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PIX: Replace px_uploader.py with new ArduPilot uploader.py

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This commit is contained in:
Matt Lawrence 2019-01-05 10:09:13 -05:00 committed by Matt
parent 7b671cd55e
commit d91ac6c8e3
3 changed files with 43 additions and 39 deletions
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2
meta-3dr/recipes-sololink/sololink/sololink.bb
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@ -50,7 +50,7 @@ do_install () {
install -m 0755 ${S}/flightcode/python/stm32_defs.py ${D}${bindir} install -m 0755 ${S}/flightcode/python/stm32_defs.py ${D}${bindir}
install -m 0755 ${S}/flightcode/python/lsproc.py ${D}${bindir} install -m 0755 ${S}/flightcode/python/lsproc.py ${D}${bindir}
install -m 0755 ${S}/px_uploader/px_uploader.py ${D}${bindir} install -m 0755 ${S}/px_uploader/uploader.py ${D}${bindir}
install -m 0755 ${S}/px_uploader/loadPixhawk.py ${D}${bindir} install -m 0755 ${S}/px_uploader/loadPixhawk.py ${D}${bindir}
install -m 0755 ${S}/flightcode/python/pixhawk.py ${D}${bindir} install -m 0755 ${S}/flightcode/python/pixhawk.py ${D}${bindir}
install -m 0644 ${S}/flightcode/python/gpio.py ${D}${bindir} install -m 0644 ${S}/flightcode/python/gpio.py ${D}${bindir}

2
sololink/flightcode/python/pixhawk.py
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@ -513,7 +513,7 @@ def load(firmware_path):
# load firmware # load firmware
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC) start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
ret = subprocess.call(["px_uploader.py", ret = subprocess.call(["uploader.py",
"--port=%s" % dev_pattern_usb, "--port=%s" % dev_pattern_usb,
firmware_path]) firmware_path])
if ret != 0: if ret != 0:

78
sololink/px_uploader/px_uploader.py → sololink/px_uploader/uploader.py Normal file → Executable file
View File

@ -67,16 +67,25 @@ import os
from sys import platform as _platform from sys import platform as _platform
# default list of port names to look for autopilots
default_ports = [ '/dev/serial/by-id/usb-Ardu*',
'/dev/serial/by-id/usb-3D*',
'/dev/serial/by-id/usb-APM*',
'/dev/serial/by-id/usb-Radio*',
'/dev/serial/by-id/usb-*_3DR_*',
'/dev/serial/by-id/usb-Hex_Technology_Limited*',
'/dev/serial/by-id/usb-Hex_ProfiCNC*',
'/dev/tty.usbmodem*']
if "cygwin" in _platform:
default_ports += [ '/dev/ttyS*' ]
# Detect python version # Detect python version
if sys.version_info[0] < 3: if sys.version_info[0] < 3:
runningPython3 = False runningPython3 = False
else: else:
runningPython3 = True runningPython3 = True
# list of tuples (bootloader boardID, firmware boardID, boardname)
# designating firmware builds compatible with multiple boardIDs
compatible_IDs = [(33, 9, 'AUAVX2.1')]
class firmware(object): class firmware(object):
'''Loads a firmware file''' '''Loads a firmware file'''
@ -196,7 +205,7 @@ class uploader(object):
def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None): 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 # open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5) self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0)
self.otp = b'' self.otp = b''
self.sn = b'' self.sn = b''
self.baudrate_bootloader = baudrate_bootloader self.baudrate_bootloader = baudrate_bootloader
@ -349,14 +358,14 @@ class uploader(object):
self.__send(uploader.CHIP_ERASE + self.__send(uploader.CHIP_ERASE +
uploader.EOC) uploader.EOC)
# erase is very slow, give it 30s # erase is very slow, give it 20s
deadline = time.time() + 30.0 deadline = time.time() + 20.0
while time.time() < deadline: while time.time() < deadline:
# Draw progress bar (erase usually takes about 9 seconds to complete) # Draw progress bar (erase usually takes about 9 seconds to complete)
estimatedTimeRemaining = deadline-time.time() estimatedTimeRemaining = deadline-time.time()
if estimatedTimeRemaining >= 9.0: if estimatedTimeRemaining >= 9.0:
self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, 9.0) self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0)
else: else:
self.__drawProgressBar(label, 10.0, 10.0) self.__drawProgressBar(label, 10.0, 10.0)
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time())) sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()))
@ -494,24 +503,13 @@ class uploader(object):
def upload(self, fw, force=False, boot_delay=None): def upload(self, fw, force=False, boot_delay=None):
# Make sure we are doing the right thing # Make sure we are doing the right thing
if self.board_type != fw.property('board_id'): if self.board_type != fw.property('board_id'):
# ID mismatch: check compatibility msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
incomp = True self.board_type, fw.property('board_id'))
for entry in compatible_IDs: print("WARNING: %s" % msg)
if (entry[0] == self.board_type) and (entry[1] == fw.property('board_id')): if force:
msg = "Target %s (board_id: %d) is compatible with firmware for board_id=%u)" % ( print("FORCED WRITE, FLASHING ANYWAY!")
entry[2], self.board_type, fw.property('board_id')) else:
print("INFO: %s" % msg) raise IOError(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'): if self.fw_maxsize < fw.property('image_size'):
raise RuntimeError("Firmware image is too large for this board") raise RuntimeError("Firmware image is too large for this board")
@ -574,14 +572,14 @@ class uploader(object):
self.port.close() self.port.close()
def __next_baud_flightstack(self): def __next_baud_flightstack(self):
if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack): self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
if self.baudrate_flightstack_idx >= len(self.baudrate_flightstack):
return False return False
try: try:
self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1] self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx]
self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1 except Exception:
except serial.SerialException: return False
# Sometimes _configure_port fails
time.sleep(0.04)
return True return True
@ -618,7 +616,8 @@ def main():
# Parse commandline arguments # Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") 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('--port', action="store", help="Comma-separated list of serial port(s) to which the FMU may be attached",
default=None)
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', 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-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('--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.")
@ -642,11 +641,14 @@ def main():
try: try:
while True: while True:
portlist = [] portlist = []
patterns = args.port.split(",") if args.port is None:
patterns = default_ports
else:
patterns = args.port.split(",")
# on unix-like platforms use glob to support wildcard ports. This allows # 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 # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
# causing modem hangups etc # causing modem hangups etc
if "linux" in _platform or "darwin" in _platform: if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
import glob import glob
for pattern in patterns: for pattern in patterns:
portlist += glob.glob(pattern) portlist += glob.glob(pattern)
@ -663,12 +665,14 @@ def main():
try: try:
if "linux" in _platform: if "linux" in _platform:
# Linux, don't open Mac OS and Win ports # 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)
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash)
elif "darwin" in _platform: elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports # OS X, don't open Windows and Linux ports
if "COM" not in port and "ACM" not in port: if "COM" not in port and "ACM" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash)
elif "cygwin" in _platform:
# Cygwin, don't open MAC OS and Win ports, we are more like Linux. Cygwin needs to be before Windows test
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash)
elif "win" in _platform: elif "win" in _platform:
# Windows, don't open POSIX ports # Windows, don't open POSIX ports
if "/" not in port: if "/" not in port: