px4-firmware/apps/px4/px4io/driver/uploader.cpp

387 lines
7.4 KiB
C++

/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file Firmware uploader for PX4IO
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdarg.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include "uploader.h"
PX4IO_Uploader::PX4IO_Uploader() :
_io_fd(-1),
_fw_fd(-1)
{
}
PX4IO_Uploader::~PX4IO_Uploader()
{
}
int
PX4IO_Uploader::upload(const char *filenames[])
{
int ret;
_io_fd = open("/dev/ttyS2", O_RDWR);
if (_io_fd < 0) {
log("could not open interface");
return -errno;
}
/* look for the bootloader */
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
return -EIO;
}
for (unsigned i = 0; filenames[i] != nullptr; i++) {
_fw_fd = open(filenames[i], O_RDONLY);
if (_fw_fd < 0) {
log("failed to open %s", filenames[i]);
continue;
}
log("using firmware from %s", filenames[i]);
break;
}
if (_fw_fd == -1)
return -ENOENT;
/* do the usual program thing - allow for failure */
for (unsigned retries = 0; retries < 1; retries++) {
if (retries > 0) {
log("retrying update...");
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
return -EIO;
}
}
ret = erase();
if (ret != OK) {
log("erase failed");
continue;
}
ret = program();
if (ret != OK) {
log("program failed");
continue;
}
ret = verify();
if (ret != OK) {
log("verify failed");
continue;
}
ret = reboot();
if (ret != OK) {
log("reboot failed");
return ret;
}
log("update complete");
ret = OK;
break;
}
close(_fw_fd);
return ret;
}
int
PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
{
struct pollfd fds[1];
fds[0].fd = _io_fd;
fds[0].events = POLLIN;
/* wait 100 ms for a character */
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
//log("poll timeout %d", ret);
return -ETIMEDOUT;
}
read(_io_fd, &c, 1);
//log("recv 0x%02x", c);
return OK;
}
int
PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++);
if (ret != OK)
return ret;
}
return OK;
}
void
PX4IO_Uploader::drain()
{
uint8_t c;
int ret;
do {
ret = recv(c, 10);
//log("discard 0x%02x", c);
} while(ret == OK);
}
int
PX4IO_Uploader::send(uint8_t c)
{
//log("send 0x%02x", c);
if (write(_io_fd, &c, 1) != 1)
return -errno;
return OK;
}
int
PX4IO_Uploader::send(uint8_t *p, unsigned count)
{
while (count--) {
int ret = send(*p++);
if (ret != OK)
return ret;
}
return OK;
}
int
PX4IO_Uploader::get_sync(unsigned timeout)
{
uint8_t c[2];
int ret;
ret = recv(c[0], timeout);
if (ret != OK)
return ret;
ret = recv(c[1], timeout);
if (ret != OK)
return ret;
if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
log("bad sync 0x%02x,0x%02x", c[0], c[1]);
return -EIO;
}
return OK;
}
int
PX4IO_Uploader::sync()
{
drain();
/* complete any pending program operation */
for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
send(0);
send(PROTO_GET_SYNC);
send(PROTO_EOC);
return get_sync();
}
int
PX4IO_Uploader::get_info(int param, uint32_t &val)
{
int ret;
send(PROTO_GET_DEVICE);
send(param);
send(PROTO_EOC);
ret = recv((uint8_t *)&val, sizeof(val));
if (ret != OK)
return ret;
return get_sync();
}
int
PX4IO_Uploader::erase()
{
log("erase...");
send(PROTO_CHIP_ERASE);
send(PROTO_EOC);
return get_sync(10000); /* allow 10s timeout */
}
int
PX4IO_Uploader::program()
{
uint8_t file_buf[PROG_MULTI_MAX];
ssize_t count;
int ret;
log("program...");
lseek(_fw_fd, 0, SEEK_SET);
while (true) {
/* get more bytes to program */
//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
count = read(_fw_fd, file_buf, sizeof(file_buf));
if (count == 0)
return OK;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_PROG_MULTI);
send(count);
send(&file_buf[0], count);
send(PROTO_EOC);
ret = get_sync(1000);
if (ret != OK)
return ret;
}
}
int
PX4IO_Uploader::verify()
{
uint8_t file_buf[PROG_MULTI_MAX];
ssize_t count;
int ret;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
while (true) {
/* get more bytes to verify */
int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
if (count == 0)
break;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_READ_MULTI);
send(count);
send(PROTO_EOC);
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c);
if (ret != OK) {
log("%d: got %d waiting for bytes", ret);
return ret;
}
if (c != file_buf[i]) {
log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]);
return -EINVAL;
}
}
ret = get_sync();
if (ret != OK) {
log("timeout waiting for post-verify sync");
return ret;
}
}
return OK;
}
int
PX4IO_Uploader::reboot()
{
send(PROTO_REBOOT);
send(PROTO_EOC);
return OK;
}
int
PX4IO_Uploader::compare(bool &identical)
{
uint32_t file_vectors[15];
uint32_t fw_vectors[15];
int ret;
lseek(_fw_fd, 0, SEEK_SET);
ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors));
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
send(PROTO_READ_MULTI);
send(sizeof(fw_vectors));
send(PROTO_EOC);
ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
if (ret != OK)
return ret;
identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false;
return OK;
}
void
PX4IO_Uploader::log(const char *fmt, ...)
{
va_list ap;
printf("[PX4IO] ");
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
printf("\n");
fflush(stdout);
}