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uavcan.protocol.file.* doc fixes

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This commit is contained in:
Pavel Kirienko 2014-12-27 13:57:18 +03:00
parent 6a19364898
commit 2a77569d8f
4 changed files with 21 additions and 20 deletions
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4
dsdl/uavcan/protocol/file/580.GetInfo.uavcan
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@ -11,7 +11,7 @@ Path path
---
uint64 crc64 # Ignored/Zero for directories
uint32 size # Ignored/Zero for directories
uint64 crc64 # Undefined for directories
uint32 size # Undefined for directories
Error error
EntryType entry_type

2
dsdl/uavcan/protocol/file/583.Read.uavcan
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@ -4,7 +4,7 @@
# Non-empty data means the end of file is not reached yet, even if the length is less than maximum.
# Thus, if the client needs to fetch the entire file, it should repeatedly call this service while increasing the
# offset, until the empty data is returned.
# If the object pointed by 'path' cannot be read (e.g. is a directory or does not exist), appropriate error code
# If the object pointed by 'path' cannot be read (e.g. it is a directory or it does not exist), appropriate error code
# will be returned.
#

9
dsdl/uavcan/protocol/file/584.Write.uavcan
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@ -4,16 +4,15 @@
# the field 'offset'.
#
# When writing a file, the client should repeatedly call this service with data while advancing offset until the file
# is written completely. Then the client shall call the service one last time, with the offset equal the size of the
# file and the data field empty, which will signal the server that the write operation is complete.
# is written completely. When write is complete, the client shall call the service one last time, with the offset
# set to the size of the file and with the data field empty, which will signal the server that the write operation is
# complete.
#
# When the write operation is complete, the server shall truncate the resulting file past the specified offset.
#
# Server implementation advice:
# It is recommended to implement proper handling of concurrent writes to the same file from different clients, for
# example by means of creating a staging area for uncompleted writes (like FTP servers do). Then the write-complete
# calls (with empty data fields, as described above) will trigger the server to move the file from the staging area
# to the proper location specified by 'path'.
# example by means of creating a staging area for uncompleted writes (like FTP servers do).
#
uint32 offset

26
dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan
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@ -1,26 +1,28 @@
#
# This service initiates the firmware update procedure on a remote node.
# The node that is being updated will retrieve the firmware image file 'image_file_remote_path' from the node
# 'source_node_id' using the file read service, update the firmware, and reboot. Alternatively, this service
# can be used to invoke the default CAN bootloader on a MCU, in which case the field 'image_file_remote_path'
# must be empty.
# This service initiates a firmware update on a remote node.
#
# Nodes are allowed to explicitly reject this request under some circumstances (e.g. BLDC drive should reject if
# the motor is running).
# The node that is being updated (slave) will retrieve the firmware image file 'image_file_remote_path' from the node
# 'source_node_id' using the file read service, then it will update the firmware and reboot. Alternatively, this
# service can be used to invoke an alternative CAN bootloader (e.g. STM32 system memory bootloader), in which case
# the field 'image_file_remote_path' must be empty.
#
# If the node accepts the request, initiator will get the response immediately, before the update process actually
# begins.
# The slave can explicitly reject this request if it is not possible to update the firmware at the moment
# (e.g. if the node is busy).
#
# If the slave node accepts this request, the initiator will get a response immediately, before the update process
# actually begins.
#
# While the firmware is being updated, the slave should set its status code (uavcan.protocol.NodeStatus.status_code)
# to STATUS_INITIALIZING.
#
uint8 source_node_id # If there is an invalid value (e.g. zero), the caller Node ID will be used instead
Path image_file_remote_path # Empty to invoke the built-in bootloader
Path image_file_remote_path # Empty to invoke an alternative bootloader
---
uint8 ERROR_OK = 0
uint8 ERROR_INVALID_MODE = 1 # Cannot perform the update right now (e.g. the vehicle is operating)
uint8 ERROR_INVALID_FIRMWARE = 2 # Wrong firmware image, or this image cannot be loaded via UAVCAN
uint8 ERROR_FILE_READ_FAILED = 3 # Remote image file could not be read
uint8 ERROR_UNKNOWN = 255
uint8 error