#!/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. # # for python2.7 compatibility from __future__ import print_function import sys import argparse import binascii import serial import socket import struct import json import zlib import base64 import time import array import os from sys import platform as _platform # Detect python version if sys.version_info[0] < 3: runningPython3 = False else: runningPython3 = True class firmware(object): '''Loads a firmware file''' desc = {} image = bytes() 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]) 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']))) # pad image to 4-byte length while ((len(self.image) % 4) != 0): self.image.extend(b'\xff') def property(self, propname): return self.desc[propname] def __crc32(self, bytes, state): for byte in bytes: index = (state ^ byte) & 0xff state = self.crctab[index] ^ (state >> 8) return state def crc(self, padlen): state = self.__crc32(self.image, int(0)) for i in range(len(self.image), (padlen - 1), 4): state = self.__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' 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 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" 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') MAX_FLASH_PRGRAM_TIME = 0.001 # Time on an F7 to send SYNC, RESULT from last data in multi RXed def __init__(self, portname, baudrate_bootloader, baudrate_flightstack): # Open the port, keep the default timeout short so we can poll quickly. # On some systems writes can suddenly get stuck without having a # write_timeout > 0 set. # chartime 8n1 * bit rate is us self.chartime = 10 * (1.0 / baudrate_bootloader) # we use a window approche to SYNC, gathring self.window = 0 self.window_max = 256 self.window_per = 2 # Sync, self.ackWindowedMode = False # Assume Non Widowed mode for all USB CDC self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0) self.otp = b'' self.sn = b'' self.baudrate_bootloader = baudrate_bootloader self.baudrate_flightstack = baudrate_flightstack self.baudrate_flightstack_idx = -1 def close(self): if self.port is not None: self.port.close() def open(self): # upload timeout 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 # debugging code def __probe(self, state): # self.port.setRTS(state) return def __send(self, c): # print("send " + binascii.hexlify(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(" for a window of programing # in about 13.81 Ms for 256 blocks written def __ackSyncWindow(self, count): if (count > 0): data = bytearray(bytes(self.__recv(count))) if (len(data) != count): raise RuntimeError("Ack Window %i not %i " % (len(data), count)) for i in range(0, len(data), 2): if chr(data[i]) != self.INSYNC: raise RuntimeError("unexpected %s instead of INSYNC" % data[i]) if chr(data[i+1]) == self.INVALID: raise RuntimeError("bootloader reports INVALID OPERATION") if chr(data[i+1]) == self.FAILED: raise RuntimeError("bootloader reports OPERATION FAILED") if chr(data[i+1]) != self.OK: raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1])) # attempt to get back into sync with the bootloader def __sync(self): # send a stream of ignored bytes longer than the longest possible conversation # that we might still have in progress # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2)) self.port.flushInput() self.__send(uploader.GET_SYNC + uploader.EOC) self.__getSync() def __trySync(self): try: self.port.flush() if (self.__recv() != self.INSYNC): # print("unexpected 0x%x instead of INSYNC" % ord(c)) return False c = self.__recv() if (c == self.BAD_SILICON_REV): raise NotImplementedError() if (c != self.OK): # print("unexpected 0x%x instead of OK" % ord(c)) return False return True except NotImplementedError: raise RuntimeError("Programing not supported for this version of silicon!\n" "See https://docs.px4.io/en/flight_controller/silicon_errata.html") except RuntimeError: # timeout, no response yet return False # attempt to determins if the device is CDCACM or A FTDI def __determineInterface(self): self.port.flushInput() # Set a baudrate that can not work on a real serial port # in that it is 233% off. try: self.port.baudrate = self.baudrate_bootloader * 2.33 except NotImplementedError as e: # This error can occur because pySerial on Windows does not support odd baudrates print(str(e) + " -> could not check for FTDI device, assuming USB connection") return self.__send(uploader.GET_SYNC + uploader.EOC) try: self.__getSync(False) except: # if it fails we are on a real Serial Port self.ackWindowedMode = True self.port.baudrate = self.baudrate_bootloader # send the GET_DEVICE command and wait for an info parameter def __getInfo(self, param): self.__send(uploader.GET_DEVICE + param + uploader.EOC) value = self.__recv_int() self.__getSync() return value # send the GET_OTP command and wait for an info parameter def __getOTP(self, param): t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. self.__send(uploader.GET_OTP + t + uploader.EOC) value = self.__recv(4) self.__getSync() return value # send the GET_SN command and wait for an info parameter def __getSN(self, param): t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. self.__send(uploader.GET_SN + t + uploader.EOC) value = self.__recv(4) self.__getSync() return value # send the GET_CHIP command def __getCHIP(self): self.__send(uploader.GET_CHIP + uploader.EOC) value = self.__recv_int() self.__getSync() return value # send the GET_CHIP command def __getCHIPDes(self): self.__send(uploader.GET_CHIP_DES + uploader.EOC) length = self.__recv_int() value = self.__recv(length) self.__getSync() pieces = value.split(b",") return pieces def __drawProgressBar(self, label, progress, maxVal): if maxVal < progress: progress = maxVal percent = (float(progress) / float(maxVal)) * 100.0 sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent)) sys.stdout.flush() # send the CHIP_ERASE command and wait for the bootloader to become ready def __erase(self, label): print("Windowed mode: %s" % self.ackWindowedMode) print("\n", end='') self.__send(uploader.CHIP_ERASE + uploader.EOC) # erase is very slow, give it 30s deadline = time.time() + 30.0 while time.time() < deadline: usualEraseDuration = 15.0 estimatedTimeRemaining = deadline-time.time() if estimatedTimeRemaining >= usualEraseDuration: self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration) 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, windowMode): 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) if (not windowMode): self.__getSync(False) else: # The following is done to have minimum delay on the transmission # of the ne fw. The per block cost of __getSync was about 16 mS per. # Passively wait on Sync and Result using board rates and # N.B. attempts to activly wait on InWating still carried 8 mS of overhead self.__probe(False) self.__probe(True) time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME) self.__probe(False) # 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 # 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): self.__probe(False) print("\n", end='') code = fw.image groups = self.__split_len(code, uploader.PROG_MULTI_MAX) # Give imedate feedback self.__drawProgressBar(label, 0, len(groups)) uploadProgress = 0 for bytes in groups: self.__program_multi(bytes, self.ackWindowedMode) # If in Window mode, extend the window size for the __ackSyncWindow if self.ackWindowedMode: self.window += self.window_per # Print upload progress (throttled, so it does not delay upload progress) uploadProgress += 1 if uploadProgress % 256 == 0: self.__probe(True) self.__probe(False) self.__probe(True) self.__ackSyncWindow(self.window) self.__probe(False) self.window = 0 self.__drawProgressBar(label, uploadProgress, len(groups)) # Do any remaining fragment self.__ackSyncWindow(self.window) self.window = 0 self.__drawProgressBar(label, 100, 100) # 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) time.sleep(0.5) 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() # get basic data about the board def identify(self): self.__determineInterface() # 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" % uploader.INFO_BL_REV) raise RuntimeError("Bootloader protocol mismatch") 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) # upload the firmware def upload(self, fw, force=False, boot_delay=None): # Make sure we are doing the right thing start = time.time() if self.board_type != fw.property('board_id'): msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % ( self.board_type, fw.property('board_id')) print("WARNING: %s" % msg) if force: print("FORCED WRITE, FLASHING ANYWAY!") else: raise IOError(msg) # Prevent uploads where the image would overflow the flash if self.fw_maxsize < fw.property('image_size'): raise RuntimeError("Firmware image is too large for this board") # OTP added in v4: if self.bl_rev >= 4: for byte in range(0, 32*6, 4): x = self.__getOTP(byte) self.otp = self.otp + x # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='') # see src/modules/systemlib/otp.h in px4 code: self.otp_id = self.otp[0:4] self.otp_idtype = self.otp[4:5] self.otp_vid = self.otp[8:4:-1] self.otp_pid = self.otp[12:8:-1] self.otp_coa = self.otp[32:160] # show user: try: print("sn: ", end='') for byte in range(0, 12, 4): x = self.__getSN(byte) x = x[::-1] # reverse the bytes self.sn = self.sn + x print(binascii.hexlify(x).decode('Latin-1'), end='') # show user print('') print("chip: %08x" % self.__getCHIP()) otp_id = self.otp_id.decode('Latin-1') if ("PX4" in otp_id): print("OTP id: " + otp_id) print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1')) print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1')) except Exception: # ignore bad character encodings pass # Silicon errata check was added in v5 if (self.bl_rev >= 5): des = self.__getCHIPDes() if (len(des) == 2): print("family: %s" % des[0]) print("revision: %s" % des[1]) print("flash: %d bytes" % self.fw_maxsize) # Prevent uploads where the maximum image size of the board config is smaller than the flash # of the board. This is a hint the user chose the wrong config and will lack features # for this particular board. # This check should also check if the revision is an unaffected revision # and thus can support the full flash, see # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144 if self.fw_maxsize > fw.property('image_maxsize') and not force: raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality." % (self.fw_maxsize, fw.property('image_maxsize'))) else: # If we're still on bootloader v4 on a Pixhawk, we don't know if we # have the silicon errata and therefore need to flash px4_fmu-v2 # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash. if fw.property('board_id') == 9 \ and fw.property('image_size') > 1032192 \ and not force: raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n" "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n" "high that it is not safe! If unsure, use px4_fmu-v2_default.\n" "\n" "If you know you that the board does not have the silicon errata, use\n" "this script with --force, or update the bootloader. If you are invoking\n" "upload using make, you can use force-upload target to force the upload.\n") 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.", end='') self.__reboot() self.port.close() print(" Elapsed Time %3.3f\n" % (time.time() - start)) def __next_baud_flightstack(self): if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack): return False try: self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1] self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1 except serial.SerialException: # Sometimes _configure_port fails time.sleep(0.04) 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) if "ttyS" in self.port.port: print("If the board does not respond, check the connection to the Flight Controller") else: 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() self.__send(uploader.MAVLINK_REBOOT_ID1) self.__send(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) 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 def main(): # Parse commandline arguments parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached") 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", 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('firmware', action="store", help="Firmware file to be uploaded") args = parser.parse_args() # warn people about ModemManager which interferes badly with Pixhawk if os.path.exists("/usr/sbin/ModemManager"): print("==========================================================================================================") print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)") print("==========================================================================================================") # We need to check for pyserial because the import itself doesn't # seem to fail, at least not on macOS. pyserial_installed = False try: if serial.__version__: pyserial_installed = True except: pass try: if serial.VERSION: pyserial_installed = True except: pass if not pyserial_installed: print("Error: pyserial not installed!") print(" (Install using: sudo pip install pyserial)") sys.exit(1) # Load the firmware file fw = firmware(args.firmware) percent = fw.property('image_size') / fw.property('image_maxsize') binary_size = float(fw.property('image_size')) binary_max_size = float(fw.property('image_maxsize')) percent = (binary_size / binary_max_size) * 100 print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent)) print() # tell any GCS that might be connected to the autopilot to give up # control of the serial port # send to localhost and default GCS port ipaddr = '127.0.0.1' portnum = 14550 # COMMAND_LONG in MAVLink 1 heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a') commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459') # initialize an UDP socket s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # send heartbeat to initialize connection and command to free the link s.sendto(heartbeatpacket, (ipaddr, portnum)) s.sendto(commandpacket, (ipaddr, portnum)) # close the socket s.close() # Spin waiting for a device to show up try: while True: portlist = [] patterns = args.port.split(",") # on unix-like platforms use glob to support wildcard ports. This allows # the use of /dev/serial/by-id/usb-3D_Robotics 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 baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')] successful = False for port in portlist: # print("Trying %s" % port) # create an uploader attached to the port try: if "linux" in _platform: # Linux, don't open Mac OS and Win ports if "COM" not in port and "tty.usb" not in port: up = uploader(port, args.baud_bootloader, baud_flightstack) elif "darwin" in _platform: # OS X, don't open Windows and Linux ports if "COM" not in port and "ACM" not in port: up = uploader(port, args.baud_bootloader, baud_flightstack) elif "cygwin" in _platform: # Cygwin, don't open native Windows COM and Linux ports if "COM" not in port and "ACM" not in port: up = uploader(port, args.baud_bootloader, baud_flightstack) elif "win" in _platform: # Windows, don't open POSIX ports if "/" not in port: up = uploader(port, args.baud_bootloader, baud_flightstack) except Exception: # open failed, rate-limit our attempts time.sleep(0.05) # and loop to the next port continue found_bootloader = False while (True): up.open() # port is open, try talking to it try: # identify the bootloader up.identify() found_bootloader = True print() print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) break except Exception: if not up.send_reboot(): break # 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 found_bootloader: # Go to the next port continue try: # ok, we have a bootloader, try flashing it up.upload(fw, force=args.force, boot_delay=args.boot_delay) # if we made this far without raising exceptions, the upload was successful successful = True except RuntimeError as ex: # print the error print("\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... if successful: sys.exit(0) else: sys.exit(1) # 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