diff options
Diffstat (limited to 'src/drivers/px4io/px4io_uploader.cpp')
-rw-r--r-- | src/drivers/px4io/px4io_uploader.cpp | 76 |
1 files changed, 33 insertions, 43 deletions
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index d134c0246..fb16f891f 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -65,7 +65,8 @@ PX4IO_Uploader::PX4IO_Uploader() : _io_fd(-1), - _fw_fd(-1) + _fw_fd(-1), + bl_rev(0) { } @@ -204,12 +205,8 @@ 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); } @@ -249,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[]) } int -PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) +PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout) { struct pollfd fds[1]; @@ -266,24 +263,24 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) return -ETIMEDOUT; } - read(_io_fd, &c, 1); + read(_io_fd, c, 1); #ifdef UDEBUG - log("recv 0x%02x", c); + log("recv_bytes 0x%02x", c); #endif return OK; } int -PX4IO_Uploader::recv(uint8_t *p, unsigned count) +PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count) { + int ret = OK; while (count--) { - int ret = recv(*p++, 5000); + ret = recv_byte_with_timeout(p++, 5000); if (ret != OK) - return ret; + break; } - - return OK; + return ret; } void @@ -293,10 +290,10 @@ PX4IO_Uploader::drain() int ret; do { - // the small recv timeout here is to allow for fast + // the small recv_bytes timeout here is to allow for fast // drain when rebooting the io board for a forced // update of the fw without using the safety switch - ret = recv(c, 40); + ret = recv_byte_with_timeout(&c, 40); #ifdef UDEBUG if (ret == OK) { @@ -314,21 +311,19 @@ 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 @@ -337,12 +332,12 @@ PX4IO_Uploader::get_sync(unsigned timeout) uint8_t c[2]; int ret; - ret = recv(c[0], timeout); + ret = recv_byte_with_timeout(c, timeout); if (ret != OK) return ret; - ret = recv(c[1], timeout); + ret = recv_byte_with_timeout(c + 1, timeout); if (ret != OK) return ret; @@ -378,7 +373,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val) send(param); send(PROTO_EOC); - ret = recv((uint8_t *)&val, sizeof(val)); + ret = recv_bytes((uint8_t *)&val, sizeof(val)); if (ret != OK) return ret; @@ -419,12 +414,15 @@ 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 +441,26 @@ 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 @@ -524,7 +514,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size) for (ssize_t i = 0; i < count; i++) { uint8_t c; - ret = recv(c, 5000); + ret = recv_byte_with_timeout(&c, 5000); if (ret != OK) { log("%d: got %d waiting for bytes", sent + i, ret); @@ -611,7 +601,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local) send(PROTO_GET_CRC); send(PROTO_EOC); - ret = recv((uint8_t*)(&crc), sizeof(crc)); + ret = recv_bytes((uint8_t*)(&crc), sizeof(crc)); if (ret != OK) { log("did not receive CRC checksum"); |