From 925e3a2dcbaa9a9d883fe18c693cdff7ff06860c Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Fri, 5 Jan 2018 17:53:19 +1100 Subject: [PATCH] waf: added ChibiOS support --- Tools/ardupilotwaf/boards.py | 137 +++++- Tools/ardupilotwaf/chibios.py | 162 +++++++ Tools/ardupilotwaf/px_mkfw.py | 123 +++++ Tools/ardupilotwaf/px_uploader.py | 724 ++++++++++++++++++++++++++++++ 4 files changed, 1145 insertions(+), 1 deletion(-) create mode 100644 Tools/ardupilotwaf/chibios.py create mode 100644 Tools/ardupilotwaf/px_mkfw.py create mode 100755 Tools/ardupilotwaf/px_uploader.py diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index ea4a5641a5..909a617b25 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -8,6 +8,7 @@ import waflib from waflib.Configure import conf _board_classes = {} +_board = None class BoardMeta(type): def __init__(cls, name, bases, dct): @@ -191,13 +192,17 @@ class Board: def build(self, bld): bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True)) + import time + ltime = time.localtime() + bld.ap_version_append_int('BUILD_DATE_YEAR', ltime.tm_year) + bld.ap_version_append_int('BUILD_DATE_MONTH', ltime.tm_mon) + bld.ap_version_append_int('BUILD_DATE_DAY', ltime.tm_mday) Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__)) def get_boards_names(): return sorted(list(_board_classes.keys())) -_board = None @conf def get_board(ctx): global _board @@ -242,6 +247,136 @@ class sitl(Board): 'winmm', ] +class chibios(Board): + toolchain = 'arm-none-eabi' + + def configure_env(self, cfg, env): + super(chibios, self).configure_env(cfg, env) + + env.DEFINES.update( + CONFIG_HAL_BOARD = 'HAL_BOARD_CHIBIOS', + HAVE_OCLOEXEC = 0, + HAVE_STD_NULLPTR_T = 0, + ) + + env.AP_LIBRARIES += [ + 'AP_HAL_ChibiOS', + ] + + env.CXXFLAGS += [ + '-Wlogical-op', + '-Wframe-larger-than=1300', + '-fsingle-precision-constant', + '-Wno-attributes', + '-Wno-error=double-promotion', + '-Wno-error=missing-declarations', + '-Wno-error=float-equal', + '-Wno-error=undef', + '-Wno-error=cpp', + '-Wno-cast-align', + '-fno-exceptions', + '-fno-rtti', + '-fno-threadsafe-statics', + '-Wall', + '-Wextra', + '-Wno-sign-compare', + '-Wfloat-equal', + '-Wpointer-arith', + '-Wmissing-declarations', + '-Wno-unused-parameter', + '-Werror=array-bounds', + '-Wfatal-errors', + '-Werror=unused-variable', + '-Werror=uninitialized', + '-Werror=init-self', + '-Wframe-larger-than=1024', + '-Werror=unused-but-set-variable', + '-Wdouble-promotion', + '-Wno-missing-field-initializers', + '-Os', + '-g', + '-fno-strict-aliasing', + '-fomit-frame-pointer', + '-falign-functions=16', + '-ffunction-sections', + '-fdata-sections', + '-fno-strength-reduce', + '-fno-builtin-printf', + '-fno-builtin-fprintf', + '-fno-builtin-vprintf', + '-fno-builtin-vfprintf', + '-fno-builtin-puts', + '-mcpu=cortex-m4', + '-mno-thumb-interwork', + '-mthumb', + '-mfpu=fpv4-sp-d16', + '-mfloat-abi=hard' + ] + + env.LINKFLAGS = [ + '-mcpu=cortex-m4', + '-Os', + '-g', + '-fomit-frame-pointer', + '-falign-functions=16', + '-ffunction-sections', + '-fdata-sections', + '-u_port_lock', + '-u_port_unlock', + '-u_exit', + '-u_kill', + '-u_getpid', + '-u_errno', + '-uchThdExit', + '-u_printf_float', + '-fno-common', + '-nostartfiles', + '-mfloat-abi=hard', + '-mfpu=fpv4-sp-d16', + '-mno-thumb-interwork', + '-mthumb', + ] + + env.LIB += ['gcc', 'm'] + env.GIT_SUBMODULES += [ + 'ChibiOS', + ] + cfg.load('chibios') + + def build(self, bld): + super(chibios, self).build(bld) + bld.load('chibios') + +class skyviper_f412(chibios): + name = 'skyviper-f412' + def configure_env(self, cfg, env): + super(skyviper_f412, self).configure_env(cfg, env) + env.DEFINES.update( + CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412', + ) + env.BOARD = 'skyviper-f412' + env.LINKFLAGS += [ + '-L%s'\ + % cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(), + '-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\ + % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(), + ] + +class fmuv3(chibios): + name = 'fmuv3' + def configure_env(self, cfg, env): + super(fmuv3, self).configure_env(cfg, env) + env.DEFINES.update( + CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3', + ) + env.BOARD = 'fmuv3' + env.LINKFLAGS += [ + '-L%s'\ + % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/').abspath(), + '-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\ + % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(), + ] + class linux(Board): def configure_env(self, cfg, env): super(linux, self).configure_env(cfg, env) diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py new file mode 100644 index 0000000000..6113e85261 --- /dev/null +++ b/Tools/ardupilotwaf/chibios.py @@ -0,0 +1,162 @@ +#!/usr/bin/env python +# encoding: utf-8 + +""" +Waf tool for PX4 build +""" + +from waflib import Errors, Logs, Task, Utils +from waflib.TaskGen import after_method, before_method, feature + +import os +import shutil +import sys +import re +_dynamic_env_data = {} +def _load_dynamic_env_data(bld): + bldnode = bld.bldnode.make_node('modules/ChibiOS') + tmp_str = bldnode.find_node('include_dirs').read() + tmp_str = tmp_str.replace(';\n','') + if 'include_dirs' == 'include_dirs': + tmp_str = tmp_str.replace('-I','') #remove existing -I flags + _dynamic_env_data['include_dirs'] = re.split('; ', tmp_str) + print _dynamic_env_data['include_dirs'] + +@feature('ch_ap_library', 'ch_ap_program') +@before_method('process_source') +def ch_dynamic_env(self): + # The generated files from configuration possibly don't exist if it's just + # a list command (TODO: figure out a better way to address that). + if self.bld.cmd == 'list': + return + + if not _dynamic_env_data: + _load_dynamic_env_data(self.bld) + self.use += ' ch' + self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs']) + + +class upload_fw(Task.Task): + color='BLUE' + always_run = True + def run(self): + upload_tools = self.env.get_flat('UPLOAD_TOOLS') + src = self.inputs[0] + return self.exec_command("python {}/px_uploader.py --port /dev/serial/by-id/usb-3D*,/dev/serial/by-id/usb-Ardu* \ + --baud-bootloader 115200 {}".format( + upload_tools, src)) + + def exec_command(self, cmd, **kw): + kw['stdout'] = sys.stdout + return super(upload_fw, self).exec_command(cmd, **kw) + + def keyword(self): + return "Uploading" + +class generate_fw(Task.Task): + color='CYAN' + run_str='${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \ + python ${UPLOAD_TOOLS}/px_mkfw.py --image ${SRC}.bin \ + --prototype ${BUILDROOT}/apj.prototype > ${TGT}' + always_run = True + def keyword(self): + return "Generating" + def __str__(self): + return self.outputs[0].path_from(self.generator.bld.bldnode) + +class make_chibios_task(Task.Task): + color = 'CYAN' + always_run = True + def run(self): + build_dir = self.env.get_flat('BUILDDIR') + ch_root = self.env.get_flat('CHIBIOS') + make = self.env.get_flat('MAKE') + ap_hal = self.env.get_flat('AP_HAL') + brd_type = self.env.get_flat('BOARD') + return self.exec_command("BUILDDIR='{}' CHIBIOS='{}' AP_HAL={}\ + '{}' lib -f {}/hwdef/{}/chibios_board.mk".format( + build_dir, ch_root, ap_hal, make, ap_hal, brd_type + )) + def exec_command(self, cmd, **kw): + kw['stdout'] = sys.stdout + return super(make_chibios_task, self).exec_command(cmd, **kw) + def keyword(self): + return "Generating" + def __str__(self): + return self.outputs[0].path_from(self.generator.bld.bldnode) + +@feature('ch_ap_program') +@after_method('process_source') +def chibios_firmware(self): + self.link_task.always_run = True + make_tsk = self.create_task('make_chibios_task', + group='dynamic_sources', + tgt=self.bld.bldnode.find_or_declare('modules/ChibiOS/libch.a')) + make_tsk.env.BUILDDIR = self.bld.env.BUILDDIR + make_tsk.env.CHIBIOS = self.bld.env.CH_ROOT + make_tsk.env.AP_HAL = self.bld.env.AP_HAL_ROOT + + link_output = self.link_task.outputs[0] + self.objcopy_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name) + generate_fw_task = self.create_task('generate_fw', + src=link_output, + tgt=self.objcopy_target) + generate_fw_task.set_run_after(self.link_task) + if self.bld.options.upload: + _upload_task = self.create_task('upload_fw', + src=self.objcopy_target) + _upload_task.set_run_after(generate_fw_task) + +def configure(cfg): + cfg.find_program('make', var='MAKE') + #cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True) + cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY') + env = cfg.env + bldnode = cfg.bldnode.make_node(cfg.variant) + def srcpath(path): + return cfg.srcnode.make_node(path).abspath() + + def bldpath(path): + return bldnode.make_node(path).abspath() + env.AP_PROGRAM_FEATURES += ['ch_ap_program'] + + kw = env.AP_LIBRARIES_OBJECTS_KW + kw['features'] = Utils.to_list(kw.get('features', [])) + ['ch_ap_library'] + + env.CH_ROOT = srcpath('modules/ChibiOS') + env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS') + env.BUILDDIR = bldpath('modules/ChibiOS') + env.BUILDROOT = bldpath('') + env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image') + env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf') + env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*') + +def build(bld): + bld( + source='libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % bld.env.get_flat('BOARD'), + rule='python ${AP_HAL_ROOT}/hwdef/scripts/chibios_hwdef.py -D ${BUILDROOT} ${AP_HAL_ROOT}/hwdef/${BOARD}/hwdef.dat', + group='dynamic_sources', + target=['hwdef.h', 'apj.prototype'] + ) + + bld( + rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${MAKE} pass -f ${AP_HAL_ROOT}/hwdef/${BOARD}/chibios_board.mk', + group='dynamic_sources', + target='modules/ChibiOS/include_dirs' + ) + + bld.env.LIB += ['ch'] + bld.env.LIBPATH += ['modules/ChibiOS/'] + wraplist = ['strerror_r'] + for w in wraplist: + bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w] + +# @feature('ch_ap_program') +# @after_method('process_source') +# def chibios_firmware(self): +# fw_task = self.create_task('make_chibios', self.bld.bldnode.make_node(self.program_dir), self.bld.bldnode.make_node(self.program_name)) +# fw_task.set_run_after(self.link_task) +# fw_task.env.env = dict(os.environ) +# fw_task.env.env['BUILDDIR'] = self.bld.bldnode.find_or_declare('modules/ChibiOS').abspath() +# fw_task.env.env['CH_ROOT'] = self.bld.srcnode.make_node('modules/ChibiOS').abspath() +# fw_task.env['AP_HAL'] = self.bld.srcnode.make_node('libraries/AP_HAL_ChibiOS').abspath() diff --git a/Tools/ardupilotwaf/px_mkfw.py b/Tools/ardupilotwaf/px_mkfw.py new file mode 100644 index 0000000000..67a534322c --- /dev/null +++ b/Tools/ardupilotwaf/px_mkfw.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# PX4 firmware image generator +# +# The PX4 firmware file is a JSON-encoded Python object, containing +# metadata fields and a zlib-compressed base64-encoded firmware image. +# + +import sys +import argparse +import json +import base64 +import zlib +import time +import subprocess + +# +# Construct a basic firmware description +# +def mkdesc(): + proto = {} + proto['magic'] = "PX4FWv1" + proto['board_id'] = 0 + proto['board_revision'] = 0 + proto['version'] = "" + proto['summary'] = "" + proto['description'] = "" + proto['git_identity'] = "" + proto['build_time'] = 0 + proto['image'] = bytes() + proto['image_size'] = 0 + return proto + +# Parse commandline +parser = argparse.ArgumentParser(description="Firmware generator for the PX autopilot system.") +parser.add_argument("--prototype", action="store", help="read a prototype description from a file") +parser.add_argument("--board_id", action="store", help="set the board ID required") +parser.add_argument("--board_revision", action="store", help="set the board revision required") +parser.add_argument("--version", action="store", help="set a version string") +parser.add_argument("--summary", action="store", help="set a brief description") +parser.add_argument("--description", action="store", help="set a longer description") +parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity") +parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file") +parser.add_argument("--airframe_xml", action="store", help="the airframes.xml file") +parser.add_argument("--image", action="store", help="the firmware image") +args = parser.parse_args() + +# Fetch the firmware descriptor prototype if specified +if args.prototype != None: + f = open(args.prototype,"r") + desc = json.load(f) + f.close() +else: + desc = mkdesc() + +desc['build_time'] = int(time.time()) + +if args.board_id != None: + desc['board_id'] = int(args.board_id) +if args.board_revision != None: + desc['board_revision'] = int(args.board_revision) +if args.version != None: + desc['version'] = str(args.version) +if args.summary != None: + desc['summary'] = str(args.summary) +if args.description != None: + desc['description'] = str(args.description) +if args.git_identity != None: + cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"]) + p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout + desc['git_identity'] = str(p.read().strip()) + p.close() +if args.parameter_xml != None: + f = open(args.parameter_xml, "rb") + bytes = f.read() + desc['parameter_xml_size'] = len(bytes) + desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') + desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4 +if args.airframe_xml != None: + f = open(args.airframe_xml, "rb") + bytes = f.read() + desc['airframe_xml_size'] = len(bytes) + desc['airframe_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') +if args.image != None: + f = open(args.image, "rb") + bytes = f.read() + desc['image_size'] = len(bytes) + desc['image'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') + +print(json.dumps(desc, indent=4)) diff --git a/Tools/ardupilotwaf/px_uploader.py b/Tools/ardupilotwaf/px_uploader.py new file mode 100755 index 0000000000..e3debfcd11 --- /dev/null +++ b/Tools/ardupilotwaf/px_uploader.py @@ -0,0 +1,724 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (c) 2012-2017 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Serial firmware uploader for the PX4FMU bootloader +# +# The PX4 firmware file is a JSON-encoded Python object, containing +# metadata fields and a zlib-compressed base64-encoded firmware image. +# +# The uploader uses the following fields from the firmware file: +# +# image +# The firmware that will be uploaded. +# image_size +# The size of the firmware in bytes. +# board_id +# The board for which the firmware is intended. +# board_revision +# Currently only used for informational purposes. +# + +# for python2.7 compatibility +from __future__ import print_function + +import sys +import argparse +import binascii +import serial +import struct +import json +import zlib +import base64 +import time +import array +import os + +from sys import platform as _platform + +# Detect python version +if sys.version_info[0] < 3: + runningPython3 = False +else: + runningPython3 = True + +class firmware(object): + '''Loads a firmware file''' + + desc = {} + image = bytes() + crctab = array.array('I', [ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) + crcpad = bytearray(b'\xff\xff\xff\xff') + + def __init__(self, path): + + # read the file + f = open(path, "r") + self.desc = json.load(f) + f.close() + + self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) + + # pad image to 4-byte length + while ((len(self.image) % 4) != 0): + self.image.append('\xff') + + def property(self, propname): + return self.desc[propname] + + def __crc32(self, bytes, state): + for byte in bytes: + index = (state ^ byte) & 0xff + state = self.crctab[index] ^ (state >> 8) + return state + + def crc(self, padlen): + state = self.__crc32(self.image, int(0)) + for i in range(len(self.image), (padlen - 1), 4): + state = self.__crc32(self.crcpad, state) + return state + + +class uploader(object): + '''Uploads a firmware file to the PX FMU bootloader''' + + # protocol bytes + INSYNC = b'\x12' + EOC = b'\x20' + + # reply bytes + OK = b'\x10' + FAILED = b'\x11' + INVALID = b'\x13' # rev3+ + BAD_SILICON_REV = b'\x14' # rev5+ + + # command bytes + NOP = b'\x00' # guaranteed to be discarded by the bootloader + GET_SYNC = b'\x21' + GET_DEVICE = b'\x22' + CHIP_ERASE = b'\x23' + CHIP_VERIFY = b'\x24' # rev2 only + PROG_MULTI = b'\x27' + READ_MULTI = b'\x28' # rev2 only + GET_CRC = b'\x29' # rev3+ + GET_OTP = b'\x2a' # rev4+ , get a word from OTP area + GET_SN = b'\x2b' # rev4+ , get a word from SN area + GET_CHIP = b'\x2c' # rev5+ , get chip version + SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay + GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII + MAX_DES_LENGTH = 20 + + REBOOT = b'\x30' + SET_BAUD = b'\x33' # set baud + + INFO_BL_REV = b'\x01' # bootloader protocol revision + BL_REV_MIN = 2 # minimum supported bootloader protocol + BL_REV_MAX = 5 # maximum supported bootloader protocol + INFO_BOARD_ID = b'\x02' # board type + INFO_BOARD_REV = b'\x03' # board revision + INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes + + PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4 + READ_MULTI_MAX = 252 # protocol max is 255 + + NSH_INIT = bytearray(b'\x0d\x0d\x0d') + NSH_REBOOT_BL = b"reboot -b\n" + NSH_REBOOT = b"reboot\n" + 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') + 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') + + def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None): + # open the port, keep the default timeout short so we can poll quickly + self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0) + self.otp = b'' + self.sn = b'' + self.baudrate_bootloader = baudrate_bootloader + if baudrate_bootloader_flash is not None: + self.baudrate_bootloader_flash = baudrate_bootloader_flash + else: + self.baudrate_bootloader_flash = self.baudrate_bootloader + self.baudrate_flightstack = baudrate_flightstack + self.baudrate_flightstack_idx = -1 + + def close(self): + if self.port is not None: + self.port.close() + + def open(self): + timeout = time.time() + 0.2 + + # Attempt to open the port while it exists and until timeout occurs + while self.port is not None: + portopen = True + try: + portopen = self.port.is_open + except AttributeError: + portopen = self.port.isOpen() + + if not portopen and time.time() < timeout: + try: + self.port.open() + except OSError: + # wait for the port to be ready + time.sleep(0.04) + except serial.SerialException: + # if open fails, try again later + time.sleep(0.04) + + else: + break + + def __send(self, c): + # print("send " + binascii.hexlify(c)) + self.port.write(c) + + def __recv(self, count=1): + c = self.port.read(count) + if len(c) < 1: + raise RuntimeError("timeout waiting for data (%u bytes)" % count) + # print("recv " + binascii.hexlify(c)) + return c + + def __recv_int(self): + raw = self.__recv(4) + val = struct.unpack("= 9.0: + self.__drawProgressBar(label, 20.0-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): + + 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) + self.__getSync() + + # 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): + 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() + 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() + + def __setbaud(self, baud): + self.__send(uploader.SET_BAUD + + struct.pack("I", baud) + + 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, force=False, boot_delay=None): + # 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 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 + + if self.baudrate_bootloader_flash != self.baudrate_bootloader: + print("Setting baudrate to %u" % self.baudrate_bootloader_flash) + self.__setbaud(self.baudrate_bootloader_flash) + self.port.baudrate = self.baudrate_bootloader_flash + self.__sync() + + 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.\n") + self.__reboot() + self.port.close() + + def __next_baud_flightstack(self): + self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1 + if self.baudrate_flightstack_idx >= len(self.baudrate_flightstack): + return False + + self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx] + + return True + + def send_reboot(self): + if (not self.__next_baud_flightstack()): + return False + + print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr) + print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr) + + try: + # try MAVLINK command first + self.port.flush() + self.__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: + 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-bootloader-flash', action="store", type=int, default=None, help="Attempt to negotiate this baudrate with bootloader for flashing.") + parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.") + parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading') + parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') + parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") + 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 + + baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')] + + 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 + up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) + 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, args.baud_bootloader_flash) + elif "win" in _platform: + # Windows, don't open POSIX ports + if "/" not in port: + up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) + 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("Found board %x,%x bootloader rev %x 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) + + 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... + 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) + +if __name__ == '__main__': + main() + +# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4