From 767462c9924d7afbb789dc3e4c76d31261c557d3 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Fri, 18 Jul 2014 17:31:59 +0400 Subject: [PATCH] Firmware update clarifications --- dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan b/dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan index accb0d8d4f..a1dca901f8 100644 --- a/dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan +++ b/dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan @@ -1,7 +1,9 @@ # # 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. +# '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. # # Nodes are allowed to explicitly reject this request under some circumstances (e.g. BLDC drive should reject if # the motor is running). @@ -11,7 +13,7 @@ # 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 +Path image_file_remote_path # Empty to invoke the built-in bootloader ---