diff --git a/sololink/px_uploader/px_uploader.py b/sololink/px_uploader/px_uploader.py old mode 100755 new mode 100644 index 3cdd9d1..2ea924c --- a/sololink/px_uploader/px_uploader.py +++ b/sololink/px_uploader/px_uploader.py @@ -1,7 +1,7 @@ #!/usr/bin/env python ############################################################################ # -# Copyright (C) 2012-2015 PX4 Development Team. All rights reserved. +# 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 @@ -67,547 +67,677 @@ import os from sys import platform as _platform - -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.append('\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+ - - # 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 - REBOOT = b'\x30' - - INFO_BL_REV = b'\x01' # bootloader protocol revision - BL_REV_MIN = 2 # minimum supported bootloader protocol - BL_REV_MAX = 4 # 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\x80\x3f\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\x48\xf0') - MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\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\xd7\xac') - - def __init__(self, portname, baudrate): - # open the port, keep the default timeout short so we can poll quickly - self.port = serial.Serial(portname, baudrate, timeout=0.5) - self.otp = b'' - self.sn = b'' - - def close(self): - if self.port is not None: - self.port.close() - - 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("= 9.0: - self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0) - 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): - - if runningPython3 == True: - 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) - self.__getSync() - - # verify multiple bytes in flash - def __verify_multi(self, data): - - if runningPython3 == True: - 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): - print("\n", end='') - code = fw.image - groups = self.__split_len(code, uploader.PROG_MULTI_MAX) - - uploadProgress = 0 - for bytes in groups: - self.__program_multi(bytes) - - #Print upload progress (throttled, so it does not delay upload progress) - uploadProgress += 1 - if uploadProgress % 256 == 0: - self.__drawProgressBar(label, uploadProgress, len(groups)) - 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) - report_crc = self.__recv_int() - self.__getSync() - verifyProgress = 0 - 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): - # 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): - # Make sure we are doing the right thing - 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')) - if args.force: - print("WARNING: %s" % msg) - else: - raise IOError(msg) - 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 > 3: - 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("type: " + self.otp_id.decode('Latin-1')) - print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) - print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) - print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) - print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) - 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()) - except Exception: - # ignore bad character encodings - pass - - self.__erase("Erase ") - self.__program("Program", fw) - - if self.bl_rev == 2: - self.__verify_v2("Verify ", fw) - else: - self.__verify_v3("Verify ", fw) - - if args.boot_delay is not None: - self.__set_boot_delay(args.boot_delay) - - print("\nRebooting.\n") - self.__reboot() - self.port.close() - - def send_reboot(self): - try: - # try reboot via NSH first - self.__send(uploader.NSH_INIT) - self.__send(uploader.NSH_REBOOT_BL) - self.__send(uploader.NSH_INIT) - self.__send(uploader.NSH_REBOOT) - # then try MAVLINK command - self.__send(uploader.MAVLINK_REBOOT_ID1) - self.__send(uploader.MAVLINK_REBOOT_ID0) - except: - return - - # Detect python version if sys.version_info[0] < 3: runningPython3 = False else: runningPython3 = True -# Parse commandline arguments -parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") -parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached") -parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.") -parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading') -parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') -parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") -args = parser.parse_args() +# list of tuples (bootloader boardID, firmware boardID, boardname) +# designating firmware builds compatible with multiple boardIDs +compatible_IDs = [(33, 9, 'AUAVX2.1')] -# warn people about ModemManager which interferes badly with Pixhawk -if os.path.exists("/usr/sbin/ModemManager"): +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.append('\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' + SET_BAUD = b'\x33' # set baud + + 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') + + def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None): + # open the port, keep the default timeout short so we can poll quickly + self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5) + self.otp = b'' + self.sn = b'' + self.baudrate_bootloader = baudrate_bootloader + if baudrate_bootloader_flash is not None: + self.baudrate_bootloader_flash = baudrate_bootloader_flash + else: + self.baudrate_bootloader_flash = self.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): + 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 + + 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("= 9.0: + self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, 9.0) + 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): + + 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) + self.__getSync() + + # 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): + print("\n", end='') + code = fw.image + groups = self.__split_len(code, uploader.PROG_MULTI_MAX) + + uploadProgress = 0 + for bytes in groups: + self.__program_multi(bytes) + + # Print upload progress (throttled, so it does not delay upload progress) + uploadProgress += 1 + if uploadProgress % 256 == 0: + self.__drawProgressBar(label, uploadProgress, len(groups)) + 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) + 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() + + def __setbaud(self, baud): + self.__send(uploader.SET_BAUD + + struct.pack("I", baud) + + uploader.EOC) + self.__getSync() + + # get basic data about the board + def identify(self): + # 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 + if self.board_type != fw.property('board_id'): + # ID mismatch: check compatibility + incomp = True + for entry in compatible_IDs: + if (entry[0] == self.board_type) and (entry[1] == fw.property('board_id')): + msg = "Target %s (board_id: %d) is compatible with firmware for board_id=%u)" % ( + entry[2], self.board_type, fw.property('board_id')) + print("INFO: %s" % msg) + incomp = False + break + if incomp: + 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) + 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 > 3: + 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("type: " + self.otp_id.decode('Latin-1')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) + print("pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1')) + print("coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1')) + 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()) + 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" % self.fw_maxsize) + except Exception: + # ignore bad character encodings + pass + + if self.baudrate_bootloader_flash != self.baudrate_bootloader: + print("Setting baudrate to %u" % self.baudrate_bootloader_flash) + self.__setbaud(self.baudrate_bootloader_flash) + self.port.baudrate = self.baudrate_bootloader_flash + self.__sync() + + 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.\n") + self.__reboot() + self.port.close() + + 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) + 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: + 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-bootloader-flash', action="store", type=int, default=None, help="Attempt to negotiate this baudrate with bootloader for flashing.") + 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 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("==========================================================================================================") -# Load the firmware file -fw = firmware(args.firmware) -print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) -print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") + # Load the firmware file + fw = firmware(args.firmware) + print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) + print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") -# Spin waiting for a device to show up -try: - while True: + # 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: - import glob - for pattern in patterns: - portlist += glob.glob(pattern) + import glob + for pattern in patterns: + portlist += glob.glob(pattern) else: - portlist = patterns + portlist = patterns + + baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')] for port in portlist: - #print("Trying %s" % port) + # 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 not "COM" in port and not "tty.usb" in port: - up = uploader(port, args.baud) - elif "darwin" in _platform: - # OS X, don't open Windows and Linux ports - if not "COM" in port and not "ACM" in port: - up = uploader(port, args.baud) - elif "win" in _platform: - # Windows, don't open POSIX ports - if not "/" in port: - up = uploader(port, args.baud) - except Exception: - # open failed, rate-limit our attempts - time.sleep(0.05) + # 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, args.baud_bootloader_flash) + 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, args.baud_bootloader_flash) + elif "win" in _platform: + # Windows, don't open POSIX ports + if "/" not in port: + up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) + except Exception: + # open failed, rate-limit our attempts + time.sleep(0.05) - # and loop to the next port - continue + # 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() - print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) + # identify the bootloader + up.identify() + found_bootloader = True + print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) + break except Exception: - # most probably a timeout talking to the port, no bootloader, try to reboot the board - print("attempting reboot on %s..." % port) - print("if the board does not respond, unplug and re-plug the USB connector.") - up.send_reboot() - # wait for the reboot, without we might run into Serial I/O Error 5 - time.sleep(0.5) + if not up.send_reboot(): + break - # always close the port - up.close() - continue + # wait for the reboot, without we might run into Serial I/O Error 5 + time.sleep(0.25) - try: - # ok, we have a bootloader, try flashing it - up.upload(fw) + # always close the port + up.close() - except RuntimeError as ex: - # print the error - print("\nERROR: %s" % ex.args) + # wait for the close, without we might run into Serial I/O Error 6 + time.sleep(0.3) - except IOError as e: - up.close(); - continue + if not found_bootloader: + # Go to the next port + continue - finally: - # always close the port - up.close() + try: + # ok, we have a bootloader, try flashing it + up.upload(fw, force=args.force, boot_delay=args.boot_delay) - # we could loop here if we wanted to wait for more boards... - sys.exit(0) + 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... + sys.exit(0) # 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) + # 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