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FirmwareUpdater fix #956

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Apr 11, 2024
Merged

FirmwareUpdater fix #956

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51 changes: 37 additions & 14 deletions src/tools/ethLoader/ethLoaderLib/EthMaintainer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -334,15 +334,7 @@ bool EthMaintainer::command_program(eOipv4addr_t ipv4, FILE *programFile, eOupro
eOipv4addr_t rxipv4addr;
eOipv4port_t rxipv4port;


// Commenting out line 345 fixes the programming result of ETH boards;
// leaving it causes an error message even if the programming went well
// see :
// - https://github.com/robotology/icub-main/issues/939
// - https://github.com/robotology/icub-main/pull/944
//

//++progdata.mNProgSteps;
++progdata.mNProgSteps;

int success=0;

Expand Down Expand Up @@ -681,7 +673,7 @@ string EthMaintainer::processDiscoveryReplies2(EthBoardList &boardlist, double w
eOuprot_cmd_LEGACY_SCAN_REPLY_t * scan = reinterpret_cast<eOuprot_cmd_LEGACY_SCAN_REPLY_t*> (mRxBuffer);

string ipv4rxstring = ipv4tostring(rxipv4addr);

if(uprot_OPC_DISCOVER == disc->reply.opc)
{
// the board has replied with the new protocol.
Expand Down Expand Up @@ -1206,7 +1198,7 @@ std::string EthMaintainer::prepareMoreInfoText(eOuprot_cmd_DISCOVER_REPLY2_t * d
char strdate[24] = {0};
char builton[24] = {0};
constexpr uint8_t maxNumberOfProcessesOnSingleCore {3};

// When "n" is in [0,3) we are considering the standard single core processes (loader, updater, application)
// if n >= 3 we are using a multi-core board un one o more processes
eOuprot_procinfo_t pInfo = (n < maxNumberOfProcessesOnSingleCore) ? binfo.processes.info[n] : binfo.extraprocesses[n];
Expand Down Expand Up @@ -1257,6 +1249,33 @@ int EthMaintainer::sendPROG2(const uint8_t opc, progData_t &progdata)
// data can be either a eOuprot_cmd_PROG_DATA_t* or a eOuprot_cmd_PROG_END_t*
// both have the same layout of the opc in first position

if(uprot_OPC_PROG_DATA == opc)
{
bool validFLASHaddress = true;

// add a filter.
// the filter depends on the memory layout of the board.
// for ems, mc4plu, mc2plus valid flash is inside [0x08000000, 0x0800000 + 1MB = 0x08100000)
// for amc and future dual core boards is inside [0x08000000, 0x0800000 + 2MB = 0x08200000)
// so ... either we get the valid flash range from board to board or we get the union of teh two ranges.
// i will be quick and ...
eOuprot_cmd_PROG_DATA_t *pd = reinterpret_cast<eOuprot_cmd_PROG_DATA_t*>(progdata.data);
uint32_t adr = * reinterpret_cast<uint32_t*>(&pd->address[0]); // quick conversion for u32 in little endian
uint16_t siz = * reinterpret_cast<uint16_t*>(&pd->size[0]); // quick conversion for u16 in little endian

if((adr < 0x08000000) || (adr >= 0x08200000) || ((adr+siz) > 0x08200000))
{
validFLASHaddress = false;
printf("EthMaintainer::sendPROG2() detected and filtered out a eOuprot_cmd_PROG_DATA_t w/ non-FLASH chunch of %d bytes in [0x%x, 0x%x]\n" ,
siz, adr, adr+siz);
}

if(false == validFLASHaddress)
{
return 0;
}
}


// use unicast to all selected boards
for(int k=0;k<progdata.selected.size(); k++)
Expand All @@ -1268,7 +1287,10 @@ int EthMaintainer::sendPROG2(const uint8_t opc, progData_t &progdata)
eOipv4addr_t rxipv4addr;
eOipv4port_t rxipv4port;

++progdata.mNChunks;
if(uprot_OPC_PROG_DATA == opc)
{
++progdata.mNChunks;
}

if(progdata.answers)
{
Expand Down Expand Up @@ -1596,7 +1618,7 @@ bool EthMaintainer::go2maintenance(eOipv4addr_t ipv4, bool verify, int retries,


bool EthMaintainer::go2application(eOipv4addr_t ipv4, bool checkdef2runapplication, double bootstraptime, bool verify)
{
{
bool ret = false;

EthBoardList boardlist = information(ipv4, true, false, 2, 1.0);
Expand Down Expand Up @@ -1882,6 +1904,7 @@ bool EthMaintainer::program(eOipv4addr_t ipv4, eObrd_ethtype_t type, eOuprot_pro
// we program the boards .......
ret = command_program(ipv4, fp, partition, progress, &boardlist, result);


if(false == ret)
{
if(_verbose)
Expand Down Expand Up @@ -2127,7 +2150,7 @@ bool EthMaintainer::command_changeaddress(eOipv4addr_t ipv4, eOipv4addr_t ipv4ne
{
stopit = true;
}

if(true == stopit)
{
if(_verbose)
Expand Down