forked from Archive/PX4-Autopilot
387 lines
7.4 KiB
C++
387 lines
7.4 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Firmware uploader for PX4IO
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include "uploader.h"
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PX4IO_Uploader::PX4IO_Uploader() :
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_io_fd(-1),
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_fw_fd(-1)
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{
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}
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PX4IO_Uploader::~PX4IO_Uploader()
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{
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}
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int
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PX4IO_Uploader::upload(const char *filenames[])
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{
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int ret;
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_io_fd = open("/dev/ttyS2", O_RDWR);
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if (_io_fd < 0) {
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log("could not open interface");
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return -errno;
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}
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/* look for the bootloader */
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ret = sync();
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if (ret != OK) {
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/* this is immediately fatal */
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log("bootloader not responding");
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return -EIO;
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}
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for (unsigned i = 0; filenames[i] != nullptr; i++) {
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_fw_fd = open(filenames[i], O_RDONLY);
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if (_fw_fd < 0) {
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log("failed to open %s", filenames[i]);
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continue;
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}
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log("using firmware from %s", filenames[i]);
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break;
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}
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if (_fw_fd == -1)
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return -ENOENT;
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/* do the usual program thing - allow for failure */
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for (unsigned retries = 0; retries < 1; retries++) {
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if (retries > 0) {
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log("retrying update...");
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ret = sync();
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if (ret != OK) {
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/* this is immediately fatal */
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log("bootloader not responding");
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return -EIO;
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}
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}
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ret = erase();
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if (ret != OK) {
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log("erase failed");
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continue;
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}
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ret = program();
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if (ret != OK) {
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log("program failed");
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continue;
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}
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ret = verify();
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if (ret != OK) {
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log("verify failed");
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continue;
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}
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ret = reboot();
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if (ret != OK) {
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log("reboot failed");
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return ret;
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}
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log("update complete");
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ret = OK;
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break;
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}
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close(_fw_fd);
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return ret;
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}
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int
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PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
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{
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struct pollfd fds[1];
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fds[0].fd = _io_fd;
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fds[0].events = POLLIN;
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/* wait 100 ms for a character */
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int ret = ::poll(&fds[0], 1, timeout);
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if (ret < 1) {
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//log("poll timeout %d", ret);
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return -ETIMEDOUT;
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}
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read(_io_fd, &c, 1);
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//log("recv 0x%02x", c);
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return OK;
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}
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int
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PX4IO_Uploader::recv(uint8_t *p, unsigned count)
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{
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while (count--) {
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int ret = recv(*p++);
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if (ret != OK)
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return ret;
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}
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return OK;
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}
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void
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PX4IO_Uploader::drain()
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{
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uint8_t c;
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int ret;
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do {
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ret = recv(c, 10);
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//log("discard 0x%02x", c);
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} while(ret == OK);
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}
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int
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PX4IO_Uploader::send(uint8_t c)
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{
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//log("send 0x%02x", c);
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if (write(_io_fd, &c, 1) != 1)
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return -errno;
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return OK;
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}
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int
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PX4IO_Uploader::send(uint8_t *p, unsigned count)
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{
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while (count--) {
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int ret = send(*p++);
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if (ret != OK)
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return ret;
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}
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return OK;
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}
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int
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PX4IO_Uploader::get_sync(unsigned timeout)
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{
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uint8_t c[2];
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int ret;
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ret = recv(c[0], timeout);
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if (ret != OK)
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return ret;
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ret = recv(c[1], timeout);
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if (ret != OK)
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return ret;
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if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
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log("bad sync 0x%02x,0x%02x", c[0], c[1]);
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return -EIO;
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}
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return OK;
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}
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int
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PX4IO_Uploader::sync()
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{
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drain();
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/* complete any pending program operation */
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for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
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send(0);
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send(PROTO_GET_SYNC);
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send(PROTO_EOC);
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return get_sync();
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}
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int
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PX4IO_Uploader::get_info(int param, uint32_t &val)
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{
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int ret;
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send(PROTO_GET_DEVICE);
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send(param);
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send(PROTO_EOC);
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ret = recv((uint8_t *)&val, sizeof(val));
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if (ret != OK)
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return ret;
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return get_sync();
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}
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int
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PX4IO_Uploader::erase()
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{
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log("erase...");
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send(PROTO_CHIP_ERASE);
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send(PROTO_EOC);
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return get_sync(10000); /* allow 10s timeout */
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}
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int
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PX4IO_Uploader::program()
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{
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uint8_t file_buf[PROG_MULTI_MAX];
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ssize_t count;
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int ret;
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log("program...");
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lseek(_fw_fd, 0, SEEK_SET);
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while (true) {
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/* get more bytes to program */
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//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
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count = read(_fw_fd, file_buf, sizeof(file_buf));
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if (count == 0)
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return OK;
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if (count < 0)
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return -errno;
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ASSERT((count % 4) == 0);
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send(PROTO_PROG_MULTI);
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send(count);
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send(&file_buf[0], count);
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send(PROTO_EOC);
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ret = get_sync(1000);
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if (ret != OK)
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return ret;
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}
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}
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int
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PX4IO_Uploader::verify()
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{
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uint8_t file_buf[PROG_MULTI_MAX];
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ssize_t count;
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int ret;
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log("verify...");
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lseek(_fw_fd, 0, SEEK_SET);
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send(PROTO_CHIP_VERIFY);
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send(PROTO_EOC);
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ret = get_sync();
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if (ret != OK)
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return ret;
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while (true) {
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/* get more bytes to verify */
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int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
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count = read(_fw_fd, file_buf, sizeof(file_buf));
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if (count == 0)
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break;
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if (count < 0)
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return -errno;
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ASSERT((count % 4) == 0);
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send(PROTO_READ_MULTI);
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send(count);
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send(PROTO_EOC);
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for (ssize_t i = 0; i < count; i++) {
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uint8_t c;
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ret = recv(c);
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if (ret != OK) {
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log("%d: got %d waiting for bytes", ret);
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return ret;
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}
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if (c != file_buf[i]) {
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log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]);
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return -EINVAL;
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}
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}
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ret = get_sync();
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if (ret != OK) {
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log("timeout waiting for post-verify sync");
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return ret;
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}
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}
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return OK;
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}
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int
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PX4IO_Uploader::reboot()
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{
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send(PROTO_REBOOT);
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send(PROTO_EOC);
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return OK;
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}
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int
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PX4IO_Uploader::compare(bool &identical)
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{
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uint32_t file_vectors[15];
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uint32_t fw_vectors[15];
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int ret;
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lseek(_fw_fd, 0, SEEK_SET);
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ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors));
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send(PROTO_CHIP_VERIFY);
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send(PROTO_EOC);
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ret = get_sync();
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if (ret != OK)
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return ret;
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send(PROTO_READ_MULTI);
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send(sizeof(fw_vectors));
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send(PROTO_EOC);
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ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
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if (ret != OK)
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return ret;
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identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false;
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return OK;
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}
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void
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PX4IO_Uploader::log(const char *fmt, ...)
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{
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va_list ap;
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printf("[PX4IO] ");
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va_start(ap, fmt);
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vprintf(fmt, ap);
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va_end(ap);
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printf("\n");
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fflush(stdout);
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} |