From 58e5c8fbca3c499694e876f0d5007629af53c2b5 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Wed, 10 Feb 2021 09:56:15 -0800 Subject: [PATCH] canbootloader:Prefer bootloader_app_shared over bootloader_alt_app_shared --- platforms/nuttx/src/canbootloader/uavcan/main.c | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/platforms/nuttx/src/canbootloader/uavcan/main.c b/platforms/nuttx/src/canbootloader/uavcan/main.c index 95f2840a35..f771e423e7 100644 --- a/platforms/nuttx/src/canbootloader/uavcan/main.c +++ b/platforms/nuttx/src/canbootloader/uavcan/main.c @@ -57,6 +57,7 @@ #include "random.h" #include +#include #include #include @@ -1095,23 +1096,22 @@ __EXPORT int main(int argc, char *argv[]) board_indicate(reset); + /* Was this boot a result of the Application being told it has a FW update ? */ + + bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) && + common.bus_speed && common.node_id; + + /* Was this boot a result of An Alternate Application being told it has a FW update ? */ bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared; - if (ps->signature == BL_ALT_APP_SHARED_SIGNATURE) { + if (!bootloader.app_bl_request && ps->signature == BL_ALT_APP_SHARED_SIGNATURE) { common.node_id = ps->node_id; common.bus_speed = CAN_UNDEFINED; bootloader.app_bl_request = ps->node_id != 0; ps->signature = 0; - - } else { - - /* Was this boot a result of the Application being told it has a FW update ? */ - - bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) && - common.bus_speed && common.node_id; } /*