mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
Tools: add support for uploading firmware to boards with external flash
This commit is contained in:
Siddharth Purohit
Andrew Tridgell
parent
f15f5e9334
commit
35df1b1bd3
@ -158,14 +158,21 @@ class firmware(object):
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f.close()
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self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
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self.extf_image = bytearray(zlib.decompress(base64.b64decode(self.desc['extf_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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# pad image to 4-byte length
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while ((len(self.extf_image) % 4) != 0):
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self.extf_image.append('\xff')
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def property(self, propname):
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return self.desc[propname]
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def extf_crc(self, size):
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state = crc32(self.extf_image[:size], int(0))
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return state
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def crc(self, padlen):
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state = crc32(self.image, int(0))
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for i in range(len(self.image), (padlen - 1), 4):
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@ -216,6 +223,7 @@ class uploader(object):
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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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INFO_EXTF_SIZE = b'\x06' # available external flash size
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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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@ -453,6 +461,20 @@ class uploader(object):
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self.__send(uploader.EOC)
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self.__getSync()
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# send a PROG_EXTF_MULTI command to write a collection of bytes to external flash
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def __program_multi_extf(self, data):
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if runningPython3:
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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.EXTF_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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@ -586,7 +608,7 @@ class uploader(object):
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uploader.EOC)
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self.__getSync()
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def erase_extflash(self, size):
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def erase_extflash(self, label, size):
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if runningPython3:
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size_bytes = size.to_bytes(4, byteorder='little')
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else:
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@ -598,11 +620,44 @@ class uploader(object):
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if last_pct < 90:
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pct = self.__recv_uint8()
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if last_pct != pct:
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self.__drawProgressBar('Erase ExtF', pct, 100)
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self.__drawProgressBar(label, pct, 100)
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last_pct = pct
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elif self.__trySync():
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self.__drawProgressBar('Erase ExtF', 10.0, 10.0)
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return
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self.__drawProgressBar(label, 10.0, 10.0)
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return
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def __program_extf(self, label, fw):
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print("\n", end='')
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code = fw.extf_image
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groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
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uploadProgress = 0
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for bytes in groups:
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self.__program_multi_extf(bytes)
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# Print upload progress (throttled, so it does not delay upload progress)
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uploadProgress += 1
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if uploadProgress % 32 == 0:
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self.__drawProgressBar(label, uploadProgress, len(groups))
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self.__drawProgressBar(label, 100, 100)
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def __verify_extf(self, label, fw, size):
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if runningPython3:
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size_bytes = size.to_bytes(4, byteorder='little')
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else:
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size_bytes = chr(size)
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print("\n", end='')
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self.__drawProgressBar(label, 1, 100)
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expect_crc = fw.extf_crc(size)
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self.__send(uploader.EXTF_GET_CRC +
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size_bytes + uploader.EOC)
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report_crc = self.__recv_int()
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self.__getSync()
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if report_crc != expect_crc:
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print("\nExpected 0x%x" % expect_crc)
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print("Got 0x%x" % report_crc)
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raise RuntimeError("Program CRC failed")
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self.__drawProgressBar(label, 100, 100)
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# get basic data about the board
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def identify(self):
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@ -618,6 +673,7 @@ class uploader(object):
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self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
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self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
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self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
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self.extf_maxsize = self.__getInfo(uploader.INFO_EXTF_SIZE)
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def dump_board_info(self):
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# OTP added in v4:
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@ -713,6 +769,7 @@ class uploader(object):
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print("Info:")
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print(" flash size: %u" % self.fw_maxsize)
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print(" ext flash size: %u" % self.extf_maxsize)
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name = self.board_name_for_board_id(self.board_type)
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if name is not None:
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print(" board_type: %u (%s)" % (self.board_type, name))
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@ -792,7 +849,7 @@ class uploader(object):
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self.dump_board_info()
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if self.fw_maxsize < fw.property('image_size'):
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if self.fw_maxsize < fw.property('image_size') or self.extf_maxsize < fw.property('extf_image_size'):
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raise RuntimeError("Firmware image is too large for this board")
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if self.baudrate_bootloader_flash != self.baudrate_bootloader:
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@ -801,13 +858,19 @@ class uploader(object):
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self.port.baudrate = self.baudrate_bootloader_flash
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self.__sync()
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self.__erase("Erase ")
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self.__program("Program", fw)
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if (fw.property('extf_image_size') > 0):
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self.erase_extflash("Erase ExtF ", fw.property('extf_image_size'))
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self.__program_extf("Program ExtF", fw)
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self.__verify_extf("Verify ExtF ", fw, fw.property('extf_image_size'))
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if self.bl_rev == 2:
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self.__verify_v2("Verify ", fw)
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else:
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self.__verify_v3("Verify ", fw)
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if (fw.property('image_size') > 0):
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self.__erase("Erase ")
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self.__program("Program", fw)
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if self.bl_rev == 2:
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self.__verify_v2("Verify ", fw)
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else:
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self.__verify_v3("Verify ", fw)
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if boot_delay is not None:
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self.__set_boot_delay(boot_delay)
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@ -989,7 +1052,8 @@ def main():
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)
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parser.add_argument('--download', action='store_true', default=False, help='download firmware from board')
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parser.add_argument('--identify', action="store_true", help="Do not flash firmware; simply dump information about board")
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parser.add_argument('--erase-extflash', type=lambda x: int(x,0), default=None, help="Erase sectors containing specified amount of bytes from ext flash")
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parser.add_argument('--erase-extflash', type=lambda x: int(x, 0), default=None,
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help="Erase sectors containing specified amount of bytes from ext flash")
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parser.add_argument('firmware', nargs="?", action="store", default=None, help="Firmware file to be uploaded")
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args = parser.parse_args()
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@ -1048,7 +1112,7 @@ def main():
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elif args.download:
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up.download(args.firmware)
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elif args.erase_extflash:
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up.erase_extflash(args.erase_extflash)
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up.erase_extflash('Erase ExtF', args.erase_extflash)
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print("\nExtF Erase Finished")
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else:
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up.upload(fw, force=args.force, boot_delay=args.boot_delay)
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