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This commit is contained in:
Jacob Dahl
2025-10-16 18:01:30 -08:00
parent 527b9c1428
commit 870fb864ef
4 changed files with 183 additions and 30 deletions
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platforms/nuttx/src/canbootloader/uavcan/main.c
+140 -22
View File
@@ -59,6 +59,47 @@
#include <drivers/bootloaders/boot_alt_app_shared.h>
#include <drivers/drv_watchdog.h>
#include <lib/crc/crc.h>
#include <stdio.h>
/****************************************************************************
* Bootloader Debug Logging
*
* Bootloader bypasses stdio initialization, so we use arm_lowputc directly
* for debug output. These macros are similar to PX4_INFO/PX4_DEBUG.
*
* Enable by setting OPT_ENABLE_DEBUG=1 in boot_config.h or board config.
****************************************************************************/
extern void arm_lowputc(char ch);
static inline void bl_puts(const char *str)
{
while (*str) { arm_lowputc(*str++); }
}
static inline void bl_putnum(uint32_t val)
{
char buf[12];
snprintf(buf, sizeof(buf), "%lu", val);
bl_puts(buf);
}
#if OPT_ENABLE_DEBUG
# define BL_DEBUG(fmt, ...) \
do { \
bl_puts("[BL] " fmt); \
__VA_ARGS__; \
bl_puts("\r\n"); \
} while (0)
# define BL_DEBUG_NUM(label, val) \
do { \
bl_puts("[BL] " label ": "); \
bl_putnum(val); \
bl_puts("\r\n"); \
} while (0)
#else
# define BL_DEBUG(fmt, ...)
# define BL_DEBUG_NUM(label, val)
#endif
//#define DEBUG_APPLICATION_INPLACE 1 /* Never leave defined */
#define DEBUG_NO_FW_UPDATE 1 /* With DEBUG_APPLICATION_INPLACE
@@ -1111,9 +1152,40 @@ __EXPORT int main(int argc, char *argv[])
*/
common.crc.valid = false;
/* Either way prevent Deja vu by invalidating the struct*/
/*
* Check if Node ID has been previously assigned and skip DNA if so.
* IMPORTANT: Read this BEFORE invalidating!
*/
bootloader_app_shared_t shared_data;
bool has_node_id = false;
if (bootloader_app_shared_read(&shared_data, App) == OK) {
/* We have valid shared_data data from a previous app run */
if (shared_data.node_id > 0 && shared_data.node_id <= 127) {
has_node_id = true;
common.node_id = shared_data.node_id;
BL_DEBUG_NUM("Read persisted node ID", shared_data.node_id);
/* Also restore the bus speed if we have it */
if (shared_data.bus_speed != 0) {
common.bus_speed = shared_data.bus_speed;
BL_DEBUG_NUM("Read persisted bus speed", shared_data.bus_speed);
}
} else {
BL_DEBUG("Shared data has invalid node ID",);
}
} else {
BL_DEBUG("No valid shared data found",);
}
BL_DEBUG_NUM("has_node_id", has_node_id);
/* Now invalidate to prevent deja vu (after we've read the static node ID) */
bootloader_app_shared_invalidate();
/* Set up the Timers */
bl_timer_cb_t p = null_cb;
p.cb = uptime_process;
@@ -1193,34 +1265,78 @@ __EXPORT int main(int argc, char *argv[])
* or the Node allocation runs longer the tBoot
*/
/* Preferred Node Address */
BL_DEBUG("Regular boot - checking for static node ID",);
common.node_id = OPT_PREFERRED_NODE_ID;
if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
/* Skip DNA if we already have a node ID from previously */
if (has_node_id) {
BL_DEBUG("Using persisted static node ID - skipping DNA",);
BL_DEBUG_NUM("Static node ID", common.node_id);
/*
* It is OK that node ID is set to the preferred Node ID because
* common.crc.valid is not true yet
* We have a saved node ID.
* Only do autobaud if we don't have the bus speed.
*/
if (common.bus_speed == 0) {
BL_DEBUG("Bus speed unknown - performing autobaud only",);
bootloader.bus_speed = CAN_UNDEFINED;
if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
goto boot;
}
common.bus_speed = can_speed2freq(bootloader.bus_speed);
BL_DEBUG_NUM("Autobaud completed - bus speed", common.bus_speed);
} else {
BL_DEBUG("Using both persisted node ID and bus speed",);
BL_DEBUG_NUM("Node ID", common.node_id);
BL_DEBUG_NUM("Bus speed", common.bus_speed);
/* We have both node ID and bus speed from shared data */
bootloader.bus_speed = can_freq2speed(common.bus_speed);
can_init(bootloader.bus_speed, CAN_Mode_Normal);
}
bootloader.uptime = 0;
common.crc.valid = true;
} else {
/* No node ID, do full DNA */
BL_DEBUG("No persisted node ID - performing full DNA",);
/* Preferred Node Address */
common.node_id = OPT_PREFERRED_NODE_ID;
if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
/*
* It is OK that node ID is set to the preferred Node ID because
* common.crc.valid is not true yet
*/
BL_DEBUG("DNA failed or timed out",);
goto boot;
}
BL_DEBUG("DNA completed successfully",);
BL_DEBUG_NUM("Allocated node ID", common.node_id);
/* We have autobauded and got a Node ID. So reset uptime
* and save the speed and node_id in both the common and
* and bootloader data sets
*/
goto boot;
bootloader.uptime = 0;
common.bus_speed = can_speed2freq(bootloader.bus_speed);
/*
* Mark CRC to say this is from
* auto baud and Node Allocation
*/
common.crc.valid = true;
}
/* We have autobauded and got a Node ID. So reset uptime
* and save the speed and node_id in both the common and
* and bootloader data sets
*/
bootloader.uptime = 0;
common.bus_speed = can_speed2freq(bootloader.bus_speed);
/*
* Mark CRC to say this is from
* auto baud and Node Allocation
*/
common.crc.valid = true;
/* Auto bauding may have taken a long time, so restart the tboot time*/
if (bootloader.app_valid && !bootloader.wait_for_getnodeinfo) {
@@ -1230,6 +1346,8 @@ __EXPORT int main(int argc, char *argv[])
}
BL_DEBUG_NUM("Configuring UAVCAN with node ID", common.node_id);
/* Now that we have a node Id configure the uavcan library */
g_this_node_id = common.node_id;