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Uploader tool: Add option to set different baudrates for bootloader and flight stack 

By default the baudrate in flight stack (Mavlink or NSH) 57600 and the default
baudrate of bootloader is 115200. So we may need to set different
baudrates.
This commit is contained in:
José Roberto de Souza 2016-09-29 20:32:29 -03:00 committed by Lorenz Meier
parent 7e0946466e
commit b9728ecf39
1 changed files with 15 additions and 6 deletions
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21
Tools/px_uploader.py
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@ -184,11 +184,13 @@ class uploader(object):
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):
def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
# open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate, timeout=0.5)
self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5)
self.otp = b''
self.sn = b''
self.baudrate_bootloader = baudrate_bootloader;
self.baudrate_flightstack = baudrate_flightstack;
def close(self):
if self.port is not None:
@ -512,6 +514,8 @@ class uploader(object):
def send_reboot(self):
try:
# try MAVLINK command first
self.port.flush()
self.port.baudrate = self.baudrate_flightstack
self.__send(uploader.MAVLINK_REBOOT_ID1)
self.__send(uploader.MAVLINK_REBOOT_ID0)
# then try reboot via NSH
@ -519,7 +523,11 @@ class uploader(object):
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:
self.port.flush()
self.port.baudrate = self.baudrate_bootloader
return
@ -532,7 +540,8 @@ else:
# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.")
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-flightstack', action="store", type=int, default=57600, help="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")
@ -573,15 +582,15 @@ try:
if "linux" in _platform:
# Linux, don't open Mac OS and Win ports
if not "COM" in port and not "tty.usb" in port:
up = uploader(port, args.baud)
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if not "COM" in port and not "ACM" in port:
up = uploader(port, args.baud)
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
elif "win" in _platform:
# Windows, don't open POSIX ports
if not "/" in port:
up = uploader(port, args.baud)
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
except Exception:
# open failed, rate-limit our attempts
time.sleep(0.05)