mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
0553d4d01e
Before, the pyserial check would fail before it could check for the VERSION that the Python 2.7 version contains. This fixes it to check for the VERSION independently.
896 lines
37 KiB
Python
Executable File
896 lines
37 KiB
Python
Executable File
#!/usr/bin/env python
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############################################################################
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#
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# Copyright (c) 2012-2017 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 PX4FMU bootloader
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#
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# The PX4 firmware file is a JSON-encoded Python object, containing
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# metadata fields and a zlib-compressed base64-encoded firmware image.
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#
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# The uploader uses the following fields from the firmware file:
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#
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# image
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# The firmware that will be uploaded.
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# image_size
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# The size of the firmware in bytes.
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# board_id
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# The board for which the firmware is intended.
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# board_revision
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# Currently only used for informational purposes.
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#
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# for python2.7 compatibility
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from __future__ import print_function
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import sys
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import argparse
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import binascii
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import serial
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import socket
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import struct
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import json
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import zlib
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import base64
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import time
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import array
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import os
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from sys import platform as _platform
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# Detect python version
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if sys.version_info[0] < 3:
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runningPython3 = False
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else:
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runningPython3 = True
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class firmware(object):
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'''Loads a firmware file'''
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desc = {}
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image = bytes()
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crctab = array.array('I', [
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0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
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0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
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0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
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0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
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0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
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0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
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0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
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0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
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0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
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0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
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0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
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0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
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0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
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0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
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0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
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0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
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0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
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0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
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0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
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0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
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0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
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0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
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0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
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0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
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0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
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0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
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0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
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0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
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0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
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0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
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0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
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0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
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crcpad = bytearray(b'\xff\xff\xff\xff')
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def __init__(self, path):
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# read the file
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f = open(path, "r")
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self.desc = json.load(f)
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f.close()
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self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
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# pad image to 4-byte length
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while ((len(self.image) % 4) != 0):
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self.image.extend(b'\xff')
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def property(self, propname):
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return self.desc[propname]
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def __crc32(self, bytes, state):
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for byte in bytes:
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index = (state ^ byte) & 0xff
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state = self.crctab[index] ^ (state >> 8)
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return state
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def crc(self, padlen):
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state = self.__crc32(self.image, int(0))
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for i in range(len(self.image), (padlen - 1), 4):
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state = self.__crc32(self.crcpad, state)
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return state
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class uploader(object):
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'''Uploads a firmware file to the PX FMU bootloader'''
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# protocol bytes
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INSYNC = b'\x12'
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EOC = b'\x20'
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# reply bytes
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OK = b'\x10'
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FAILED = b'\x11'
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INVALID = b'\x13' # rev3+
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BAD_SILICON_REV = b'\x14' # rev5+
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# command bytes
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NOP = b'\x00' # guaranteed to be discarded by the bootloader
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GET_SYNC = b'\x21'
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GET_DEVICE = b'\x22'
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CHIP_ERASE = b'\x23'
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CHIP_VERIFY = b'\x24' # rev2 only
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PROG_MULTI = b'\x27'
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READ_MULTI = b'\x28' # rev2 only
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GET_CRC = b'\x29' # rev3+
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GET_OTP = b'\x2a' # rev4+ , get a word from OTP area
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GET_SN = b'\x2b' # rev4+ , get a word from SN area
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GET_CHIP = b'\x2c' # rev5+ , get chip version
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SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay
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GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII
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MAX_DES_LENGTH = 20
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REBOOT = b'\x30'
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INFO_BL_REV = b'\x01' # bootloader protocol revision
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BL_REV_MIN = 2 # minimum supported bootloader protocol
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BL_REV_MAX = 5 # maximum supported bootloader protocol
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INFO_BOARD_ID = b'\x02' # board type
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INFO_BOARD_REV = b'\x03' # board revision
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INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
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PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4
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READ_MULTI_MAX = 252 # protocol max is 255
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NSH_INIT = bytearray(b'\x0d\x0d\x0d')
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NSH_REBOOT_BL = b"reboot -b\n"
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NSH_REBOOT = b"reboot\n"
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MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
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MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
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MAX_FLASH_PRGRAM_TIME = 0.001 # Time on an F7 to send SYNC, RESULT from last data in multi RXed
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def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
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# Open the port, keep the default timeout short so we can poll quickly.
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# On some systems writes can suddenly get stuck without having a
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# write_timeout > 0 set.
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# chartime 8n1 * bit rate is us
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self.chartime = 10 * (1.0 / baudrate_bootloader)
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# we use a window approche to SYNC,<result> gathring
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self.window = 0
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self.window_max = 256
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self.window_per = 2 # Sync,<result>
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self.ackWindowedMode = False # Assume Non Widowed mode for all USB CDC
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self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
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self.otp = b''
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self.sn = b''
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self.baudrate_bootloader = baudrate_bootloader
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self.baudrate_flightstack = baudrate_flightstack
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self.baudrate_flightstack_idx = -1
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def close(self):
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if self.port is not None:
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self.port.close()
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def open(self):
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# upload timeout
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timeout = time.time() + 0.2
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# attempt to open the port while it exists and until timeout occurs
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while self.port is not None:
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portopen = True
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try:
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portopen = self.port.is_open
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except AttributeError:
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portopen = self.port.isOpen()
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if not portopen and time.time() < timeout:
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try:
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self.port.open()
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except OSError:
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# wait for the port to be ready
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time.sleep(0.04)
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except serial.SerialException:
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# if open fails, try again later
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time.sleep(0.04)
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else:
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break
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# debugging code
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def __probe(self, state):
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# self.port.setRTS(state)
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return
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def __send(self, c):
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# print("send " + binascii.hexlify(c))
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self.port.write(c)
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def __recv(self, count=1):
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c = self.port.read(count)
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if len(c) < 1:
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raise RuntimeError("timeout waiting for data (%u bytes)" % count)
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# print("recv " + binascii.hexlify(c))
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return c
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def __recv_int(self):
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raw = self.__recv(4)
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val = struct.unpack("<I", raw)
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return val[0]
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def __getSync(self, doFlush=True):
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if (doFlush):
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self.port.flush()
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c = bytes(self.__recv())
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if c != self.INSYNC:
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raise RuntimeError("unexpected %s instead of INSYNC" % c)
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c = self.__recv()
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if c == self.INVALID:
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raise RuntimeError("bootloader reports INVALID OPERATION")
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if c == self.FAILED:
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raise RuntimeError("bootloader reports OPERATION FAILED")
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if c != self.OK:
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raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
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# The control flow for reciving Sync is on the order of 16 Ms per Sync
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# This will validate all the SYNC,<results> for a window of programing
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# in about 13.81 Ms for 256 blocks written
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def __ackSyncWindow(self, count):
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if (count > 0):
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data = bytearray(bytes(self.__recv(count)))
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if (len(data) != count):
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raise RuntimeError("Ack Window %i not %i " % (len(data), count))
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for i in range(0, len(data), 2):
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if chr(data[i]) != self.INSYNC:
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raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
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if chr(data[i+1]) == self.INVALID:
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raise RuntimeError("bootloader reports INVALID OPERATION")
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if chr(data[i+1]) == self.FAILED:
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raise RuntimeError("bootloader reports OPERATION FAILED")
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if chr(data[i+1]) != self.OK:
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raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
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# attempt to get back into sync with the bootloader
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def __sync(self):
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# send a stream of ignored bytes longer than the longest possible conversation
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# that we might still have in progress
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# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
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self.port.flushInput()
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self.__send(uploader.GET_SYNC +
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uploader.EOC)
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self.__getSync()
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def __trySync(self):
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try:
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self.port.flush()
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if (self.__recv() != self.INSYNC):
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# print("unexpected 0x%x instead of INSYNC" % ord(c))
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return False
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c = self.__recv()
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if (c == self.BAD_SILICON_REV):
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raise NotImplementedError()
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if (c != self.OK):
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# print("unexpected 0x%x instead of OK" % ord(c))
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return False
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return True
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except NotImplementedError:
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raise RuntimeError("Programing not supported for this version of silicon!\n"
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"See https://docs.px4.io/en/flight_controller/silicon_errata.html")
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except RuntimeError:
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# timeout, no response yet
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return False
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# attempt to determins if the device is CDCACM or A FTDI
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def __determineInterface(self):
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self.port.flushInput()
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# Set a baudrate that can not work on a real serial port
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# in that it is 233% off.
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try:
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self.port.baudrate = self.baudrate_bootloader * 2.33
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except NotImplementedError as e:
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# This error can occur because pySerial on Windows does not support odd baudrates
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print(str(e) + " -> could not check for FTDI device, assuming USB connection")
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return
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self.__send(uploader.GET_SYNC +
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uploader.EOC)
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try:
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self.__getSync(False)
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except:
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# if it fails we are on a real Serial Port
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self.ackWindowedMode = True
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self.port.baudrate = self.baudrate_bootloader
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# send the GET_DEVICE command and wait for an info parameter
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def __getInfo(self, param):
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self.__send(uploader.GET_DEVICE + param + uploader.EOC)
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value = self.__recv_int()
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self.__getSync()
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return value
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# send the GET_OTP command and wait for an info parameter
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def __getOTP(self, param):
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t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
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self.__send(uploader.GET_OTP + t + uploader.EOC)
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value = self.__recv(4)
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self.__getSync()
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return value
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# send the GET_SN command and wait for an info parameter
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def __getSN(self, param):
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t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
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self.__send(uploader.GET_SN + t + uploader.EOC)
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value = self.__recv(4)
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self.__getSync()
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return value
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|
# send the GET_CHIP command
|
|
def __getCHIP(self):
|
|
self.__send(uploader.GET_CHIP + uploader.EOC)
|
|
value = self.__recv_int()
|
|
self.__getSync()
|
|
return value
|
|
|
|
# send the GET_CHIP command
|
|
def __getCHIPDes(self):
|
|
self.__send(uploader.GET_CHIP_DES + uploader.EOC)
|
|
length = self.__recv_int()
|
|
value = self.__recv(length)
|
|
self.__getSync()
|
|
pieces = value.split(b",")
|
|
return pieces
|
|
|
|
def __drawProgressBar(self, label, progress, maxVal):
|
|
if maxVal < progress:
|
|
progress = maxVal
|
|
|
|
percent = (float(progress) / float(maxVal)) * 100.0
|
|
|
|
sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
|
|
sys.stdout.flush()
|
|
|
|
# send the CHIP_ERASE command and wait for the bootloader to become ready
|
|
def __erase(self, label):
|
|
print("Windowed mode: %s" % self.ackWindowedMode)
|
|
print("\n", end='')
|
|
self.__send(uploader.CHIP_ERASE +
|
|
uploader.EOC)
|
|
|
|
# erase is very slow, give it 30s
|
|
deadline = time.time() + 30.0
|
|
while time.time() < deadline:
|
|
|
|
# Draw progress bar (erase usually takes about 9 seconds to complete)
|
|
estimatedTimeRemaining = deadline-time.time()
|
|
if estimatedTimeRemaining >= 9.0:
|
|
self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, 9.0)
|
|
else:
|
|
self.__drawProgressBar(label, 10.0, 10.0)
|
|
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()))
|
|
sys.stdout.flush()
|
|
|
|
if self.__trySync():
|
|
self.__drawProgressBar(label, 10.0, 10.0)
|
|
return
|
|
|
|
raise RuntimeError("timed out waiting for erase")
|
|
|
|
# send a PROG_MULTI command to write a collection of bytes
|
|
def __program_multi(self, data, windowMode):
|
|
|
|
if runningPython3:
|
|
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)
|
|
if (not windowMode):
|
|
self.__getSync(False)
|
|
else:
|
|
# The following is done to have minimum delay on the transmission
|
|
# of the ne fw. The per block cost of __getSync was about 16 mS per.
|
|
# Passively wait on Sync and Result using board rates and
|
|
# N.B. attempts to activly wait on InWating still carried 8 mS of overhead
|
|
self.__probe(False)
|
|
self.__probe(True)
|
|
time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
|
|
self.__probe(False)
|
|
|
|
# verify multiple bytes in flash
|
|
def __verify_multi(self, data):
|
|
|
|
if runningPython3:
|
|
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:
|
|
print("got " + binascii.hexlify(programmed))
|
|
print("expect " + binascii.hexlify(data))
|
|
return False
|
|
self.__getSync()
|
|
return True
|
|
|
|
# send the reboot command
|
|
def __reboot(self):
|
|
self.__send(uploader.REBOOT +
|
|
uploader.EOC)
|
|
self.port.flush()
|
|
|
|
# v3+ can report failure if the first word flash fails
|
|
if self.bl_rev >= 3:
|
|
self.__getSync()
|
|
|
|
# split a sequence into a list of size-constrained pieces
|
|
def __split_len(self, seq, length):
|
|
return [seq[i:i+length] for i in range(0, len(seq), length)]
|
|
|
|
# upload code
|
|
def __program(self, label, fw):
|
|
self.__probe(False)
|
|
print("\n", end='')
|
|
code = fw.image
|
|
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
|
|
# Give imedate feedback
|
|
self.__drawProgressBar(label, 0, len(groups))
|
|
uploadProgress = 0
|
|
for bytes in groups:
|
|
self.__program_multi(bytes, self.ackWindowedMode)
|
|
# If in Window mode, extend the window size for the __ackSyncWindow
|
|
if self.ackWindowedMode:
|
|
self.window += self.window_per
|
|
|
|
# Print upload progress (throttled, so it does not delay upload progress)
|
|
uploadProgress += 1
|
|
if uploadProgress % 256 == 0:
|
|
self.__probe(True)
|
|
self.__probe(False)
|
|
self.__probe(True)
|
|
self.__ackSyncWindow(self.window)
|
|
self.__probe(False)
|
|
self.window = 0
|
|
self.__drawProgressBar(label, uploadProgress, len(groups))
|
|
|
|
# Do any remaining fragment
|
|
self.__ackSyncWindow(self.window)
|
|
self.window = 0
|
|
self.__drawProgressBar(label, 100, 100)
|
|
|
|
# verify code
|
|
def __verify_v2(self, label, fw):
|
|
print("\n", end='')
|
|
self.__send(uploader.CHIP_VERIFY +
|
|
uploader.EOC)
|
|
self.__getSync()
|
|
code = fw.image
|
|
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
|
|
verifyProgress = 0
|
|
for bytes in groups:
|
|
verifyProgress += 1
|
|
if verifyProgress % 256 == 0:
|
|
self.__drawProgressBar(label, verifyProgress, len(groups))
|
|
if (not self.__verify_multi(bytes)):
|
|
raise RuntimeError("Verification failed")
|
|
self.__drawProgressBar(label, 100, 100)
|
|
|
|
def __verify_v3(self, label, fw):
|
|
print("\n", end='')
|
|
self.__drawProgressBar(label, 1, 100)
|
|
expect_crc = fw.crc(self.fw_maxsize)
|
|
self.__send(uploader.GET_CRC + uploader.EOC)
|
|
time.sleep(0.5)
|
|
report_crc = self.__recv_int()
|
|
self.__getSync()
|
|
if report_crc != expect_crc:
|
|
print("Expected 0x%x" % expect_crc)
|
|
print("Got 0x%x" % report_crc)
|
|
raise RuntimeError("Program CRC failed")
|
|
self.__drawProgressBar(label, 100, 100)
|
|
|
|
def __set_boot_delay(self, boot_delay):
|
|
self.__send(uploader.SET_BOOT_DELAY +
|
|
struct.pack("b", boot_delay) +
|
|
uploader.EOC)
|
|
self.__getSync()
|
|
|
|
# get basic data about the board
|
|
def identify(self):
|
|
self.__determineInterface()
|
|
# make sure we are in sync before starting
|
|
self.__sync()
|
|
|
|
# get the bootloader protocol ID first
|
|
self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
|
|
if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
|
|
print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
|
|
raise RuntimeError("Bootloader protocol mismatch")
|
|
|
|
self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
|
|
self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
|
|
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
|
|
|
|
# upload the firmware
|
|
def upload(self, fw, force=False, boot_delay=None):
|
|
# Make sure we are doing the right thing
|
|
start = time.time()
|
|
if self.board_type != fw.property('board_id'):
|
|
msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
|
|
self.board_type, fw.property('board_id'))
|
|
print("WARNING: %s" % msg)
|
|
if force:
|
|
print("FORCED WRITE, FLASHING ANYWAY!")
|
|
else:
|
|
raise IOError(msg)
|
|
|
|
# Prevent uploads where the image would overflow the flash
|
|
if self.fw_maxsize < fw.property('image_size'):
|
|
raise RuntimeError("Firmware image is too large for this board")
|
|
|
|
# OTP added in v4:
|
|
if self.bl_rev >= 4:
|
|
for byte in range(0, 32*6, 4):
|
|
x = self.__getOTP(byte)
|
|
self.otp = self.otp + x
|
|
# print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
|
|
# see src/modules/systemlib/otp.h in px4 code:
|
|
self.otp_id = self.otp[0:4]
|
|
self.otp_idtype = self.otp[4:5]
|
|
self.otp_vid = self.otp[8:4:-1]
|
|
self.otp_pid = self.otp[12:8:-1]
|
|
self.otp_coa = self.otp[32:160]
|
|
# show user:
|
|
try:
|
|
print("sn: ", end='')
|
|
for byte in range(0, 12, 4):
|
|
x = self.__getSN(byte)
|
|
x = x[::-1] # reverse the bytes
|
|
self.sn = self.sn + x
|
|
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
|
|
print('')
|
|
print("chip: %08x" % self.__getCHIP())
|
|
|
|
otp_id = self.otp_id.decode('Latin-1')
|
|
if ("PX4" in otp_id):
|
|
print("OTP id: " + otp_id)
|
|
print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
|
|
print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
|
|
print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
|
|
print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
|
|
|
|
except Exception:
|
|
# ignore bad character encodings
|
|
pass
|
|
|
|
# Silicon errata check was added in v5
|
|
if (self.bl_rev >= 5):
|
|
des = self.__getCHIPDes()
|
|
if (len(des) == 2):
|
|
print("family: %s" % des[0])
|
|
print("revision: %s" % des[1])
|
|
print("flash: %d bytes" % self.fw_maxsize)
|
|
|
|
# Prevent uploads where the maximum image size of the board config is smaller than the flash
|
|
# of the board. This is a hint the user chose the wrong config and will lack features
|
|
# for this particular board.
|
|
|
|
# This check should also check if the revision is an unaffected revision
|
|
# and thus can support the full flash, see
|
|
# https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
|
|
|
|
if self.fw_maxsize > fw.property('image_maxsize') and not force:
|
|
raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
|
|
% (self.fw_maxsize, fw.property('image_maxsize')))
|
|
else:
|
|
# If we're still on bootloader v4 on a Pixhawk, we don't know if we
|
|
# have the silicon errata and therefore need to flash px4_fmu-v2
|
|
# with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
|
|
if fw.property('board_id') == 9 \
|
|
and fw.property('image_size') > 1032192 \
|
|
and not force:
|
|
raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
|
|
"if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
|
|
"high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
|
|
"\n"
|
|
"If you know you that the board does not have the silicon errata, use\n"
|
|
"this script with --force, or update the bootloader. If you are invoking\n"
|
|
"upload using make, you can use force-upload target to force the upload.\n")
|
|
self.__erase("Erase ")
|
|
self.__program("Program", fw)
|
|
|
|
if self.bl_rev == 2:
|
|
self.__verify_v2("Verify ", fw)
|
|
else:
|
|
self.__verify_v3("Verify ", fw)
|
|
|
|
if boot_delay is not None:
|
|
self.__set_boot_delay(boot_delay)
|
|
|
|
print("\nRebooting.", end='')
|
|
self.__reboot()
|
|
self.port.close()
|
|
print(" Elapsed Time %3.3f\n" % (time.time() - start))
|
|
|
|
def __next_baud_flightstack(self):
|
|
if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
|
|
return False
|
|
try:
|
|
self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
|
|
self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
|
|
except serial.SerialException:
|
|
# Sometimes _configure_port fails
|
|
time.sleep(0.04)
|
|
|
|
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)
|
|
if "ttyS" in self.port.port:
|
|
print("If the board does not respond, check the connection to the Flight Controller")
|
|
else:
|
|
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.__send(uploader.MAVLINK_REBOOT_ID1)
|
|
self.__send(uploader.MAVLINK_REBOOT_ID0)
|
|
# then try reboot via NSH
|
|
self.__send(uploader.NSH_INIT)
|
|
self.__send(uploader.NSH_REBOOT_BL)
|
|
self.__send(uploader.NSH_INIT)
|
|
self.__send(uploader.NSH_REBOOT)
|
|
self.port.flush()
|
|
self.port.baudrate = self.baudrate_bootloader
|
|
except Exception:
|
|
try:
|
|
self.port.flush()
|
|
self.port.baudrate = self.baudrate_bootloader
|
|
except Exception:
|
|
pass
|
|
|
|
return True
|
|
|
|
|
|
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('--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", 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, 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('firmware', action="store", help="Firmware file to be uploaded")
|
|
args = parser.parse_args()
|
|
|
|
# warn people about ModemManager which interferes badly with Pixhawk
|
|
if os.path.exists("/usr/sbin/ModemManager"):
|
|
print("==========================================================================================================")
|
|
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
|
|
print("==========================================================================================================")
|
|
|
|
# We need to check for pyserial because the import itself doesn't
|
|
# seem to fail, at least not on macOS.
|
|
pyserial_installed = False
|
|
try:
|
|
if serial.__version__:
|
|
pyserial_installed = True
|
|
except:
|
|
pass
|
|
|
|
try:
|
|
if serial.VERSION:
|
|
pyserial_installed = True
|
|
except:
|
|
pass
|
|
|
|
if not pyserial_installed:
|
|
print("Error: pyserial not installed!")
|
|
print(" (Install using: sudo pip install pyserial)")
|
|
sys.exit(1)
|
|
|
|
# Load the firmware file
|
|
fw = firmware(args.firmware)
|
|
|
|
percent = fw.property('image_size') / fw.property('image_maxsize')
|
|
binary_size = float(fw.property('image_size'))
|
|
binary_max_size = float(fw.property('image_maxsize'))
|
|
percent = (binary_size / binary_max_size) * 100
|
|
|
|
print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
|
|
print()
|
|
|
|
# tell any GCS that might be connected to the autopilot to give up
|
|
# control of the serial port
|
|
|
|
# send to localhost and default GCS port
|
|
ipaddr = '127.0.0.1'
|
|
portnum = 14550
|
|
|
|
# COMMAND_LONG in MAVLink 1
|
|
heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
|
|
commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
|
|
|
|
# initialize an UDP socket
|
|
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
|
|
# send heartbeat to initialize connection and command to free the link
|
|
s.sendto(heartbeatpacket, (ipaddr, portnum))
|
|
s.sendto(commandpacket, (ipaddr, portnum))
|
|
|
|
# close the socket
|
|
s.close()
|
|
|
|
# Spin waiting for a device to show up
|
|
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
|
|
|
|
baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
|
|
|
|
successful = False
|
|
for port in portlist:
|
|
|
|
# print("Trying %s" % port)
|
|
|
|
# create an uploader attached to the port
|
|
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, 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, baud_flightstack)
|
|
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, 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, baud_flightstack)
|
|
except Exception:
|
|
# open failed, rate-limit our attempts
|
|
time.sleep(0.05)
|
|
|
|
# and loop to the next port
|
|
continue
|
|
|
|
found_bootloader = False
|
|
while (True):
|
|
up.open()
|
|
|
|
# port is open, try talking to it
|
|
try:
|
|
# identify the bootloader
|
|
up.identify()
|
|
found_bootloader = True
|
|
print()
|
|
print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
|
|
break
|
|
|
|
except Exception:
|
|
|
|
if not up.send_reboot():
|
|
break
|
|
|
|
# wait for the reboot, without we might run into Serial I/O Error 5
|
|
time.sleep(0.25)
|
|
|
|
# always close the port
|
|
up.close()
|
|
|
|
# wait for the close, without we might run into Serial I/O Error 6
|
|
time.sleep(0.3)
|
|
|
|
if not found_bootloader:
|
|
# Go to the next port
|
|
continue
|
|
|
|
try:
|
|
# ok, we have a bootloader, try flashing it
|
|
up.upload(fw, force=args.force, boot_delay=args.boot_delay)
|
|
|
|
# if we made this far without raising exceptions, the upload was successful
|
|
successful = True
|
|
|
|
except RuntimeError as ex:
|
|
# print the error
|
|
print("\nERROR: %s" % ex.args)
|
|
|
|
except IOError:
|
|
up.close()
|
|
continue
|
|
|
|
finally:
|
|
# always close the port
|
|
up.close()
|
|
|
|
# we could loop here if we wanted to wait for more boards...
|
|
if successful:
|
|
sys.exit(0)
|
|
else:
|
|
sys.exit(1)
|
|
|
|
# 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()
|
|
|
|
# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
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