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Merge pull request #196 from PX4/px4io_uploader

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px4io: make uploader more reliable
This commit is contained in:
Lorenz Meier
2013-02-08 07:30:09 -08:00
parent 3e5cd26777 804f0e4219
commit dbffca01ff
2 changed files with 106 additions and 64 deletions
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apps/drivers/px4io/uploader.cpp
+101 -58
View File
@@ -48,6 +48,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/stat.h>
#include "uploader.h"
@@ -109,6 +110,8 @@ int
PX4IO_Uploader::upload(const char *filenames[])
{
int ret;
const char *filename = NULL;
size_t fw_size;
_io_fd = open("/dev/ttyS2", O_RDWR);
@@ -135,9 +138,22 @@ PX4IO_Uploader::upload(const char *filenames[])
}
log("using firmware from %s", filenames[i]);
filename = filenames[i];
break;
}
if (filename == NULL) {
log("no firmware found");
return -ENOENT;
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
return -errno;
}
fw_size = st.st_size;
if (_fw_fd == -1)
return -ENOENT;
@@ -172,7 +188,7 @@ PX4IO_Uploader::upload(const char *filenames[])
continue;
}
ret = program();
ret = program(fw_size);
if (ret != OK) {
log("program failed");
@@ -180,9 +196,9 @@ PX4IO_Uploader::upload(const char *filenames[])
}
if (bl_rev <= 2)
ret = verify_rev2();
ret = verify_rev2(fw_size);
else if(bl_rev == 3) {
ret = verify_rev3();
ret = verify_rev3(fw_size);
}
if (ret != OK) {
@@ -219,7 +235,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
//log("poll timeout %d", ret);
log("poll timeout %d", ret);
return -ETIMEDOUT;
}
@@ -232,7 +248,7 @@ int
PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++);
int ret = recv(*p++, 5000);
if (ret != OK)
return ret;
@@ -248,7 +264,7 @@ PX4IO_Uploader::drain()
int ret;
do {
ret = recv(c, 250);
ret = recv(c, 1000);
if (ret == OK) {
//log("discard 0x%02x", c);
@@ -343,24 +359,55 @@ PX4IO_Uploader::erase()
return get_sync(10000); /* allow 10s timeout */
}
static int read_with_retry(int fd, void *buf, size_t n)
{
int ret;
uint8_t retries = 0;
do {
ret = read(fd, buf, n);
} while (ret == -1 && retries++ < 100);
if (retries != 0) {
printf("read of %u bytes needed %u retries\n",
(unsigned)n,
(unsigned)retries);
}
return ret;
}
int
PX4IO_Uploader::program()
PX4IO_Uploader::program(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
ssize_t count;
int ret;
size_t sent = 0;
log("program...");
lseek(_fw_fd, 0, SEEK_SET);
log("programming %u bytes...", (unsigned)fw_size);
while (true) {
ret = lseek(_fw_fd, 0, SEEK_SET);
while (sent < fw_size) {
/* get more bytes to program */
//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
count = read(_fw_fd, file_buf, sizeof(file_buf));
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
return OK;
sent += count;
if (count < 0)
return -errno;
@@ -376,14 +423,16 @@ PX4IO_Uploader::program()
if (ret != OK)
return ret;
}
return OK;
}
int
PX4IO_Uploader::verify_rev2()
PX4IO_Uploader::verify_rev2(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
uint8_t file_buf[4];
ssize_t count;
int ret;
size_t sent = 0;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
@@ -395,14 +444,27 @@ PX4IO_Uploader::verify_rev2()
if (ret != OK)
return ret;
while (true) {
while (sent < fw_size) {
/* get more bytes to verify */
int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
break;
sent += count;
if (count < 0)
return -errno;
@@ -415,15 +477,15 @@ PX4IO_Uploader::verify_rev2()
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c);
ret = recv(c, 5000);
if (ret != OK) {
log("%d: got %d waiting for bytes", base + i, ret);
log("%d: got %d waiting for bytes", sent + i, ret);
return ret;
}
if (c != file_buf[i]) {
log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]);
log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]);
return -EINVAL;
}
}
@@ -440,21 +502,21 @@ PX4IO_Uploader::verify_rev2()
}
int
PX4IO_Uploader::verify_rev3()
PX4IO_Uploader::verify_rev3(size_t fw_size_local)
{
int ret;
uint8_t file_buf[4];
ssize_t count;
uint32_t sum = 0;
uint32_t bytes_read = 0;
uint32_t fw_size = 0;
uint32_t crc = 0;
uint32_t fw_size_remote;
uint8_t fill_blank = 0xff;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
ret = get_info(INFO_FLASH_SIZE, fw_size);
ret = get_info(INFO_FLASH_SIZE, fw_size_remote);
send(PROTO_EOC);
if (ret != OK) {
@@ -463,9 +525,20 @@ PX4IO_Uploader::verify_rev3()
}
/* read through the firmware file again and calculate the checksum*/
while (true) {
lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
while (bytes_read < fw_size_local) {
size_t n = fw_size_local - bytes_read;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)bytes_read,
(int)count,
(int)errno);
}
/* set the rest to ff */
if (count == 0) {
@@ -482,7 +555,7 @@ PX4IO_Uploader::verify_rev3()
}
/* fill the rest with 0xff */
while (bytes_read < fw_size) {
while (bytes_read < fw_size_remote) {
sum = crc32(&fill_blank, sizeof(fill_blank), sum);
bytes_read += sizeof(fill_blank);
}
@@ -516,36 +589,6 @@ PX4IO_Uploader::reboot()
return OK;
}
int
PX4IO_Uploader::compare(bool &identical)
{
uint32_t file_vectors[15];
uint32_t fw_vectors[15];
int ret;
lseek(_fw_fd, 0, SEEK_SET);
ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors));
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
send(PROTO_READ_MULTI);
send(sizeof(fw_vectors));
send(PROTO_EOC);
ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
if (ret != OK)
return ret;
identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false;
return OK;
}
void
PX4IO_Uploader::log(const char *fmt, ...)
{
@@ -557,4 +600,4 @@ PX4IO_Uploader::log(const char *fmt, ...)
va_end(ap);
printf("\n");
fflush(stdout);
}
}
apps/drivers/px4io/uploader.h
+5 -6
View File
@@ -85,7 +85,7 @@ private:
void log(const char *fmt, ...);
int recv(uint8_t &c, unsigned timeout = 1000);
int recv(uint8_t &c, unsigned timeout);
int recv(uint8_t *p, unsigned count);
void drain();
int send(uint8_t c);
@@ -94,11 +94,10 @@ private:
int sync();
int get_info(int param, uint32_t &val);
int erase();
int program();
int verify_rev2();
int verify_rev3();
int program(size_t fw_size);
int verify_rev2(size_t fw_size);
int verify_rev3(size_t fw_size);
int reboot();
int compare(bool &identical);
};
#endif
#endif