Merge pull request #5275 from DonLakeFlyer/FlashV3

Support for V3 flashing

src/VehicleSetup/Bootloader.cc

@@ -582,6 +582,13 @@ bool Bootloader::getPX4BoardInfo(QextSerialPort* port, uint32_t& bootloaderVersi
         qWarning() << _errorString;
         goto Error;
     }
+
+    // Older V2 boards have large flash space but silicon error which prevents it from being used. Bootloader v5 and above
+    // will correctly account/report for this. Older bootloaders will not. Newer V2 board which support larger flash space are
+    // reported as V3 board id.
+    if (_boardID == boardIDPX4FMUV2 && _bootloaderVersion >= _bootloaderVersionV2CorrectFlash && _boardFlashSize > _flashSizeSmall) {
+        _boardID = boardIDPX4FMUV3;
+    }
     
     bootloaderVersion = _bootloaderVersion;
     boardID = _boardID;

src/VehicleSetup/Bootloader.h

@@ -74,6 +74,11 @@ public:
     static const int boardIDTAPV1 = 64;         ///< TAP V1 board, as from USB PID
     static const int boardIDASCV1 = 65;         ///< ASC V1 board, as from USB PID
     static const int boardIDCrazyflie2 = 12;    ///< Crazyflie 2.0 board, as from USB PID
+
+    /// Simulated board id for V3 which is a V2 board which supports larger flash space
+    /// IMPORTANT: Make sure this id does not conflict with any newly added real board ids
+    static const int boardIDPX4FMUV3 = 255;
+
 signals:
     /// @brief Signals progress indicator for long running bootloader utility routines
     void updateProgress(int curr, int total);
@@ -141,11 +146,13 @@ private:
     
     QString _errorString;           ///< Last error
     
-    static const int _eraseTimeout = 20000;     ///< Msecs to wait for response from erase command
-    static const int _rebootTimeout = 10000;    ///< Msecs to wait for reboot command to cause serial port to disconnect
-    static const int _verifyTimeout = 5000;     ///< Msecs to wait for response to PROTO_GET_CRC command
-    static const int _readTimout = 2000;        ///< Msecs to wait for read bytes to become available
-    static const int _responseTimeout = 2000;   ///< Msecs to wait for command response bytes
+    static const int _eraseTimeout = 20000;                 ///< Msecs to wait for response from erase command
+    static const int _rebootTimeout = 10000;                ///< Msecs to wait for reboot command to cause serial port to disconnect
+    static const int _verifyTimeout = 5000;                 ///< Msecs to wait for response to PROTO_GET_CRC command
+    static const int _readTimout = 2000;                    ///< Msecs to wait for read bytes to become available
+    static const int _responseTimeout = 2000;               ///< Msecs to wait for command response bytes
+    static const int _flashSizeSmall = 1032192;             ///< Flash size for boards with silicon error
+    static const int _bootloaderVersionV2CorrectFlash = 5;  ///< Anything below this bootloader version on V2 boards cannot trust flash size
 };
 
 #endif // PX4FirmwareUpgrade_H

src/VehicleSetup/FirmwareImage.cc

@@ -19,6 +19,7 @@
 #include "QGCApplication.h"
 #include "FirmwarePlugin.h"
 #include "ParameterManager.h"
+#include "Bootloader.h"
 
 #include <QDebug>
 #include <QFile>
@@ -236,7 +237,8 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     }
 
     uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
-    if (firmwareBoardId != _boardId) {
+    uint32_t actualBoardId = _boardId == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _boardId;;
+    if (firmwareBoardId != actualBoardId) {
         emit statusMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
         return false;
     }

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -231,6 +231,35 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { SingleFirmwareMode,StableFirmware,    DefaultVehicleFirmware, _singleFirmwareURL},
     };
 
+    //////////////////////////////////// PX4FMUV3 firmwares //////////////////////////////////////////////////
+    // Note: ArduPilot stable does not yet support V3 firmwares, so fall back to V2
+    FirmwareToUrlElement_t rgPX4FMV3FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v3_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v3_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v3_default.px4"},
+        { AutoPilotStackAPM, StableFirmware,    QuadFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-quad/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    X8Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    HexaFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-hexa/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    OctoFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-octa/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    YFirmware,              "http://firmware.ardupilot.org/Copter/stable/PX4-tri/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    Y6Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-y6/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    HeliFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    PlaneFirmware,          "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    RoverFirmware,          "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    SubFirmware,            "http://firmware.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      CopterFirmware,         "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      HeliFirmware,           "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      PlaneFirmware,          "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      RoverFirmware,          "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      SubFirmware,            "http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware,         "http://firmware.ardupilot.org/Copter/latest/PX4/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware,           "http://firmware.ardupilot.org/Copter/latest/PX4-heli/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware,          "http://firmware.ardupilot.org/Plane/latest/PX4/ArduPlane-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware,          "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, SubFirmware,            "http://firmware.ardupilot.org/Sub/latest/PX4/ArduSub-v3.px4"},
+        { SingleFirmwareMode,StableFirmware,    DefaultVehicleFirmware, _singleFirmwareURL},
+    };
+
     //////////////////////////////////// PX4FMUV2 firmwares //////////////////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FMV2FirmwareArray[] = {
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"},
@@ -373,6 +402,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         _rgPX4FMUV4Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
     }
 
+    size = sizeof(rgPX4FMV3FirmwareArray)/sizeof(rgPX4FMV3FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgPX4FMV3FirmwareArray[i];
+        _rgPX4FMUV3Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
     size = sizeof(rgPX4FMV2FirmwareArray)/sizeof(rgPX4FMV2FirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FMV2FirmwareArray[i];
@@ -456,6 +491,8 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
         return &_rgPX4FLowFirmware;
     case Bootloader::boardIDPX4FMUV2:
         return &_rgPX4FMUV2Firmware;
+    case Bootloader::boardIDPX4FMUV3:
+        return &_rgPX4FMUV3Firmware;
     case Bootloader::boardIDPX4FMUV4:
         return &_rgPX4FMUV4Firmware;
     case Bootloader::boardIDPX4FMUV4PRO:

src/VehicleSetup/FirmwareUpgradeController.h

@@ -204,6 +204,7 @@ private:
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV5Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV4PROFirmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV4Firmware;
+    QHash<FirmwareIdentifier, QString> _rgPX4FMUV3Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
     QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV1Firmware;

src/VehicleSetup/PX4FirmwareUpgradeThread.cc

@@ -205,7 +205,6 @@ bool PX4FirmwareUpgradeThreadWorker::_findBootloader(const QGCSerialPortInfo& po
     uint32_t bootloaderVersion = 0;
     uint32_t boardID;
     uint32_t flashSize = 0;
-
     
     _bootloaderPort = new QextSerialPort(QextSerialPort::Polling);
     if (radioMode) {