent = 0;
file_buf = (uint8_t *)malloc(PROG_MULTI_MAX);
file_buf = new uint8_t[PROG_MULTI_MAX];
if (!file_buf) {
log("Can't allocate program buffer");
return -ENOMEM;
}
ASSERT((fw_size & 3) == 0);
ASSERT((PROG_MULTI_MAX & 3) == 0);
log("programming %u bytes...", (unsigned)fw_size);
ret = lseek(_fw_fd, 0, SEEK_SET);
@ -443,34 +440,26 @@ PX4IO_Uploader::program(size_t fw_size)
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0) {
free(file_buf);
return OK;
ret = -errno;
break;
}
sent += count;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_PROG_MULTI);
send(count);
send(&file_buf[0], count);
send(file_buf, count);
send(PROTO_EOC);
ret = get_sync(1000);
if (ret != OK) {
free(file_buf);
return ret;
break;
}
}
free(file_buf);
return OK;
delete [] file_buf;
return ret;
}
int

1
src/drivers/px4io/uploader.h
View File

@ -75,7 +75,6 @@ private:
INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */
PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */
READ_MULTI_MAX = 60, /**< protocol max is 255, something overflows with >= 64 */
};