Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into archlinux

qupgrade.pro

@@ -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

-#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

@@ -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

@@ -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.h

+/****************************************************************************
+ *
+ *   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