Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: scripts: uploader.py takes target-system / target component

Browse Source
This commit is contained in:
Peter Barker 2019-02-26 16:17:18 +11:00 committed by Peter Barker
parent e8401671e3
commit e68ceda59e
1 changed files with 43 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

49
Tools/scripts/uploader.py
View File

@ -205,10 +205,17 @@ class uploader(object):
NSH_INIT = bytearray(b'\x0d\x0d\x0d') NSH_INIT = bytearray(b'\x0d\x0d\x0d')
NSH_REBOOT_BL = b"reboot -b\n" NSH_REBOOT_BL = b"reboot -b\n"
NSH_REBOOT = b"reboot\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): def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None, target_system=None, target_component=None, source_system=None, source_component=None):
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')
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')
if target_component is None:
target_component = 1
if source_system is None:
source_system = 255
if source_component is None:
source_component = 1
# open the port, keep the default timeout short so we can poll quickly # open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0) self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0)
self.otp = b'' self.otp = b''
@ -220,6 +227,26 @@ class uploader(object):
self.baudrate_bootloader_flash = self.baudrate_bootloader self.baudrate_bootloader_flash = self.baudrate_bootloader
self.baudrate_flightstack = baudrate_flightstack self.baudrate_flightstack = baudrate_flightstack
self.baudrate_flightstack_idx = -1 self.baudrate_flightstack_idx = -1
# generate mavlink reboot message:
if target_system is not None:
from pymavlink import mavutil
m = mavutil.mavlink.MAVLink_command_long_message(
target_system,
target_component,
mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
1, # confirmation
3, # remain in bootloader
0,
0,
0,
0,
0,
0)
mav = mavutil.mavlink.MAVLink(self,
srcSystem=source_system,
srcComponent=source_component)
self.MAVLINK_REBOOT_ID1 = m.pack(mav)
self.MAVLINK_REBOOT_ID0 = None
def close(self): def close(self):
if self.port is not None: if self.port is not None:
@ -610,8 +637,10 @@ class uploader(object):
try: try:
# try MAVLINK command first # try MAVLINK command first
self.port.flush() self.port.flush()
self.__send(uploader.MAVLINK_REBOOT_ID1) if self.MAVLINK_REBOOT_ID1 is not None:
self.__send(uploader.MAVLINK_REBOOT_ID0) self.__send(self.MAVLINK_REBOOT_ID1)
if self.MAVLINK_REBOOT_ID0 is not None:
self.__send(self.MAVLINK_REBOOT_ID0)
# then try reboot via NSH # then try reboot via NSH
self.__send(uploader.NSH_INIT) self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT_BL) self.__send(uploader.NSH_REBOOT_BL)
@ -705,6 +734,10 @@ def main():
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('--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('--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('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('--target-system', type=int, action="store", help="System ID to update")
parser.add_argument('--target-component', type=int, action="store", help="Component ID to update")
parser.add_argument('--source-system', type=int, action="store", help="Source system to send reboot mavlink packets from", default=255)
parser.add_argument('--source-component', type=int, action="store", help="Source component to send reboot mavlink packets from", default=0)
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
args = parser.parse_args() args = parser.parse_args()
@ -731,7 +764,11 @@ def main():
up = uploader(port, up = uploader(port,
args.baud_bootloader, args.baud_bootloader,
baud_flightstack, baud_flightstack,
args.baud_bootloader_flash) args.baud_bootloader_flash,
args.target_system,
args.target_component,
args.source_system,
args.source_component)
except Exception as e: except Exception as e:
print("Exception creating uploader: %s" % str(e)) print("Exception creating uploader: %s" % str(e))