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px4-firmware
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Implement option to reboot px4 using protocol_splitter format when flashing.

This commit is contained in:
Thomas Schneider 2021-09-08 22:33:36 +02:00 committed by Beat Küng
parent ffa5abbd65
commit 2e36fff31d
1 changed files with 37 additions and 8 deletions
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45
Tools/px_uploader.py
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@ -682,7 +682,28 @@ class uploader(object):
return True
def send_reboot(self):
def send_protocol_splitter_format(self, data):
# Header Structure:
# bits: 1 2 3 4 5 6 7 8
# header[0] - | Magic | (='S')
# header[1] - |T| LenH | (T - 0: mavlink; 1: rtps)
# header[2] - | LenL |
# header[3] - | Checksum |
MAGIC = 83
len_bytes = len(data).to_bytes(2, "big")
LEN_H = len_bytes[0] & 127
LEN_L = len_bytes[1] & 255
CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
self.__send(header_bytes)
self.__send(data)
def send_reboot(self, use_protocol_splitter_format=False):
if (not self.__next_baud_flightstack()):
return False
@ -693,15 +714,19 @@ class uploader(object):
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
try:
send_fct = self.__send
if use_protocol_splitter_format:
send_fct = self.send_protocol_splitter_format
# try MAVLINK command first
self.port.flush()
self.__send(uploader.MAVLINK_REBOOT_ID1)
self.__send(uploader.MAVLINK_REBOOT_ID0)
send_fct(uploader.MAVLINK_REBOOT_ID1)
send_fct(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)
send_fct(uploader.NSH_INIT)
send_fct(uploader.NSH_REBOOT_BL)
send_fct(uploader.NSH_INIT)
send_fct(uploader.NSH_REBOOT)
self.port.flush()
self.port.baudrate = self.baudrate_bootloader
except Exception:
@ -726,9 +751,13 @@ 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('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
args = parser.parse_args()
if args.use_protocol_splitter_format:
print("Using protocol splitter format to reboot pixhawk!")
# warn people about ModemManager which interferes badly with Pixhawk
if os.path.exists("/usr/sbin/ModemManager"):
print("==========================================================================================================")
@ -830,7 +859,7 @@ def main():
except Exception:
if not up.send_reboot():
if not up.send_reboot(args.use_protocol_splitter_format):
break
# wait for the reboot, without we might run into Serial I/O Error 5