mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
Tool: uploader.py: flake8-clean
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Peter Barker
Peter Barker
parent
b35a586447
commit
4ea8c32c61
@ -50,6 +50,8 @@
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# Currently only used for informational purposes.
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#
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# AP_FLAKE8_CLEAN
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# for python2.7 compatibility
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from __future__ import print_function
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@ -132,6 +134,7 @@ crctab = array.array('I', [
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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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def crc32(bytes, state=0):
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'''crc32 exposed for use by chibios.py'''
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for byte in bytes:
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@ -139,6 +142,7 @@ def crc32(bytes, state=0):
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state = crctab[index] ^ (state >> 8)
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return state
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class firmware(object):
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'''Loads a firmware file'''
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@ -215,9 +219,17 @@ class uploader(object):
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NSH_REBOOT_BL = b"reboot -b\n"
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NSH_REBOOT = b"reboot\n"
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def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None, target_system=None, target_component=None, source_system=None, source_component=None):
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self.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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self.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,
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portname,
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baudrate_bootloader,
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baudrate_flightstack,
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baudrate_bootloader_flash=None,
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target_system=None,
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target_component=None,
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source_system=None,
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source_component=None):
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self.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') # NOQA
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self.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') # NOQA
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if target_component is None:
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target_component = 1
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if source_system is None:
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@ -638,7 +650,6 @@ class uploader(object):
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}
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family = mcu_id & 0xfff
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chip_s = "%x [unknown family/revision]" % (chip)
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if family in F4_IDS:
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mcu = F4_IDS[family]
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@ -659,7 +670,8 @@ class uploader(object):
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if rev in revs:
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(label, flawed) = revs[rev]
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if flawed and family == 0x419:
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print(" %x %s rev%s (flawed; 1M limit, see STM32F42XX Errata sheet sec. 2.1.10)" % (chip, mcu, label,))
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print(" %x %s rev%s (flawed; 1M limit, see STM32F42XX Errata sheet sec. 2.1.10)" %
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(chip, mcu, label,))
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elif family == 0x419:
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print(" %x %s rev%s (no 1M flaw)" % (chip, mcu, label,))
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else:
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@ -699,7 +711,7 @@ class uploader(object):
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# uploader.py is swiped into other places, so if the dir
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# doesn't exist then fail silently
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if os.path.exists(hwdef_dir):
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dirs = [x if (x not in ["scripts","common","STM32CubeConf"] and os.path.isdir(os.path.join(hwdef_dir, x))) else None for x in os.listdir(hwdef_dir)]
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dirs = [x if (x not in ["scripts", "common", "STM32CubeConf"] and os.path.isdir(os.path.join(hwdef_dir, x))) else None for x in os.listdir(hwdef_dir)] # NOQA
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for adir in dirs:
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if adir is None:
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continue
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@ -708,11 +720,10 @@ class uploader(object):
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continue
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fh = open(filepath)
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if fh is None:
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# print("Failed to open (%s)" % filepath)
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continue
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text = fh.readlines()
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for line in text:
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m = re.match("^\s*APJ_BOARD_ID\s+(\d+)\s*$", line)
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m = re.match(r"^\s*APJ_BOARD_ID\s+(\d+)\s*$", line)
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if m is None:
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continue
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if int(m.group(1)) == board_id:
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@ -735,7 +746,7 @@ class uploader(object):
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board_name = compatible_IDs[self.board_type][1]
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if comp_fw_id == fw.property('board_id'):
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msg = "Target %s (board_id: %d) is compatible with firmware for board_id=%u)" % (
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board_name, self.board_type, fw.property('board_id'))
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board_name, self.board_type, fw.property('board_id'))
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print("INFO: %s" % msg)
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incomp = False
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if incomp:
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@ -830,6 +841,7 @@ class uploader(object):
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self.__download("Download", fw)
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self.port.close()
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def ports_to_try(args):
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portlist = []
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if args.port is None:
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@ -860,6 +872,7 @@ def ports_to_try(args):
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return portlist
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def modemmanager_check():
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if os.path.exists("/usr/sbin/ModemManager"):
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print("""
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@ -868,6 +881,7 @@ WARNING: You should uninstall ModemManager as it conflicts with any non-modem se
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==========================================================================================================
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""")
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def find_bootloader(up, port):
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while (True):
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up.open()
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@ -879,7 +893,7 @@ def find_bootloader(up, port):
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print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
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return True
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except Exception as e:
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except Exception:
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pass
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reboot_sent = up.send_reboot()
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@ -901,17 +915,50 @@ def main():
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# Parse commandline arguments
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parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
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parser.add_argument('--port', action="store", help="Comma-separated list of serial port(s) to which the FMU may be attached",
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default=None)
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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.")
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parser.add_argument('--baud-bootloader-flash', action="store", type=int, default=None, help="Attempt to negotiate this baudrate with bootloader for flashing.")
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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.")
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parser.add_argument(
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'--port',
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action="store",
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help="Comma-separated list of serial port(s) to which the FMU may be attached",
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default=None
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)
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parser.add_argument(
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'--baud-bootloader',
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action="store",
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type=int,
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default=115200,
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help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports." # NOQA
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)
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parser.add_argument(
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'--baud-bootloader-flash',
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action="store",
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type=int,
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default=None,
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help="Attempt to negotiate this baudrate with bootloader for flashing."
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)
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parser.add_argument(
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'--baud-flightstack',
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action="store",
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default="57600",
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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." # NOQA
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)
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parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
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parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
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parser.add_argument('--target-system', type=int, action="store", help="System ID to update")
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parser.add_argument('--target-component', type=int, action="store", help="Component ID to update")
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parser.add_argument('--source-system', type=int, action="store", help="Source system to send reboot mavlink packets from", default=255)
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parser.add_argument('--source-component', type=int, action="store", help="Source component to send reboot mavlink packets from", default=0)
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parser.add_argument(
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'--source-system',
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type=int,
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action="store",
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help="Source system to send reboot mavlink packets from",
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default=255
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)
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parser.add_argument(
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'--source-component',
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type=int,
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action="store",
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help="Source component to send reboot mavlink packets from",
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default=0
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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('firmware', nargs="?", action="store", default=None, help="Firmware file to be uploaded")
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@ -927,7 +974,8 @@ def main():
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# Load the firmware file
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if not args.download and not args.identify:
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fw = firmware(args.firmware)
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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')))
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print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." %
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(fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
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print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
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baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
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@ -996,6 +1044,7 @@ def main():
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print("\n Upload aborted by user.")
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sys.exit(0)
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if __name__ == '__main__':
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main()
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