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Commit 99d87c34 authored by Don Gagne's avatar Don Gagne
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parent ddc1fa61
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Showing with 48 additions and 66 deletions
src/VehicleSetup/Bootloader.h
View file @ 99d87c34
......@@ -64,7 +64,7 @@ public:
static const int boardIDPX4FMUV1 = 5; ///< PX4 V1 board, as from USB PID
static const int boardIDPX4FMUV2 = 9; ///< PX4 V2 board, as from USB PID
static const int boardIDPX4FMUV4 = 11; ///< PX4 V4 board, as from USB PID
static const int boardIDPX4FMUV4PRO = 13; ///< PX4 V4PRO board, as from USB PID
static const int boardIDPX4FMUV4PRO = 13; ///< PX4 V4PRO board, as from USB PID
static const int boardIDPX4FMUV5 = 50; ///< PX4 V5 board, as from USB PID
static const int boardIDPX4Flow = 6; ///< PX4 Flow board, as from USB PID
static const int boardIDAeroCore = 98; ///< Gumstix AeroCore board, as from USB PID
......
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ 99d87c34
......@@ -363,48 +363,44 @@ void FirmwareUpgradeController::_initFirmwareHash()
// PX4 Firmwares
for (const FirmwareType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) {
QString dir = px4MapFirmwareTypeToDir[firmwareType];
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
}
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot Firmwares
// ArduPilot non-ChibiOS Firmwares for direct board id to fmu mappings
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmMapVehicleTypeToDir.keys()) {
QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType];
QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType];
QString filename = apmMapVehicleTypeToFilename[vehicleType];
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3"));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2"));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares when board id is is a known type. These are added directly into the various board type hashes.
// ArduPilot ChibiOS Firmwares for direct board id to fmu mappings. Used when bootloader is not new ArduPilot bootloader.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType];
QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType];
QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType];
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares when board id is an unknown type but follows ArduPilot port info naming conventions.
// This is only used if the board using the ArduPilot port naming scheme.
// This is only used if the board is using the new ArduPilot bootloader port naming scheme.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
......@@ -487,85 +483,75 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeController::_firmwareHashForBoardId(int boardId)
{
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* rgFirmware;
_rgFirmwareDynamic.clear();
switch (boardId) {
case Bootloader::boardIDPX4Flow:
rgFirmware = &_rgPX4FLowFirmware;
_rgFirmwareDynamic = _rgPX4FLowFirmware;
break;
case Bootloader::boardIDPX4FMUV2:
rgFirmware = &_rgPX4FMUV2Firmware;
_rgFirmwareDynamic = _rgPX4FMUV2Firmware;
break;
case Bootloader::boardIDPX4FMUV3:
rgFirmware = &_rgFMUV3Firmware;
_rgFirmwareDynamic = _rgFMUV3Firmware;
break;
case Bootloader::boardIDPX4FMUV4:
rgFirmware = &_rgFMUV4Firmware;
_rgFirmwareDynamic = _rgFMUV4Firmware;
break;
case Bootloader::boardIDPX4FMUV4PRO:
rgFirmware = &_rgFMUV4PROFirmware;
_rgFirmwareDynamic = _rgFMUV4PROFirmware;
break;
case Bootloader::boardIDPX4FMUV5:
rgFirmware = &_rgFMUV5Firmware;
_rgFirmwareDynamic = _rgFMUV5Firmware;
break;
case Bootloader::boardIDAeroCore:
rgFirmware = &_rgAeroCoreFirmware;
_rgFirmwareDynamic = _rgAeroCoreFirmware;
break;
case Bootloader::boardIDAUAVX2_1:
rgFirmware = &_rgAUAVX2_1Firmware;
_rgFirmwareDynamic = _rgAUAVX2_1Firmware;
break;
case Bootloader::boardIDMINDPXFMUV2:
rgFirmware = &_rgMindPXFMUV2Firmware;
_rgFirmwareDynamic = _rgMindPXFMUV2Firmware;
break;
case Bootloader::boardIDTAPV1:
rgFirmware = &_rgTAPV1Firmware;
_rgFirmwareDynamic = _rgTAPV1Firmware;
break;
case Bootloader::boardIDASCV1:
rgFirmware = &_rgASCV1Firmware;
_rgFirmwareDynamic = _rgASCV1Firmware;
break;
case Bootloader::boardIDCrazyflie2:
rgFirmware = &_rgCrazyflie2Firmware;
_rgFirmwareDynamic = _rgCrazyflie2Firmware;
break;
case Bootloader::boardIDOmnibusF4SD:
rgFirmware = &_rgOmnibusF4SDFirmware;
_rgFirmwareDynamic = _rgOmnibusF4SDFirmware;
break;
case Bootloader::boardIDNXPHliteV3:
rgFirmware = &_rgNXPHliteV3Firmware;
_rgFirmwareDynamic = _rgNXPHliteV3Firmware;
break;
case Bootloader::boardID3DRRadio:
rgFirmware = &_rg3DRRadioFirmware;
_rgFirmwareDynamic = _rg3DRRadioFirmware;
break;
default:
rgFirmware = Q_NULLPTR;
// Unknown board id
break;
}
if (rgFirmware) {
_rgFirmwareDynamic = *rgFirmware;
} else {
_rgFirmwareDynamic.clear();
}
// Check for ArduPilot ChibiOS bootloader
QStringList rgManufacturers = { QStringLiteral("ArduPilot"), QStringLiteral("Hex/ProfiCNC"), QStringLiteral("Holybro") };
QString apmDescriptionSuffix("-BL");
if (rgManufacturers.contains(_foundBoardInfo.manufacturer()) && _foundBoardInfo.description().endsWith(apmDescriptionSuffix)) {
// Board ios using a ChibiOS bootloader. Prefer naming scheme from that over board ids for ArduPilot entries.
// Special case handling for ArduPilot named ChibiOS board
if (_foundBoardInfo.manufacturer() == QStringLiteral("ArduPilot") || _foundBoardInfo.manufacturer() == QStringLiteral("Hex/ProfiCNC")) {
// Remove the ChibiOS by board id entries from the list
for (const FirmwareIdentifier& firmwareId: _rgFirmwareDynamic.keys()) {
switch (firmwareId.firmwareVehicleType) {
case CopterChibiOSFirmware:
case HeliChibiOSFirmware:
case PlaneChibiOSFirmware:
case RoverChibiOSFirmware:
case SubChibiOSFirmware:
_rgAPMChibiosReplaceNamedBoardFirmware.remove(firmwareId);
break;
default:
break;
}
// First remove the ChibiOS by board id entries from the list
for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) {
_rgFirmwareDynamic.remove(firmwareId);
}
// Add the ChibiOS by board description entries to the list
// Now add the ChibiOS by board description entries to the list
for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) {
QString namedUrl = _rgAPMChibiosReplaceNamedBoardFirmware[firmwareId];
_rgFirmwareDynamic.insert(firmwareId, namedUrl.replace(_apmBoardDescriptionReplaceText, _foundBoardInfo.description().left(_foundBoardInfo.description().length() - 3)));
_rgFirmwareDynamic.insert(firmwareId, namedUrl.replace(_apmBoardDescriptionReplaceText, _foundBoardInfo.description().left(_foundBoardInfo.description().length() - apmDescriptionSuffix.length())));
}
}
......@@ -577,21 +563,16 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
{
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(static_cast<int>(_bootloaderBoardID));
if (!prgFirmware && firmwareId.firmwareType != CustomFirmware) {
_errorCancel(tr("Attempting to flash an unknown board type, you must select 'Custom firmware file'"));
return;
}
if (firmwareId.firmwareType == CustomFirmware) {
_firmwareFilename = QGCQFileDialog::getOpenFileName(nullptr, // Parent to main window
tr("Select Firmware File"), // Dialog Caption
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
tr("Firmware Files (*.px4 *.bin *.ihx)")); // File filter
tr("Firmware Files (*.px4 *.apj *.bin *.ihx)")); // File filter
} else {
if (prgFirmware->contains(firmwareId)) {
_firmwareFilename = prgFirmware->value(firmwareId);
} else {
_errorCancel(tr("Unable to find specified firmware download location"));
_errorCancel(tr("Unable to find specified firmware for board type"));
return;
}
}
......
src/VehicleSetup/PX4FirmwareUpgradeThread.cc
View file @ 99d87c34
......@@ -125,6 +125,7 @@ bool PX4FirmwareUpgradeThreadWorker::_findBoardFromPorts(QGCSerialPortInfo& port
qCDebug(FirmwareUpgradeVerboseLog) << "Serial Port --------------";
qCDebug(FirmwareUpgradeVerboseLog) << "\tboard type" << boardType;
qCDebug(FirmwareUpgradeVerboseLog) << "\tboard name" << boardName;
qCDebug(FirmwareUpgradeVerboseLog) << "\tmanufacturer:" << info.manufacturer();
qCDebug(FirmwareUpgradeVerboseLog) << "\tport name:" << info.portName();
qCDebug(FirmwareUpgradeVerboseLog) << "\tdescription:" << info.description();
qCDebug(FirmwareUpgradeVerboseLog) << "\tsystem location:" << info.systemLocation();
......
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