Add Tropic teensy loader upload support

Tools/teensy_uploader.py

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

platforms/nuttx/CMakeLists.txt

@@ -297,6 +297,29 @@ else()
 
 endif()
 
+# create .hex if configured in NuttX
+if (CONFIG_INTELHEX_BINARY)
+
+	string(REPLACE ".elf" ".hex" hex_package ${PX4_BINARY_DIR}/${FW_NAME})
+
+	add_custom_command(
+		OUTPUT ${hex_package}
+		COMMAND
+			${CMAKE_OBJCOPY} -O ihex
+			${PX4_BINARY_DIR}/${PX4_CONFIG}.elf
+			${hex_package}
+		DEPENDS
+			${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
+			airframes_xml
+			parameters_xml
+		COMMENT "Creating ${hex_package}"
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		)
+
+	add_custom_target(px4_hex ALL DEPENDS ${hex_package})
+
+endif()
+
 # create .px4 with parameter and airframe metadata
 if (TARGET parameters_xml AND TARGET airframes_xml)
 
@@ -383,7 +406,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.g
 if(NOT NUTTX_DIR MATCHES "external")
 	if(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
 		set(DEBUG_DEVICE "MIMXRT1062XXX6A")
-		set(DEBUG_SVD_FILE "MIMXRT1052.svd")
+		set(DEBUG_SVD_FILE "MIMXRT1062.xml")
 	elseif(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA)
 		set(DEBUG_DEVICE "MIMXRT1176DVMAA")
 		set(DEBUG_SVD_FILE "MIMXRT1176_cm7.xml")

platforms/nuttx/cmake/upload.cmake

@@ -35,6 +35,7 @@
 set(vendorstr_underscore)
 set(productstr_underscore)
 string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
+string(REPLACE "," "_" vendorstr_underscore "${vendorstr_underscore}")
 string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
 
 set(serial_ports)

platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt

@@ -35,7 +35,9 @@ px4_add_library(arch_board_reset
 	board_reset.cpp
 )
 
+if (CONFIG_ARCH_FAMILY_IMXRT117x)
 target_link_libraries(arch_board_reset PRIVATE arch_board_romapi)
+endif()
 
 # up_systemreset
 if (NOT DEFINED CONFIG_BUILD_FLAT)

platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp

@@ -42,11 +42,12 @@
 #include <errno.h>
 #include <nuttx/board.h>
 #include <arm_internal.h>
+
+#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
 #include <hardware/rt117x/imxrt117x_snvs.h>
-
-
 #include <px4_arch/imxrt_flexspi_nor_flash.h>
 #include <px4_arch/imxrt_romapi.h>
+#endif
 
 #define BOOT_RTC_SIGNATURE                0xb007b007
 #define PX4_IMXRT_RTC_REBOOT_REG          3
@@ -58,9 +59,13 @@
 
 static int board_reset_enter_bootloader()
 {
+#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
 	uint32_t regvalue = BOOT_RTC_SIGNATURE;
 	modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS);
 	putreg32(regvalue, PX4_IMXRT_RTC_REBOOT_REG_ADDRESS);
+#elif defined(BOARD_HAS_TEENSY_BOOTLOADER)
+	asm("BKPT #251"); /* Enter Teensy MKL02 bootloader */
+#endif
 	return OK;
 }
 
@@ -68,13 +73,18 @@ int board_reset(int status)
 {
 	if (status == REBOOT_TO_BOOTLOADER) {
 		board_reset_enter_bootloader();
+	}
 
-	} else if (status == REBOOT_TO_ISP) {
+#if defined(BOARD_HAS_ISP_BOOTLOADER)
+
+	else if (status == REBOOT_TO_ISP) {
 		uint32_t arg = 0xeb100000;
 		ROM_API_Init();
 		ROM_RunBootloader(&arg);
 	}
 
+#endif
+
 #if defined(BOARD_HAS_ON_RESET)
 	board_on_reset(status);
 #endif