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px_uploader: support multiple baud rates

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We may need to change the baud rate from one version to the other.
Allowing the script to try multiple baud rates makes the transition a
little bit less painful.

This also fixes a bug in which it would go the next port before trying
to identify the board after asking it to reboot.
This commit is contained in:
Lucas De Marchi
2017-02-16 09:35:23 +01:00
committed by Lorenz Meier
parent 6121119631
commit f9795ccbab
1 changed files with 51 additions and 21 deletions
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Tools/px_uploader.py
+51 -21
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@@ -191,11 +191,16 @@ class uploader(object):
self.sn = b''
self.baudrate_bootloader = baudrate_bootloader
self.baudrate_flightstack = baudrate_flightstack
self.baudrate_flightstack_idx = -1
def close(self):
if self.port is not None:
self.port.close()
def open(self):
if self.port is not None and not self.port.is_open:
self.port.open()
def __send(self, c):
# print("send " + binascii.hexlify(c))
self.port.write(c)
@@ -511,11 +516,25 @@ class uploader(object):
self.__reboot()
self.port.close()
def __next_baud_flightstack(self):
self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
if self.baudrate_flightstack_idx >= len(self.baudrate_flightstack):
return False
self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx]
return True
def send_reboot(self):
if (not self.__next_baud_flightstack()):
return False
print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
try:
# try MAVLINK command first
self.port.flush()
self.port.baudrate = self.baudrate_flightstack
self.__send(uploader.MAVLINK_REBOOT_ID1)
self.__send(uploader.MAVLINK_REBOOT_ID0)
# then try reboot via NSH
@@ -532,6 +551,8 @@ class uploader(object):
except Exception:
pass
return True
# Detect python version
if sys.version_info[0] < 3:
@@ -541,9 +562,9 @@ else:
# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
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('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
parser.add_argument('--baud-flightstack', action="store", type=int, default=57600, help="Baud rate of the serial port (default is 57600) when communicating with flight stack(Mavlink or NSH), only required for true serial ports.")
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
@@ -575,6 +596,8 @@ try:
else:
portlist = patterns
baud_flightstack = [ int(x) for x in args.baud_flightstack.split(',') ]
for port in portlist:
# print("Trying %s" % port)
@@ -584,15 +607,15 @@ 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, args.baud_bootloader, args.baud_flightstack)
up = uploader(port, args.baud_bootloader, baud_flightstack)
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, args.baud_bootloader, args.baud_flightstack)
up = uploader(port, args.baud_bootloader, baud_flightstack)
elif "win" in _platform:
# Windows, don't open POSIX ports
if "/" not in port:
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
up = uploader(port, args.baud_bootloader, baud_flightstack)
except Exception:
# open failed, rate-limit our attempts
time.sleep(0.05)
@@ -600,24 +623,31 @@ try:
# and loop to the next port
continue
# port is open, try talking to it
try:
# identify the bootloader
up.identify()
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
found_bootloader = False
while (True):
up.open()
except Exception:
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
print("if the board does not respond, unplug and re-plug the USB connector.")
up.send_reboot()
# port is open, try talking to it
try:
# identify the bootloader
up.identify()
found_bootloader = True
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
break
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
except Exception:
if not up.send_reboot():
break
# always close the port
up.close()
continue
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
# always close the port
up.close()
if not found_bootloader:
# Go to the next port
continue
try:
# ok, we have a bootloader, try flashing it