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UavcanNode:Add support for the Alternate bootloader app shared

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David Sidrane 2021-02-10 08:31:37 -08:00 committed by Daniel Agar
parent b27beac50c
commit e4b519aca0
1 changed files with 9 additions and 0 deletions
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9
src/drivers/uavcannode/UavcanNode.cpp
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@ -34,6 +34,7 @@
#include "UavcanNode.hpp"
#include "boot_app_shared.h"
#include "boot_alt_app_shared.h"
#include <drivers/drv_watchdog.h>
#include <lib/ecl/geo/geo.h>
@ -250,6 +251,14 @@ void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<Uav
if (!inprogress) {
inprogress = true;
bootloader_alt_app_shared_t shared_alt{0};
shared_alt.fw_server_node_id = req.source_node_id;
shared_alt.node_id = _node.getNodeID().get();
shared_alt.path[0] = '\0';
strncat((char *)shared_alt.path, (const char *)req.image_file_remote_path.path.c_str(), sizeof(shared_alt.path) - 1);
bootloader_alt_app_shared_write(&shared_alt);
board_configure_reset(BOARD_RESET_MODE_CAN_BL, shared_alt.node_id);
bootloader_app_shared_t shared;
shared.bus_speed = active_bitrate;
shared.node_id = _node.getNodeID().get();