mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
b9728ecf39
By default the baudrate in flight stack (Mavlink or NSH) 57600 and the default baudrate of bootloader is 115200. So we may need to set different baudrates.
646 lines
30 KiB
Python
Executable File
646 lines
30 KiB
Python
Executable File
#!/usr/bin/env python
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############################################################################
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#
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# Copyright (C) 2012-2015 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 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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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.append('\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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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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self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5)
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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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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 __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):
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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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# 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 See https://pixhawk.org/help/errata")
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except RuntimeError:
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#timeout, no response yet
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return False
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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
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def __getCHIP(self):
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self.__send(uploader.GET_CHIP + 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_CHIP command
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def __getCHIPDes(self):
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self.__send(uploader.GET_CHIP_DES + uploader.EOC)
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length = self.__recv_int()
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value = self.__recv(length)
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self.__getSync()
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peices = value.split(",")
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return peices
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def __drawProgressBar(self, label, progress, maxVal):
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if maxVal < progress:
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progress = maxVal
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percent = (float(progress) / float(maxVal)) * 100.0
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sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
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sys.stdout.flush()
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# send the CHIP_ERASE command and wait for the bootloader to become ready
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def __erase(self, label):
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print("\n", end='')
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self.__send(uploader.CHIP_ERASE
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+ uploader.EOC)
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# erase is very slow, give it 20s
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deadline = time.time() + 20.0
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while time.time() < deadline:
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#Draw progress bar (erase usually takes about 9 seconds to complete)
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estimatedTimeRemaining = deadline-time.time()
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if estimatedTimeRemaining >= 9.0:
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self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0)
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else:
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self.__drawProgressBar(label, 10.0, 10.0)
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sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()) )
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sys.stdout.flush()
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if self.__trySync():
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self.__drawProgressBar(label, 10.0, 10.0)
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return;
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raise RuntimeError("timed out waiting for erase")
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# send a PROG_MULTI command to write a collection of bytes
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def __program_multi(self, data):
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if runningPython3 == True:
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length = len(data).to_bytes(1, byteorder='big')
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else:
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length = chr(len(data))
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self.__send(uploader.PROG_MULTI)
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self.__send(length)
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self.__send(data)
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self.__send(uploader.EOC)
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self.__getSync()
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# verify multiple bytes in flash
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def __verify_multi(self, data):
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if runningPython3 == True:
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length = len(data).to_bytes(1, byteorder='big')
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else:
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length = chr(len(data))
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self.__send(uploader.READ_MULTI)
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self.__send(length)
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self.__send(uploader.EOC)
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self.port.flush()
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programmed = self.__recv(len(data))
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if programmed != data:
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print("got " + binascii.hexlify(programmed))
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print("expect " + binascii.hexlify(data))
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return False
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self.__getSync()
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return True
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# send the reboot command
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def __reboot(self):
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self.__send(uploader.REBOOT
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+ uploader.EOC)
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self.port.flush()
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# v3+ can report failure if the first word flash fails
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if self.bl_rev >= 3:
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self.__getSync()
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# split a sequence into a list of size-constrained pieces
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def __split_len(self, seq, length):
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return [seq[i:i+length] for i in range(0, len(seq), length)]
|
|
|
|
# upload code
|
|
def __program(self, label, fw):
|
|
print("\n", end='')
|
|
code = fw.image
|
|
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
|
|
|
|
uploadProgress = 0
|
|
for bytes in groups:
|
|
self.__program_multi(bytes)
|
|
|
|
#Print upload progress (throttled, so it does not delay upload progress)
|
|
uploadProgress += 1
|
|
if uploadProgress % 256 == 0:
|
|
self.__drawProgressBar(label, uploadProgress, len(groups))
|
|
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)
|
|
report_crc = self.__recv_int()
|
|
self.__getSync()
|
|
verifyProgress = 0
|
|
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):
|
|
# 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):
|
|
# Make sure we are doing the right thing
|
|
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 args.force:
|
|
print("FORCED WRITE, FLASHING ANYWAY!")
|
|
else:
|
|
raise IOError(msg)
|
|
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 > 3:
|
|
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("type: " + self.otp_id.decode('Latin-1'))
|
|
print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
|
|
print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
|
|
print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
|
|
print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
|
|
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())
|
|
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" % self.fw_maxsize)
|
|
except Exception:
|
|
# ignore bad character encodings
|
|
pass
|
|
|
|
self.__erase("Erase ")
|
|
self.__program("Program", fw)
|
|
|
|
if self.bl_rev == 2:
|
|
self.__verify_v2("Verify ", fw)
|
|
else:
|
|
self.__verify_v3("Verify ", fw)
|
|
|
|
if args.boot_delay is not None:
|
|
self.__set_boot_delay(args.boot_delay)
|
|
|
|
print("\nRebooting.\n")
|
|
self.__reboot()
|
|
self.port.close()
|
|
|
|
def send_reboot(self):
|
|
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
|
|
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:
|
|
self.port.flush()
|
|
self.port.baudrate = self.baudrate_bootloader
|
|
return
|
|
|
|
|
|
# Detect python version
|
|
if sys.version_info[0] < 3:
|
|
runningPython3 = False
|
|
else:
|
|
runningPython3 = True
|
|
|
|
# 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('--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('--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")
|
|
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("==========================================================================================================")
|
|
|
|
# Load the firmware file
|
|
fw = firmware(args.firmware)
|
|
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
|
|
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
|
|
|
|
# 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:
|
|
import glob
|
|
for pattern in patterns:
|
|
portlist += glob.glob(pattern)
|
|
else:
|
|
portlist = patterns
|
|
|
|
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 not "COM" in port and not "tty.usb" in port:
|
|
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
|
|
elif "darwin" in _platform:
|
|
# OS X, don't open Windows and Linux ports
|
|
if not "COM" in port and not "ACM" in port:
|
|
up = uploader(port, args.baud_bootloader, args.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)
|
|
except Exception:
|
|
# open failed, rate-limit our attempts
|
|
time.sleep(0.05)
|
|
|
|
# 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))
|
|
|
|
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()
|
|
|
|
# wait for the reboot, without we might run into Serial I/O Error 5
|
|
time.sleep(0.5)
|
|
|
|
# always close the port
|
|
up.close()
|
|
continue
|
|
|
|
try:
|
|
# ok, we have a bootloader, try flashing it
|
|
up.upload(fw)
|
|
|
|
except RuntimeError as ex:
|
|
# print the error
|
|
print("\nERROR: %s" % ex.args)
|
|
|
|
except IOError as e:
|
|
up.close();
|
|
continue
|
|
|
|
finally:
|
|
# always close the port
|
|
up.close()
|
|
|
|
# we could loop here if we wanted to wait for more boards...
|
|
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)
|