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px4-firmware
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format src/systemcmds/bl_update

This commit is contained in:
Daniel Agar 2015-09-05 12:21:10 -04:00
parent 0a4a1fc991
commit 8b2ce6708a
1 changed files with 20 additions and 10 deletions
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30
src/systemcmds/bl_update/bl_update.c
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@ -61,33 +61,40 @@ static void setopt(void);
int
bl_update_main(int argc, char *argv[])
{
if (argc != 2)
if (argc != 2) {
errx(1, "missing firmware filename or command");
}
if (!strcmp(argv[1], "setopt"))
if (!strcmp(argv[1], "setopt")) {
setopt();
}
int fd = open(argv[1], O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "open %s", argv[1]);
}
struct stat s;
if (stat(argv[1], &s) != 0)
if (stat(argv[1], &s) != 0) {
err(1, "stat %s", argv[1]);
}
/* sanity-check file size */
if (s.st_size > BL_FILE_SIZE_LIMIT)
if (s.st_size > BL_FILE_SIZE_LIMIT) {
errx(1, "%s: file too large (limit: %u, actual: %d)", argv[1], BL_FILE_SIZE_LIMIT, s.st_size);
}
uint8_t *buf = malloc(s.st_size);
if (buf == NULL)
if (buf == NULL) {
errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
}
if (read(fd, buf, s.st_size) != s.st_size)
if (read(fd, buf, s.st_size) != s.st_size) {
err(1, "firmware read error");
}
close(fd);
@ -193,24 +200,27 @@ setopt(void)
const uint16_t opt_mask = (3 << 2); /* BOR_LEV bitmask */
const uint16_t opt_bits = (0 << 2); /* BOR = 0, setting for 2.7-3.6V operation */
if ((*optcr & opt_mask) == opt_bits)
if ((*optcr & opt_mask) == opt_bits) {
errx(0, "option bits are already set as required");
}
/* unlock the control register */
volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08;
*optkeyr = 0x08192a3bU;
*optkeyr = 0x4c5d6e7fU;
if (*optcr & 1)
if (*optcr & 1) {
errx(1, "option control register unlock failed");
}
/* program the new option value */
*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
usleep(1000);
if ((*optcr & opt_mask) == opt_bits)
if ((*optcr & opt_mask) == opt_bits) {
errx(0, "option bits set");
}
errx(1, "option bits setting failed; readback 0x%04x", *optcr);