/*
discard any pending bytes
*/
void AP_IOMCU::drain(void)
{
uint8_t c;
bool ret;
do {
ret = recv_byte_with_timeout(&c, 40);
} while (ret);
}
int
PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
{
int ret = OK;
while (count--) {
ret = recv_byte_with_timeout(p++, 5000);
if (ret != OK)
break;
}
return ret;
}
/*
wait for bootloader protocol sync
*/
bool AP_IOMCU::get_sync(uint32_t timeout_ms)
{
uint8_t c[2];
bool ret;
ret = recv_byte_with_timeout(c, timeout_ms);
if (!ret) {
return false;
}
ret = recv_byte_with_timeout(c + 1, timeout_ms);
if (!ret) {
return ret;
}
if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
debug("bad sync 0x%02x,0x%02x", c[0], c[1]);
return false;
}
return true;
}
/*
receive multiple bytes from the bootloader
*/
bool AP_IOMCU::recv_bytes(uint8_t *p, uint32_t count)
{
bool ret = true;
while (count--) {
ret = recv_byte_with_timeout(p++, 5000);
if (!ret) {
break;
}
}
return ret;
}
/*
verify firmware for a rev2 bootloader
*/
bool AP_IOMCU::verify_rev2(uint32_t fw_size)
{
ssize_t count;
bool ret;
size_t sent = 0;
debug("verify...");
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (!ret) {
return ret;
}
while (sent < fw_size) {
/* get more bytes to verify */
uint32_t n = fw_size - sent;
if (n > 4) {
n = 4;
}
send(PROTO_READ_MULTI);
send(n);
send(PROTO_EOC);
for (uint8_t i = 0; i<n; i++) {
uint8_t c;
ret = recv_byte_with_timeout(&c, 5000);
if (!ret) {
debug("%d: got %d waiting for bytes", sent + i, ret);
return ret;
}
if (c != fw[sent+i]) {
debug("%d: got 0x%02x expected 0x%02x", sent + i, c, fw[sent+i]);
return false;
}
}
sent += count;
ret = get_sync();
if (!ret) {
debug("timeout waiting for post-verify sync");
return ret;
}
}
return true;
}
int
PX4IO_Uploader::get_sync(unsigned timeout)
{
uint8_t c[2];
int ret;
ret = recv_byte_with_timeout(c, timeout);
if (ret != OK)
return ret;
ret = recv_byte_with_timeout(c + 1, timeout);
if (ret != OK)
return ret;
if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
log("bad sync 0x%02x,0x%02x", c[0], c[1]);
return -EIO;
}
return OK;
}
void
PX4IO_Uploader::drain()
{
uint8_t c;
int ret;
do {
// 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_byte_with_timeout(&c, 40);
#ifdef UDEBUG
if (ret == OK) {
log("discard 0x%02x", c);
}
#endif
} while (ret == OK);
}
int
PX4IO_Uploader::verify_rev2(size_t fw_size)
{
uint8_t file_buf[4];
ssize_t count;
int ret;
size_t sent = 0;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
while (sent < fw_size) {
/* get more bytes to verify */
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
break;
sent += count;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_READ_MULTI);
send(count);
send(PROTO_EOC);
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv_byte_with_timeout(&c, 5000);
if (ret != OK) {
log("%d: got %d waiting for bytes", sent + i, ret);
return ret;
}
if (c != file_buf[i]) {
log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]);
return -EINVAL;
}
}
ret = get_sync();
if (ret != OK) {
log("timeout waiting for post-verify sync");
return ret;
}
}
return OK;
}