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px4-firmware
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canbootloader:Send number of KB written while updating FW

This commit is contained in:
David Sidrane 2021-02-10 14:06:08 -08:00 committed by Daniel Agar
parent d426dd771f
commit 51b54c025b
1 changed files with 6 additions and 2 deletions
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8
platforms/nuttx/src/canbootloader/uavcan/main.c
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@ -98,6 +98,7 @@ typedef volatile struct bootloader_t {
bool wait_for_getnodeinfo; bool wait_for_getnodeinfo;
bool app_bl_request; bool app_bl_request;
bool sent_node_info_response; bool sent_node_info_response;
uint16_t percentage_done;
union { union {
uint32_t l; uint32_t l;
uint8_t b[sizeof(uint32_t)]; uint8_t b[sizeof(uint32_t)];
@ -288,7 +289,7 @@ static void node_status_process(bl_timer_id id, void *context)
message.u8 = uavcan_pack(bootloader.sub_mode, NodeStatus, sub_mode) message.u8 = uavcan_pack(bootloader.sub_mode, NodeStatus, sub_mode)
| uavcan_pack(bootloader.mode, NodeStatus, mode) | uavcan_pack(bootloader.mode, NodeStatus, mode)
| uavcan_pack(bootloader.health, NodeStatus, health); | uavcan_pack(bootloader.health, NodeStatus, health);
message.vendor_specific_status_code = 0u; message.vendor_specific_status_code = bootloader.percentage_done;
uavcan_tx_dsdl(DSDLMsgNodeStatus, &protocol, (const uint8_t *) &message, sizeof(uavcan_NodeStatus_t)); uavcan_tx_dsdl(DSDLMsgNodeStatus, &protocol, (const uint8_t *) &message, sizeof(uavcan_NodeStatus_t));
} }
@ -756,6 +757,8 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
/* Set up the read request */ /* Set up the read request */
memcpy(&request.path, fw_path, sizeof(uavcan_Path_t)); memcpy(&request.path, fw_path, sizeof(uavcan_Path_t));
bootloader.percentage_done = 0;
uint8_t retries = UavcanServiceRetries; uint8_t retries = UavcanServiceRetries;
/* /*
@ -852,6 +855,7 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
length + (length & 1)); length + (length & 1));
request.offset += length; request.offset += length;
bootloader.percentage_done = (request.offset / 1024) + 1;
/* rate limit */ /* rate limit */
while (!timer_expired(tread)) { while (!timer_expired(tread)) {
@ -870,7 +874,7 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
* was not. */ * was not. */
if (uavcan_status == UavcanOk && flash_status == FLASH_OK if (uavcan_status == UavcanOk && flash_status == FLASH_OK
&& request.offset == fw_image_size && length != 0) { && request.offset == fw_image_size && length != 0) {
bootloader.percentage_done = 0;
return FLASH_OK; return FLASH_OK;
} else { } else {