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PX4IO: Robustify upgrade process 

These changes remove the two code paths to updates (forceupdate and update) and try to reboot and bootload IO independent of its state, wether it is in bootloader mode already, safety switch is off or if it is in "nominal state" (running and safety on). This ensures that there are no conditions where user error or boot sequence can prevent a successful upgrade. The only state where an upgrade will not be done is if the system is fully armed.
This commit is contained in:
Lorenz Meier 2021-02-21 22:39:52 +01:00 committed by Daniel Agar
parent 82200fab9e
commit aacbc04730
3 changed files with 76 additions and 108 deletions
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21
ROMFS/px4fmu_common/init.d/rcS
View File

@ -282,33 +282,18 @@ else
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io start
then
# Try to safety px4 io so motor outputs don't go crazy.
if ! px4io safety_on
then
# px4io did not respond to the safety command.
px4io stop
fi
fi
if px4io forceupdate 14662 ${IOFW}
if px4io update ${IOFW}
then
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
then
echo "PX4IO CRC OK after updating"
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
set IO_PRESENT yes
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
fi
if [ $IO_PRESENT = no ]
then
echo "PX4IO update failed"
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
fi
fi
fi

2
ROMFS/px4fmu_test/init.d/rcS
View File

@ -84,7 +84,7 @@ then
else
echo "PX4IO CRC failure"
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io forceupdate 14662 $io_file
if px4io update $io_file
then
if px4io start
then

161
src/drivers/px4io/px4io.cpp
View File

@ -1399,6 +1399,7 @@ PX4IO::io_set_control_state(unsigned group)
case 3:
changed = _t_actuator_controls_3.update(&controls);
break;
}
if (!changed && (!_in_esc_calibration_mode || group != 0)) {
@ -2652,6 +2653,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
ret = -EINVAL;
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
PX4_ERR("failed setting PWM rate on IO");
}
break;
@ -2951,19 +2953,26 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
PX4_ERR("not upgrading IO firmware, system is armed");
return -EINVAL;
} else if (system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
// re-enable safety
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, 0);
// set new status
_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
}
// re-enable safety
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
if (ret != PX4_OK) {
PX4_ERR("IO refused to re-enable safety");
}
// set new status
_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
usleep(50);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
// we don't expect a reply from this operation
ret = OK;
usleep(1);
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
if (ret != PX4_OK) {
PX4_ERR("IO refused to reboot");
}
break;
case PX4IO_CHECK_CRC: {
@ -2976,7 +2985,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
}
if (io_crc != arg) {
PX4_DEBUG("crc mismatch 0x%08x 0x%08lx", io_crc, arg);
PX4_DEBUG("Firmware CRC mismatch 0x%08x 0x%08lx", io_crc, arg);
return -EINVAL;
}
@ -3172,7 +3181,8 @@ checkcrc(int argc, char *argv[])
(void)new PX4IO(interface);
if (g_dev == nullptr) {
errx(1, "driver allocation failed");
PX4_ERR("driver allocation failed");
exit(1);
}
} else {
@ -3184,14 +3194,14 @@ checkcrc(int argc, char *argv[])
check IO CRC against CRC of a file
*/
if (argc < 2) {
warnx("usage: px4io checkcrc filename");
PX4_WARN("usage: px4io checkcrc filename");
exit(1);
}
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
warnx("open of %s failed: %d", argv[1], errno);
PX4_ERR("open of %s failed: %d", argv[1], errno);
exit(1);
}
@ -3225,8 +3235,11 @@ checkcrc(int argc, char *argv[])
}
if (ret != OK) {
warn("check CRC failed: %d", ret);
PX4_ERR("check CRC failed: %d, CRC: %u", ret, fw_crc);
exit(1);
} else {
PX4_INFO("IO FW CRC match");
}
exit(0);
@ -3398,64 +3411,6 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "update")) {
if (g_dev != nullptr) {
warnx("loaded, detaching first");
/* stop the driver */
delete g_dev;
g_dev = nullptr;
}
PX4IO_Uploader *up;
/* Assume we are using default paths */
const char *fn[4] = PX4IO_FW_SEARCH_PATHS;
/* Override defaults if a path is passed on command line */
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
}
up = new PX4IO_Uploader;
int ret = up->upload(&fn[0]);
delete up;
switch (ret) {
case OK:
break;
case -ENOENT:
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
errx(1, "unexpected error %d", ret);
}
return ret;
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
PX4_WARN("usage: px4io forceupdate MAGIC filename");
exit(1);
}
uint16_t arg = atol(argv[2]);
constexpr unsigned MAX_RETRIES = 5;
unsigned retries = 0;
int ret = PX4_ERROR;
@ -3480,31 +3435,59 @@ px4io_main(int argc, char *argv[])
}
// Try to reboot
ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
PX4_WARN("reboot failed - %d", ret);
exit(1);
}
ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, PX4IO_REBOOT_BL_MAGIC);
// tear down the px4io instance
delete g_dev;
g_dev = nullptr;
// upload the specified firmware
const char *fn[2];
fn[0] = argv[3];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
if (ret != OK) {
PX4_ERR("reboot failed - %d, still attempting upgrade", ret);
}
// Upload and retry if it fails
PX4IO_Uploader *up;
/* Assume we are using default paths */
const char *fn[4] = PX4IO_FW_SEARCH_PATHS;
/* Override defaults if a path is passed on command line */
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
}
up = new PX4IO_Uploader;
ret = up->upload(&fn[0]);
delete up;
}
PX4_INFO("IO update: %s, retries: %d (reboot)", (ret == OK) ? "done" : "failed", retries);
switch (ret) {
case OK:
break;
exit(ret);
case -ENOENT:
PX4_ERR("PX4IO firmware file not found");
break;
case -EEXIST:
case -EIO:
PX4_ERR("error updating PX4IO - check that bootloader mode is enabled");
break;
case -EINVAL:
PX4_ERR("verify failed - retry the update");
break;
case -ETIMEDOUT:
PX4_ERR("timed out waiting for bootloader - power-cycle and try again");
break;
default:
PX4_ERR("unexpected error %d", ret);
break;
}
return ret;
}
/* commands below here require a started driver */
@ -3686,6 +3669,6 @@ px4io_main(int argc, char *argv[])
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'monitor', 'debug <level>',\n"
"'recovery', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
"'forceupdate 14662', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
"'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
"'test_fmu_fail', 'test_fmu_ok'");
}