#!/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. # # AP_FLAKE8_CLEAN # 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 import platform import re from sys import platform as _platform is_WSL = bool("Microsoft" in platform.uname()[2]) is_WSL2 = bool("microsoft-standard-WSL2" in platform.release()) # default list of port names to look for autopilots default_ports = ['/dev/serial/by-id/usb-Ardu*', '/dev/serial/by-id/usb-3D*', '/dev/serial/by-id/usb-APM*', '/dev/serial/by-id/usb-Radio*', '/dev/serial/by-id/usb-*_3DR_*', '/dev/serial/by-id/usb-Hex_Technology_Limited*', '/dev/serial/by-id/usb-Hex_ProfiCNC*', '/dev/serial/by-id/usb-Holybro*', '/dev/serial/by-id/usb-mRo*', '/dev/serial/by-id/usb-modalFC*', '/dev/serial/by-id/usb-Auterion*', '/dev/serial/by-id/usb-*-BL_*', '/dev/serial/by-id/usb-*_BL_*', '/dev/serial/by-id/usb-Swift-Flyer*', '/dev/tty.usbmodem*'] if "cygwin" in _platform or is_WSL: default_ports += ['/dev/ttyS*'] if "win32" in _platform: for com_port in range(1, 255): default_ports += ['COM' + str(com_port)] # Detect python version if sys.version_info[0] < 3: runningPython3 = False else: runningPython3 = True # dictionary of bootloader {boardID: (firmware boardID, boardname), ...} # designating firmware builds compatible with multiple boardIDs compatible_IDs = {33: (9, 'AUAVX2.1')} # CRC equivalent to crc_crc32() in AP_Math/crc.cpp 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]) def crc32(bytes, state=0): '''crc32 exposed for use by chibios.py''' for byte in bytes: index = (state ^ byte) & 0xff state = crctab[index] ^ (state >> 8) return state class firmware(object): '''Loads a firmware file''' desc = {} image = bytes() 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']))) if 'extf_image' in self.desc: self.extf_image = bytearray(zlib.decompress(base64.b64decode(self.desc['extf_image']))) else: self.extf_image = None # pad image to 4-byte length while ((len(self.image) % 4) != 0): self.image.append('\xff') # pad image to 4-byte length if self.extf_image is not None: while ((len(self.extf_image) % 4) != 0): self.extf_image.append('\xff') def property(self, propname, default=None): if propname in self.desc: return self.desc[propname] return default def extf_crc(self, size): state = crc32(self.extf_image[:size], int(0)) return state def crc(self, padlen): state = crc32(self.image, int(0)) for i in range(len(self.image), (padlen - 1), 4): state = 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 EXTF_ERASE = b'\x34' # erase sectors from external flash EXTF_PROG_MULTI = b'\x35' # write bytes at external flash program address and increment EXTF_READ_MULTI = b'\x36' # read bytes at address and increment EXTF_GET_CRC = b'\x37' # compute & return a CRC of data in external flash 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 INFO_EXTF_SIZE = b'\x06' # available external flash size 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" def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None, target_system=None, target_component=None, source_system=None, source_component=None, no_extf=False): 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 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 if target_component is None: target_component = 1 if source_system is None: source_system = 255 if source_component is None: source_component = 1 self.no_extf = no_extf # open the port, keep the default timeout short so we can poll quickly self.port = serial.Serial(portname, baudrate_bootloader, timeout=2.0) 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 # 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): 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): 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() # send a PROG_EXTF_MULTI command to write a collection of bytes to external flash def __program_multi_extf(self, data): if runningPython3: length = len(data).to_bytes(1, byteorder='big') else: length = chr(len(data)) self.__send(uploader.EXTF_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 # read multiple bytes from flash def __read_multi(self, length): if runningPython3: clength = length.to_bytes(1, byteorder='big') else: clength = chr(length) self.__send(uploader.READ_MULTI) self.__send(clength) self.__send(uploader.EOC) self.port.flush() ret = self.__recv(length) self.__getSync() return ret # 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) # download code def __download(self, label, fw): print("\n", end='') f = open(fw, 'wb') downloadProgress = 0 readsize = uploader.READ_MULTI_MAX total = 0 while True: n = min(self.fw_maxsize - total, readsize) bb = self.__read_multi(n) f.write(bb) total += len(bb) # Print download progress (throttled, so it does not delay download progress) downloadProgress += 1 if downloadProgress % 256 == 0: self.__drawProgressBar(label, total, self.fw_maxsize) if len(bb) < readsize: break f.close() self.__drawProgressBar(label, total, self.fw_maxsize) print("\nReceived %u bytes to %s" % (total, fw)) # 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() def erase_extflash(self, label, size): if runningPython3: size_bytes = size.to_bytes(4, byteorder='little') else: size_bytes = chr(size) self.__send(uploader.EXTF_ERASE + size_bytes + uploader.EOC) self.__getSync() last_pct = 0 while(True): if last_pct < 90: pct = self.__recv_uint8() if last_pct != pct: self.__drawProgressBar(label, pct, 100) last_pct = pct elif self.__trySync(): self.__drawProgressBar(label, 10.0, 10.0) return def __program_extf(self, label, fw): print("\n", end='') code = fw.extf_image groups = self.__split_len(code, uploader.PROG_MULTI_MAX) uploadProgress = 0 for bytes in groups: self.__program_multi_extf(bytes) # Print upload progress (throttled, so it does not delay upload progress) uploadProgress += 1 if uploadProgress % 32 == 0: self.__drawProgressBar(label, uploadProgress, len(groups)) self.__drawProgressBar(label, 100, 100) def __verify_extf(self, label, fw, size): if runningPython3: size_bytes = size.to_bytes(4, byteorder='little') else: size_bytes = chr(size) print("\n", end='') self.__drawProgressBar(label, 1, 100) expect_crc = fw.extf_crc(size) self.__send(uploader.EXTF_GET_CRC + size_bytes + uploader.EOC) # crc can be slow, give it 10s deadline = time.time() + 10.0 while time.time() < deadline: # Draw progress bar estimatedTimeRemaining = deadline-time.time() if estimatedTimeRemaining >= 4.0: self.__drawProgressBar(label, 10.0-estimatedTimeRemaining, 4.0) else: self.__drawProgressBar(label, 5.0, 5.0) sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time())) sys.stdout.flush() try: report_crc = self.__recv_int() break except Exception: continue if time.time() >= deadline: raise RuntimeError("Program CRC timed out") self.__getSync() if report_crc != expect_crc: print("\nExpected 0x%x" % expect_crc) print("Got 0x%x" % report_crc) raise RuntimeError("Program CRC failed") self.__drawProgressBar(label, 100, 100) # 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" % self.bl_rev) raise RuntimeError("Bootloader protocol mismatch") if self.no_extf: self.extf_maxsize = 0 else: try: self.extf_maxsize = self.__getInfo(uploader.INFO_EXTF_SIZE) except Exception: print("Could not get external flash size, assuming 0") self.extf_maxsize = 0 self.__sync() 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) def dump_board_info(self): # OTP added in v4: print("Bootloader Protocol: %u" % self.bl_rev) if self.bl_rev > 3: otp = b'' for byte in range(0, 32*6, 4): x = self.__getOTP(byte) otp = otp + x # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='') # see src/modules/systemlib/otp.h in px4 code: otp_id = otp[0:4] otp_idtype = otp[4:5] otp_vid = otp[8:4:-1] otp_pid = otp[12:8:-1] otp_coa = otp[32:160] # show user: try: print("OTP:") print(" type: " + otp_id.decode('Latin-1')) print(" idtype: " + binascii.b2a_qp(otp_idtype).decode('Latin-1')) print(" vid: " + binascii.hexlify(otp_vid).decode('Latin-1')) print(" pid: " + binascii.hexlify(otp_pid).decode('Latin-1')) print(" coa: " + binascii.b2a_base64(otp_coa).decode('Latin-1'), end='') print(" sn: ", end='') for byte in range(0, 12, 4): x = self.__getSN(byte) x = x[::-1] # reverse the bytes print(binascii.hexlify(x).decode('Latin-1'), end='') # show user print('') except Exception: # ignore bad character encodings pass if self.bl_rev >= 5: des = self.__getCHIPDes() if (len(des) == 2): print("ChipDes:") print(" family: %s" % des[0]) print(" revision: %s" % des[1]) print("Chip:") if self.bl_rev > 4: chip = self.__getCHIP() mcu_id = chip & 0xfff revs = {} F4_IDS = { 0x413: "STM32F40x_41x", 0x419: "STM32F42x_43x", 0x421: "STM32F42x_446xx", } F7_IDS = { 0x449: "STM32F74x_75x", 0x451: "STM32F76x_77x", } H7_IDS = { 0x450: "STM32H74x_75x", } family = mcu_id & 0xfff if family in F4_IDS: mcu = F4_IDS[family] MCU_REV_STM32F4_REV_A = 0x1000 MCU_REV_STM32F4_REV_Z = 0x1001 MCU_REV_STM32F4_REV_Y = 0x1003 MCU_REV_STM32F4_REV_1 = 0x1007 MCU_REV_STM32F4_REV_3 = 0x2001 revs = { MCU_REV_STM32F4_REV_A: ("A", True), MCU_REV_STM32F4_REV_Z: ("Z", True), MCU_REV_STM32F4_REV_Y: ("Y", True), MCU_REV_STM32F4_REV_1: ("1", True), MCU_REV_STM32F4_REV_3: ("3", False), } rev = (chip & 0xFFFF0000) >> 16 if rev in revs: (label, flawed) = revs[rev] if flawed and family == 0x419: print(" %x %s rev%s (flawed; 1M limit, see STM32F42XX Errata sheet sec. 2.1.10)" % (chip, mcu, label,)) elif family == 0x419: print(" %x %s rev%s (no 1M flaw)" % (chip, mcu, label,)) else: print(" %x %s rev%s" % (chip, mcu, label,)) elif family in F7_IDS: print(" %s %08x" % (F7_IDS[family], chip)) elif family in H7_IDS: print(" %s %08x" % (H7_IDS[family], chip)) else: print(" [unavailable; bootloader too old]") print("Info:") print(" flash size: %u" % self.fw_maxsize) print(" ext flash size: %u" % self.extf_maxsize) name = self.board_name_for_board_id(self.board_type) if name is not None: print(" board_type: %u (%s)" % (self.board_type, name)) else: print(" board_type: %u" % self.board_type) print(" board_rev: %u" % self.board_rev) print("Identification complete") def board_name_for_board_id(self, board_id): '''return name for board_id, None if it can't be found''' shared_ids = { 9: "fmuv3", 50: "fmuv5", } if board_id in shared_ids: return shared_ids[board_id] try: ret = [] hwdef_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", "..", "libraries", "AP_HAL_ChibiOS", "hwdef") # uploader.py is swiped into other places, so if the dir # doesn't exist then fail silently if os.path.exists(hwdef_dir): 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 for adir in dirs: if adir is None: continue filepath = os.path.join(hwdef_dir, adir, "hwdef.dat") if not os.path.exists(filepath): continue fh = open(filepath) if fh is None: continue text = fh.readlines() for line in text: m = re.match(r"^\s*APJ_BOARD_ID\s+(\d+)\s*$", line) if m is None: continue if int(m.group(1)) == board_id: ret.append(adir) if len(ret) == 0: return None return " or ".join(ret) except Exception as e: print("Failed to get name: %s" % str(e)) return None # 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'): # ID mismatch: check compatibility incomp = True if self.board_type in compatible_IDs: comp_fw_id = compatible_IDs[self.board_type][0] board_name = compatible_IDs[self.board_type][1] if comp_fw_id == fw.property('board_id'): msg = "Target %s (board_id: %d) is compatible with firmware for board_id=%u)" % ( board_name, self.board_type, fw.property('board_id')) print("INFO: %s" % msg) incomp = False if incomp: msg = "Firmware not suitable for this board (board_type=%u (%s) board_id=%u (%s))" % ( self.board_type, self.board_name_for_board_id(self.board_type), fw.property('board_id'), self.board_name_for_board_id(fw.property('board_id'))) print("WARNING: %s" % msg) if force: print("FORCED WRITE, FLASHING ANYWAY!") else: raise IOError(msg) self.dump_board_info() if self.fw_maxsize < fw.property('image_size') or self.extf_maxsize < fw.property('extf_image_size', 0): raise RuntimeError("Firmware image is too large for this board") 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() if (fw.property('extf_image_size', 0) > 0): self.erase_extflash("Erase ExtF ", fw.property('extf_image_size', 0)) self.__program_extf("Program ExtF", fw) self.__verify_extf("Verify ExtF ", fw, fw.property('extf_image_size', 0)) if (fw.property('image_size') > 0): 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 try: self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx] except Exception: return False 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() if self.MAVLINK_REBOOT_ID1 is not None: 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 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 Exception: try: self.port.flush() self.port.baudrate = self.baudrate_bootloader except Exception: pass return True # upload the firmware def download(self, fw): 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.__download("Download", fw) self.port.close() def ports_to_try(args): portlist = [] if args.port is None: patterns = default_ports else: patterns = args.port.split(",") # use glob to support wildcard ports. This allows the use of # /dev/serial/by-id/usb-ArduPilot on Linux, which prevents the # upload from causing modem hangups etc if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform: import glob for pattern in patterns: portlist += glob.glob(pattern) else: portlist = patterns # filter ports based on platform: if "cygwin" in _platform: # Cygwin, don't open MAC OS and Win ports, we are more like # Linux. Cygwin needs to be before Windows test pass elif "darwin" in _platform: # OS X, don't open Windows and Linux ports portlist = [port for port in portlist if "COM" not in port and "ACM" not in port] elif "win" in _platform: # Windows, don't open POSIX ports portlist = [port for port in portlist if "/" not in port] return portlist def modemmanager_check(): if os.path.exists("/usr/sbin/ModemManager"): print(""" =========================================================================================== WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device =========================================================================================== """) if os.path.exists("/usr/bin/brltty"): print(""" ===================================================================================== WARNING: You should uninstall brltty as it conflicts with any non-modem serial device ===================================================================================== """) def find_bootloader(up, port): while (True): up.open() # 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)) return True except Exception: pass reboot_sent = up.send_reboot() # 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 reboot_sent: return False def main(): # Parse commandline arguments parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") parser.add_argument( '--port', action="store", help="Comma-separated list of serial port(s) to which the FMU may be attached", default=None ) 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." # NOQA ) 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." # NOQA ) 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('--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('--download', action='store_true', default=False, help='download firmware from board') parser.add_argument('--identify', action="store_true", help="Do not flash firmware; simply dump information about board") parser.add_argument('--no-extf', action="store_true", help="Do not attempt external flash operations") parser.add_argument('--erase-extflash', type=lambda x: int(x, 0), default=None, help="Erase sectors containing specified amount of bytes from ext flash") parser.add_argument('firmware', nargs="?", action="store", default=None, help="Firmware file to be uploaded") args = parser.parse_args() # warn people about ModemManager which interferes badly with Pixhawk modemmanager_check() if args.firmware is None and not args.identify and not args.erase_extflash: parser.error("Firmware filename required for upload or download") sys.exit(1) # Load the firmware file if not args.download and not args.identify and not args.erase_extflash: 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.") baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')] # Spin waiting for a device to show up try: while True: for port in ports_to_try(args): # print("Trying %s" % port) # create an uploader attached to the port try: up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash, args.target_system, args.target_component, args.source_system, args.source_component, args.no_extf) except Exception as e: if not is_WSL and not is_WSL2 and "win32" not in _platform: # open failed, WSL must cycle through all ttyS* ports quickly but rate limit everything else print("Exception creating uploader: %s" % str(e)) time.sleep(0.05) # and loop to the next port continue if not find_bootloader(up, port): # Go to the next port continue try: # ok, we have a bootloader, try flashing it if args.identify: up.dump_board_info() elif args.download: up.download(args.firmware) elif args.erase_extflash: up.erase_extflash('Erase ExtF', args.erase_extflash) print("\nExtF Erase Finished") else: up.upload(fw, force=args.force, boot_delay=args.boot_delay) except RuntimeError as ex: # print the error and exit as a failure sys.exit("\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