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canbootloader:Prefer bootloader_app_shared over bootloader_alt_app_shared

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This commit is contained in:
David Sidrane
2021-02-10 09:56:15 -08:00
committed by Daniel Agar
parent 05c0deae14
commit 58e5c8fbca
1 changed files with 8 additions and 8 deletions
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16
platforms/nuttx/src/canbootloader/uavcan/main.c
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@@ -57,6 +57,7 @@
#include "random.h"
#include <drivers/bootloaders/boot_app_shared.h>
#include <drivers/bootloaders/boot_alt_app_shared.h>
#include <drivers/drv_watchdog.h>
#include <lib/systemlib/crc.h>
@@ -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;
}
/*