fly316/PX4-Autopilot
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Uploader works now with Python 2.7 and 3.3

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This commit is contained in:
Julian Oes 2013-09-04 13:30:00 +02:00
parent 96e7f42844
commit 59373399ff
1 changed files with 44 additions and 27 deletions
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71
Tools/px_uploader.py
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@ -137,31 +137,31 @@ class uploader(object):
'''Uploads a firmware file to the PX FMU bootloader'''
# protocol bytes
INSYNC = chr(0x12)
EOC = chr(0x20)
INSYNC = b'\x12'
EOC = b'\x20'
# reply bytes
OK = chr(0x10)
FAILED = chr(0x11)
INVALID = chr(0x13) # rev3+
OK = b'\x10'
FAILED = b'\x11'
INVALID = b'\x13' # rev3+
# command bytes
NOP = chr(0x00) # guaranteed to be discarded by the bootloader
GET_SYNC = chr(0x21)
GET_DEVICE = chr(0x22)
CHIP_ERASE = chr(0x23)
CHIP_VERIFY = chr(0x24) # rev2 only
PROG_MULTI = chr(0x27)
READ_MULTI = chr(0x28) # rev2 only
GET_CRC = chr(0x29) # rev3+
REBOOT = chr(0x30)
NOP = b'\x00' # guaranteed to be discarded by the bootloader
GET_SYNC = b'\x21'
GET_DEVICE = b'\x22'
CHIP_ERASE = b'\x23'
CHIP_VERIFY = b'\x24' # rev2 only
PROG_MULTI = b'\x27'
READ_MULTI = b'\x28' # rev2 only
GET_CRC = b'\x29' # rev3+
REBOOT = b'\x30'
INFO_BL_REV = chr(1) # bootloader protocol revision
INFO_BL_REV = b'\x01' # bootloader protocol revision
BL_REV_MIN = 2 # minimum supported bootloader protocol
BL_REV_MAX = 4 # maximum supported bootloader protocol
INFO_BOARD_ID = chr(2) # board type
INFO_BOARD_REV = chr(3) # board revision
INFO_FLASH_SIZE = chr(4) # max firmware size in bytes
INFO_BOARD_ID = b'\x02' # board type
INFO_BOARD_REV = b'\x03' # board revision
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4
READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64
@ -176,7 +176,7 @@ class uploader(object):
def __send(self, c):
# print("send " + binascii.hexlify(c))
self.port.write(str(c))
self.port.write(c)
def __recv(self, count=1):
c = self.port.read(count)
@ -192,9 +192,9 @@ class uploader(object):
def __getSync(self):
self.port.flush()
c = self.__recv()
if c is not self.INSYNC:
raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
c = bytes(self.__recv())
if c != self.INSYNC:
raise RuntimeError("unexpected %s instead of INSYNC" % c)
c = self.__recv()
if c == self.INVALID:
raise RuntimeError("bootloader reports INVALID OPERATION")
@ -249,17 +249,29 @@ class uploader(object):
# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data):
self.__send(uploader.PROG_MULTI
+ chr(len(data)))
if runningPython3 == True:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.PROG_MULTI)
self.__send(length)
self.__send(data)
self.__send(uploader.EOC)
self.__getSync()
# verify multiple bytes in flash
def __verify_multi(self, data):
self.__send(uploader.READ_MULTI
+ chr(len(data))
+ uploader.EOC)
if runningPython3 == True:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.READ_MULTI)
self.__send(length)
self.__send(uploader.EOC)
self.port.flush()
programmed = self.__recv(len(data))
if programmed != data:
@ -351,6 +363,11 @@ class uploader(object):
self.__reboot()
self.port.close()
# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True
# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")