mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 15:23:33 +08:00
Add Tropic teensy loader upload support
This commit is contained in:
Peter van der Perk
committed by
Daniel Agar
Daniel Agar
parent
04b6412731
commit
c6e86fdea0
@@ -0,0 +1,181 @@
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#!/usr/bin/env python3
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############################################################################
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#
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# Copyright (c) 2024 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Serial firmware uploader for the Teensy
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import sys
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import argparse
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import time
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import sys
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import usb.core
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import subprocess
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from sys import platform as _platform
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from pymavlink import mavutil
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try:
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import serial
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except ImportError as e:
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print("Failed to import serial: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user pyserial")
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print("")
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sys.exit(1)
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# Define time to use time.time() by default
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def _time():
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return time.time()
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class uploader(object):
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def __init__(self, portname):
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self.mavlink = mavutil.mavlink_connection(portname)
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def send_reboot(self):
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try:
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self.mavlink.wait_heartbeat()
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self.mavlink.reboot_autopilot(True)
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except:
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pass
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return True
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TEENSY_BL_VENDORID = 0x16c0
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TEENSY_BL_PRODUCTID = 0x0478
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def main():
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# Parse commandline arguments
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parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
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parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
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parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
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parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
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parser.add_argument('--vendor-id', type=lambda x: int(x,0), default=None, help='PX4 USB vendorid')
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parser.add_argument('--product-id', type=lambda x: int(x,0), default=None, help='PX4 USB productid')
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parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
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args = parser.parse_args()
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found_bootloader = False
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# find USB devices
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dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
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# loop through devices, printing vendor and product ids in decimal and hex
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if dev is not None:
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print("Found teensy bootloader")
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found_bootloader = True
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else:
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dev = usb.core.find(idVendor=args.vendor_id, idProduct=args.product_id)
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if dev is None:
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print("No PX4 Device found try to press the button program push button")
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print("Attempting to reboot into Teensy bootloader...", end="", flush=True)
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try:
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while True:
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portlist = []
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patterns = args.port.split(",")
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# on unix-like platforms use glob to support wildcard ports. This allows
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# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
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# causing modem hangups etc
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if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
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import glob
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for pattern in patterns:
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portlist += glob.glob(pattern)
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else:
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portlist = patterns
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for port in portlist:
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try:
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if "linux" in _platform:
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# Linux, don't open Mac OS and Win ports
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if "COM" not in port and "tty.usb" not in port:
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up = uploader(port)
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elif "darwin" in _platform:
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# OS X, don't open Windows and Linux ports
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if "COM" not in port and "ACM" not in port:
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up = uploader(port)
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elif "cygwin" in _platform:
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# Cygwin, don't open native Windows COM and Linux ports
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if "COM" not in port and "ACM" not in port:
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up = uploader(port)
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elif "win" in _platform:
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# Windows, don't open POSIX ports
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if "/" not in port:
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up = uploader(port)
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except Exception:
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# open failed, rate-limit our attempts
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time.sleep(0.05)
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# and loop to the next port
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continue
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while True:
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up.send_reboot()
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# wait for the reboot, without we might run into Serial I/O Error 5
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time.sleep(0.25)
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# wait for the close, without we might run into Serial I/O Error 6
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time.sleep(0.3)
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dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
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# loop through devices, printing vendor and product ids in decimal and hex
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if dev is not None:
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print("")
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print("Found teensy bootloader")
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found_bootloader = True
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break
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print('.', end="", flush=True)
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if not found_bootloader:
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# Go to the next port
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continue
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if(found_bootloader):
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while True:
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result = subprocess.Popen("teensy_loader_cli -v --mcu=TEENSY41 " + args.firmware[0], shell=True)
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text = result.communicate()[0]
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if(result.returncode == 0):
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sys.exit(0)
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# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
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time.sleep(0.05)
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# CTRL+C aborts the upload/spin-lock by interrupt mechanics
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except KeyboardInterrupt:
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print("\n Upload aborted by user.")
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sys.exit(0)
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if __name__ == '__main__':
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main()
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