fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 10:01:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

uavcan.protocol.file.* doc fixes

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan
+14 -12
View File
@@ -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