forked from Archive/PX4-Autopilot
canbootloder:Make support for ALT Bootloader an Option
This commit is contained in:
David Sidrane
Daniel Agar
parent
174f2624df
commit
5ea56af5f0
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@ -616,6 +616,7 @@ typedef enum reset_mode_e {
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int board_configure_reset(reset_mode_e mode, uint32_t arg);
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#endif
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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/****************************************************************************
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* Name: board_booted_by_px4
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*
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@ -631,7 +632,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg);
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****************************************************************************/
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bool board_booted_by_px4(void);
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#endif
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/************************************************************************************
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* Name: board_query_manifest
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*
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@ -84,8 +84,6 @@
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#pragma message "******** DANGER DEBUG_APPLICATION_INPLACE is DEFINED ******"
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#endif
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extern bootloader_alt_app_shared_t _sapp_bl_shared;
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typedef volatile struct bootloader_t {
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can_speed_t bus_speed;
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volatile uint8_t health;
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@ -1104,7 +1102,7 @@ __EXPORT int main(int argc, char *argv[])
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bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
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common.bus_speed && common.node_id;
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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/* Was this boot a result of An Alternate Application being told it has a FW update ? */
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bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared;
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@ -1117,6 +1115,7 @@ __EXPORT int main(int argc, char *argv[])
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ps->signature = 0;
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}
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#endif
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/*
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* Mark CRC to say this is not from
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* auto baud and Node Allocation
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@ -131,6 +131,7 @@ int board_reset(int status)
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#endif /* CONFIG_BOARDCTL_RESET */
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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/****************************************************************************
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* Name: board_booted_by_px4
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*
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@ -152,3 +153,4 @@ bool board_booted_by_px4(void)
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return (vectors[2] == vectors[3]) && (vectors[4] == vectors[5]);
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}
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#endif
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@ -34,6 +34,7 @@
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#include <nuttx/config.h>
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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#include <stdint.h>
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#include <string.h>
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@ -46,8 +47,6 @@
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#include <lib/systemlib/crc.h>
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extern void *_sapp_bl_shared;
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/****************************************************************************
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* Name: bootloader_alt_app_shared_read
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*
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@ -142,3 +141,4 @@ __EXPORT void bootloader_alt_app_shared_invalidate(void)
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bootloader_alt_app_shared->signature = 0;
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}
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#endif
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@ -35,7 +35,7 @@
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#pragma once
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#include <nuttx/compiler.h>
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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__BEGIN_DECLS
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/****************************************************************************
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@ -73,6 +73,7 @@ typedef begin_packed_struct struct bootloader_alt_app_shared_t {
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} end_packed_struct bootloader_alt_app_shared_t;
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#pragma GCC diagnostic pop
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extern bootloader_alt_app_shared_t _sapp_bl_shared;
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/****************************************************************************
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* Name: bootloader_alt_app_shared_read
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@ -144,3 +145,4 @@ void bootloader_alt_app_shared_write(bootloader_alt_app_shared_t *alt_shared);
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void bootloader_alt_app_shared_invalidate(void);
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__END_DECLS
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#endif
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@ -251,17 +251,19 @@ void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<Uav
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if (!inprogress) {
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inprogress = true;
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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if (!board_booted_by_px4()) {
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bootloader_alt_app_shared_t shared_alt{0};
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shared_alt.fw_server_node_id = req.source_node_id;
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shared_alt.node_id = _node.getNodeID().get();
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shared_alt.path[0] = '\0';
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strncat((char *)shared_alt.path, (const char *)req.image_file_remote_path.path.c_str(), sizeof(shared_alt.path) - 1);
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bootloader_alt_app_shared_write(&shared_alt);
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board_configure_reset(BOARD_RESET_MODE_CAN_BL, shared_alt.node_id);
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}
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#endif
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bootloader_app_shared_t shared;
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shared.bus_speed = active_bitrate;
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shared.node_id = _node.getNodeID().get();
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@ -527,17 +529,24 @@ extern "C" int uavcannode_start(int argc, char *argv[])
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} else {
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// Node ID
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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if (!board_booted_by_px4()) {
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node_id = 0;
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bitrate = 1000000;
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} else {
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} else
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#endif
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{
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(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
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(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
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}
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}
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if (board_booted_by_px4() && (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast())) {
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if (
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#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
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board_booted_by_px4() &&
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#endif
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(node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast())) {
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PX4_ERR("Invalid Node ID %i", node_id);
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return 1;
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}
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