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qgroundcontrol
Commit 1250e4ad authored by Thomas Gubler's avatar Thomas Gubler
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Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into archlinux

parents 9e43860b 1923fb95
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Showing with 756 additions and 56 deletions
qupgrade.pro
View file @ 1250e4ad
......@@ -41,6 +41,7 @@ HEADERS += \
src/QGC.h \
src/apps/qupgrade/QUpgradeApp.h \
src/apps/qupgrade/QUpgradeMainWindow.h \
src/apps/qupgrade/uploader.h \
libs/qextserialport/qextserialenumerator.h \
src/ui/PX4FirmwareUpgrader.h \
src/PX4FirmwareUpgradeWorker.h
......@@ -52,6 +53,7 @@ SOURCES += \
src/apps/qupgrade/main.cc \
src/apps/qupgrade/QUpgradeApp.cc \
src/apps/qupgrade/QUpgradeMainWindow.cc \
src/apps/qupgrade/uploader.cpp \
src/ui/PX4FirmwareUpgrader.cc \
src/PX4FirmwareUpgradeWorker.cc
......
src/PX4FirmwareUpgradeWorker.cc
View file @ 1250e4ad
#include <QJsonDocument>
//#include <QJsonDocument>
#include <QFile>
#include "PX4FirmwareUpgradeWorker.h"
#include <SerialLink.h>
#include <QGC.h>
#include "uploader.h"
#include <QDebug>
// protocol bytes
#define INSYNC 0x12
#define EOC 0x20
// reply bytes
#define OK 0x10
#define FAILED 0x11
#define INVALID 0x13 // rev3+
// command bytes
#define NOP 0x00 // guaranteed to be discarded by the bootloader
#define GET_SYNC 0x21
#define GET_DEVICE 0x22
#define CHIP_ERASE 0x23
#define CHIP_VERIFY 0x24 // rev2 only
#define PROG_MULTI 0x27
#define READ_MULTI 0x28 // rev2 only
#define GET_CRC 0x29 // rev3+
#define REBOOT 0x30
#define INFO_BL_REV 1 // bootloader protocol revision
#define BL_REV_MIN 2 // minimum supported bootloader protocol
#define BL_REV_MAX 3 // maximum supported bootloader protocol
#define INFO_BOARD_ID 2 // board type
#define INFO_BOARD_REV 3 // board revision
#define INFO_FLASH_SIZE 4 // max firmware size in bytes
#define PROTO_GET_SYNC 0x21
#define PROTO_EOC 0x20
#define PROTO_NOP 0x00
#define PROTO_OK 0x10
#define PROTO_FAILED 0x11
#define PROTO_INSYNC 0x12
PX4FirmwareUpgradeWorker::PX4FirmwareUpgradeWorker(QObject *parent) :
QObject(parent),
......@@ -96,7 +77,7 @@ void PX4FirmwareUpgradeWorker::detect()
link->setPortName(ports->at(i));
// Open port and talk to it
link->connect();
char buf[2] = { GET_SYNC, EOC };
char buf[2] = { PROTO_GET_SYNC, PROTO_EOC };
if (!link->isConnected()) {
continue;
}
......@@ -124,13 +105,13 @@ void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
for (int position = 0; position < b.size(); position++) {
qDebug() << "BYTES";
qDebug() << (char)(b[position]);
if (((const char)b[position]) == INSYNC)
if (((const char)b[position]) == PROTO_INSYNC)
{
qDebug() << "SYNC";
insync = true;
}
if (insync && ((const char)b[position]) == OK)
if (insync && ((const char)b[position]) == PROTO_OK)
{
emit detectionStatusChanged("Found PX4 board");
}
......@@ -141,21 +122,28 @@ void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
void PX4FirmwareUpgradeWorker::loadFirmware(const QString &filename)
{
qDebug() << __FILE__ << __LINE__ << "LOADING FW";
QFile f(filename);
if (f.open(QIODevice::ReadOnly))
{
QByteArray buf = f.readAll();
f.close();
firmware = QJsonDocument::fromBinaryData(buf);
if (firmware.isNull()) {
emit upgradeStatusChanged(tr("Failed decoding file %1").arg(filename));
} else {
emit upgradeStatusChanged(tr("Ready to flash %1").arg(filename));
}
} else {
emit upgradeStatusChanged(tr("Failed opening file %1").arg(filename));
}
qDebug() << __FILE__ << __LINE__ << "LOADING FW" << filename;
PX4_Uploader uploader;
const char* filenames[2];
filenames[0] = filename.toStdString().c_str();
filenames[1] = NULL;
uploader.upload(filenames, "/dev/tty.usbmodem1");
// QFile f(filename);
// if (f.open(QIODevice::ReadOnly))
// {
// QByteArray buf = f.readAll();
// f.close();
// firmware = QJsonDocument::fromBinaryData(buf);
// if (firmware.isNull()) {
// emit upgradeStatusChanged(tr("Failed decoding file %1").arg(filename));
// } else {
// emit upgradeStatusChanged(tr("Ready to flash %1").arg(filename));
// }
// } else {
// emit upgradeStatusChanged(tr("Failed opening file %1").arg(filename));
// }
}
void PX4FirmwareUpgradeWorker::upgrade()
......
src/PX4FirmwareUpgradeWorker.h
View file @ 1250e4ad
......@@ -2,7 +2,7 @@
#define PX4FIRMWAREUPGRADEWORKER_H
#include <QObject>
#include <QJsonDocument>
//#include <QJsonDocument>
#include <SerialLink.h>
......@@ -67,7 +67,7 @@ protected:
private:
SerialLink *link;
bool insync;
QJsonDocument firmware;
//QJsonDocument firmware;
};
#endif // PX4FIRMWAREUPGRADEWORKER_H
src/apps/qupgrade/QUpgradeApp.cc
View file @ 1250e4ad
......@@ -78,15 +78,15 @@ QUpgradeApp::QUpgradeApp(int &argc, char* argv[]) : QApplication(argc, argv)
// Get PX4 upgrade widget and instantiate worker thread
PX4FirmwareUpgradeWorker* worker = PX4FirmwareUpgradeWorker::putWorkerInThread(this);
connect(worker, SIGNAL(detectionStatusChanged(QString)), upgrader, SLOT(setDetectionStatusText(QString)), Qt::QueuedConnection);
connect(worker, SIGNAL(upgradeStatusChanged(QString)), upgrader, SLOT(setFlashStatusText(QString)), Qt::QueuedConnection);
connect(worker, SIGNAL(upgradeProgressChanged(int)), upgrader, SLOT(setFlashProgress(int)), Qt::QueuedConnection);
connect(worker, SIGNAL(validPortFound(QString)), upgrader, SLOT(setPortName(QString)));
connect(upgrader, SIGNAL(firmwareFileNameSet(QString)), worker, SLOT(loadFirmware(QString)), Qt::QueuedConnection);
connect(upgrader, SIGNAL(upgrade()), worker, SLOT(upgrade()), Qt::QueuedConnection);
connect(this, SIGNAL(lastWindowClosed()), worker, SLOT(abort()), Qt::QueuedConnection);
worker->loadFirmware("abc");
// connect(worker, SIGNAL(detectionStatusChanged(QString)), upgrader, SLOT(setDetectionStatusText(QString)), Qt::QueuedConnection);
// connect(worker, SIGNAL(upgradeStatusChanged(QString)), upgrader, SLOT(setFlashStatusText(QString)), Qt::QueuedConnection);
// connect(worker, SIGNAL(upgradeProgressChanged(int)), upgrader, SLOT(setFlashProgress(int)), Qt::QueuedConnection);
// connect(worker, SIGNAL(validPortFound(QString)), upgrader, SLOT(setPortName(QString)));
// connect(upgrader, SIGNAL(firmwareFileNameSet(QString)), worker, SLOT(loadFirmware(QString)), Qt::QueuedConnection);
// connect(upgrader, SIGNAL(upgrade()), worker, SLOT(upgrade()), Qt::QueuedConnection);
// connect(this, SIGNAL(lastWindowClosed()), worker, SLOT(abort()), Qt::QueuedConnection);
worker->loadFirmware("/Users/lomeier/src/Firmware/Images/px4fmu.bin");
window->setWindowTitle(applicationName() + " " + applicationVersion());
window->show();
......
src/apps/qupgrade/uploader.cpp 0 → 100644
View file @ 1250e4ad
/****************************************************************************
*
* 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 <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 <sys/stat.h>
#include "uploader.h"
#include <QtGlobal>
#undef OK
#define OK 0
#define nullptr NULL
static const uint32_t crctab[] =
{
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
};
static uint32_t
crc32(const uint8_t *src, unsigned len, unsigned state)
{
for (unsigned i = 0; i < len; i++)
state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
return state;
}
PX4_Uploader::PX4_Uploader() :
_io_fd(-1),
_fw_fd(-1)
{
}
PX4_Uploader::~PX4_Uploader()
{
}
int
PX4_Uploader::upload(const char *filenames[], const char* port)
{
int ret;
const char *filename = NULL;
size_t fw_size;
_io_fd = open(port, 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]);
filename = filenames[i];
break;
}
if (filename == NULL) {
log("no firmware found");
return -ENOENT;
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
return -errno;
}
fw_size = st.st_size;
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 = get_info(INFO_BL_REV, bl_rev);
if (ret == OK) {
if (bl_rev <= BL_REV) {
log("found bootloader revision: %d", bl_rev);
} else {
log("found unsupported bootloader revision %d, exiting", bl_rev);
return OK;
}
}
ret = erase();
if (ret != OK) {
log("erase failed");
continue;
}
ret = program(fw_size);
if (ret != OK) {
log("program failed");
continue;
}
if (bl_rev <= 2)
ret = verify_rev2(fw_size);
else if(bl_rev == 3) {
ret = verify_rev3(fw_size);
}
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
PX4_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
PX4_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++, 5000);
if (ret != OK)
return ret;
}
return OK;
}
void
PX4_Uploader::drain()
{
uint8_t c;
int ret;
do {
ret = recv(c, 1000);
if (ret == OK) {
//log("discard 0x%02x", c);
}
} while (ret == OK);
}
int
PX4_Uploader::send(uint8_t c)
{
//log("send 0x%02x", c);
if (write(_io_fd, &c, 1) != 1)
return -errno;
return OK;
}
int
PX4_Uploader::send(uint8_t *p, unsigned count)
{
while (count--) {
int ret = send(*p++);
if (ret != OK)
return ret;
}
return OK;
}
int
PX4_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
PX4_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
PX4_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
PX4_Uploader::erase()
{
log("erase...");
send(PROTO_CHIP_ERASE);
send(PROTO_EOC);
return get_sync(10000); /* allow 10s timeout */
}
static int read_with_retry(int fd, void *buf, size_t n)
{
int ret;
uint8_t retries = 0;
do {
ret = read(fd, buf, n);
} while (ret == -1 && retries++ < 100);
if (retries != 0) {
printf("read of %u bytes needed %u retries\n",
(unsigned)n,
(unsigned)retries);
}
return ret;
}
int
PX4_Uploader::program(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
ssize_t count;
int ret;
size_t sent = 0;
log("programming %u bytes...", (unsigned)fw_size);
ret = lseek(_fw_fd, 0, SEEK_SET);
while (sent < fw_size) {
/* get more bytes to program */
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
return OK;
sent += count;
if (count < 0)
return -errno;
Q_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;
}
return OK;
}
int
PX4_Uploader::verify_rev2(size_t fw_size)
{
uint8_t file_buf[4];
ssize_t count;
int ret;
size_t sent = 0;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
while (sent < fw_size) {
/* get more bytes to verify */
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
break;
sent += count;
if (count < 0)
return -errno;
Q_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, 5000);
if (ret != OK) {
log("%d: got %d waiting for bytes", sent + i, ret);
return ret;
}
if (c != file_buf[i]) {
log("%d: got 0x%02x expected 0x%02x", sent + 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
PX4_Uploader::verify_rev3(size_t fw_size_local)
{
int ret;
uint8_t file_buf[4];
ssize_t count;
uint32_t sum = 0;
uint32_t bytes_read = 0;
uint32_t crc = 0;
uint32_t fw_size_remote;
uint8_t fill_blank = 0xff;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
ret = get_info(INFO_FLASH_SIZE, fw_size_remote);
send(PROTO_EOC);
if (ret != OK) {
log("could not read firmware size");
return ret;
}
/* read through the firmware file again and calculate the checksum*/
while (bytes_read < fw_size_local) {
size_t n = fw_size_local - bytes_read;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)bytes_read,
(int)count,
(int)errno);
}
/* set the rest to ff */
if (count == 0) {
break;
}
/* stop if the file cannot be read */
if (count < 0)
return -errno;
/* calculate crc32 sum */
sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum);
bytes_read += count;
}
/* fill the rest with 0xff */
while (bytes_read < fw_size_remote) {
sum = crc32(&fill_blank, sizeof(fill_blank), sum);
bytes_read += sizeof(fill_blank);
}
/* request CRC from IO */
send(PROTO_GET_CRC);
send(PROTO_EOC);
ret = recv((uint8_t*)(&crc), sizeof(crc));
if (ret != OK) {
log("did not receive CRC checksum");
return ret;
}
/* compare the CRC sum from the IO with the one calculated */
if (sum != crc) {
log("CRC wrong: received: %d, expected: %d", crc, sum);
return -EINVAL;
}
return OK;
}
int
PX4_Uploader::reboot()
{
send(PROTO_REBOOT);
send(PROTO_EOC);
return OK;
}
void
PX4_Uploader::log(const char *fmt, ...)
{
va_list ap;
printf("[PX4IO] ");
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
printf("\n");
fflush(stdout);
}
src/apps/qupgrade/uploader.h 0 → 100644
View file @ 1250e4ad
/****************************************************************************
*
* 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
*/
#ifndef _PX4_Uploader_H
#define _PX4_Uploader_H value
#include <stdint.h>
#include <stdbool.h>
class PX4_Uploader
{
public:
PX4_Uploader();
virtual ~PX4_Uploader();
int upload(const char *filenames[], const char* port);
private:
enum {
PROTO_NOP = 0x00,
PROTO_OK = 0x10,
PROTO_FAILED = 0x11,
PROTO_INSYNC = 0x12,
PROTO_EOC = 0x20,
PROTO_GET_SYNC = 0x21,
PROTO_GET_DEVICE = 0x22,
PROTO_CHIP_ERASE = 0x23,
PROTO_CHIP_VERIFY = 0x24,
PROTO_PROG_MULTI = 0x27,
PROTO_READ_MULTI = 0x28,
PROTO_GET_CRC = 0x29,
PROTO_REBOOT = 0x30,
INFO_BL_REV = 1, /**< bootloader protocol revision */
BL_REV = 3, /**< supported bootloader protocol */
INFO_BOARD_ID = 2, /**< board type */
INFO_BOARD_REV = 3, /**< board revision */
INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */
PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */
READ_MULTI_MAX = 60, /**< protocol max is 255, something overflows with >= 64 */
};
int _io_fd;
int _fw_fd;
uint32_t bl_rev; /**< bootloader revision */
void log(const char *fmt, ...);
int recv(uint8_t &c, unsigned timeout);
int recv(uint8_t *p, unsigned count);
void drain();
int send(uint8_t c);
int send(uint8_t *p, unsigned count);
int get_sync(unsigned timeout = 1000);
int sync();
int get_info(int param, uint32_t &val);
int erase();
int program(size_t fw_size);
int verify_rev2(size_t fw_size);
int verify_rev3(size_t fw_size);
int reboot();
};
#endif
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