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px4-firmware/Tools/px_uploader.py

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#!/usr/bin/env python3
############################################################################
#
# 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 socket
import struct
import json
import zlib
import base64
import time
import array
import os
from sys import platform as _platform
try:
import serial
except ImportError as e:
print("Failed to import serial: " + str(e))
print("")
print("You may need to install it using:")
print(" pip3 install --user pyserial")
print("")
sys.exit(1)
# Define time to use time.time() by default
def _time():
return time.time()
# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True
if sys.version_info[1] >=3:
# redefine to use monotonic time when available
def _time():
try:
return time.monotonic()
except Exception:
return time.time()
class FirmwareNotSuitableException(Exception):
def __init__(self, message):
super(FirmwareNotSuitableException, self).__init__(message)
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,<result> gathring
self.window = 0
self.window_max = 256
self.window_per = 2 # Sync,<result>
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() + 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() < 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("<I", raw)
return val[0]
def __getSync(self, doFlush=True):
if (doFlush):
self.port.flush()
c = bytes(self.__recv())
if c != self.INSYNC:
raise RuntimeError("unexpected %s instead of INSYNC" % c)
c = self.__recv()
if c == self.INVALID:
raise RuntimeError("bootloader reports INVALID OPERATION")
if c == self.FAILED:
raise RuntimeError("bootloader reports OPERATION FAILED")
if c != self.OK:
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
# The control flow for reciving Sync is on the order of 16 Ms per Sync
# This will validate all the SYNC,<results> 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 bytes([data[i]]) != self.INSYNC:
raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
if bytes([data[i+1]]) == self.INVALID:
raise RuntimeError("bootloader reports INVALID OPERATION")
if bytes([data[i+1]]) == self.FAILED:
raise RuntimeError("bootloader reports OPERATION FAILED")
if bytes([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/main/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 - only leave this enabled on Windows
if sys.platform.startswith('win'):
self.ackWindowedMode = True
finally:
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() + 30.0
while _time() < deadline:
usualEraseDuration = 15.0
estimatedTimeRemaining = deadline-_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()))
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):
length = len(data).to_bytes(1, byteorder='big')
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):
length = len(data).to_bytes(1, byteorder='big')
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_list, force=False, boot_delay=None, boot_check=False):
# select correct binary
found_suitable_firmware = False
for file in fw_list:
fw = firmware(file)
if self.board_type == fw.property('board_id'):
if len(fw_list) > 1: print("using firmware binary {}".format(file))
found_suitable_firmware = True
break
if not found_suitable_firmware:
msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
self.board_type, fw.property('board_id'))
print("WARNING: %s" % msg)
if force:
if len(fw_list) > 1:
raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
print("FORCED WRITE, FLASHING ANYWAY!")
else:
raise FirmwareNotSuitableException(msg)
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%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
print()
# Make sure we are doing the right thing
start = _time()
if self.board_type != fw.property('board_id'):
msg = "Firmware not suitable for this board (Firmware 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 FirmwareNotSuitableException(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() - 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_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
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:
send_fct = self.__send
if use_protocol_splitter_format:
send_fct = self.send_protocol_splitter_format
# try MAVLINK command first
self.port.flush()
send_fct(uploader.MAVLINK_REBOOT_ID1)
send_fct(uploader.MAVLINK_REBOOT_ID0)
# then try reboot via NSH
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:
try:
self.port.flush()
self.port.baudrate = self.baudrate_bootloader
except Exception:
pass
return True
def main():
# Python2 is EOL
if not runningPython3:
raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
# 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('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
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("==========================================================================================================")
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
print("==========================================================================================================")
print("Waiting for bootloader...")
# 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
unsuitable_board = 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(args.use_protocol_splitter_format):
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(args.firmware, 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 FirmwareNotSuitableException:
unsuitable_board = True
up.close()
continue
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)
if unsuitable_board:
# If we land here, we went through all ports, did not flash any
# board and found at least one unsuitable board.
# Exit with 2, so a caller can distinguish from other errors
sys.exit(2)
# 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
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