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Unverified Commit d597eeee authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #7034 from DonLakeFlyer/master 

Flash: Add support for board/firmware detection using ArduPilot port naming
parents 1c635816 20a5d6ac
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Showing with 115 additions and 44 deletions
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ d597eeee
...@@ -43,13 +43,14 @@ uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId) ...@@ -43,13 +43,14 @@ uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId)
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens. /// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
FirmwareUpgradeController::FirmwareUpgradeController(void) FirmwareUpgradeController::FirmwareUpgradeController(void)
: _singleFirmwareURL(qgcApp()->toolbox()->corePlugin()->options()->firmwareUpgradeSingleURL()) : _singleFirmwareURL (qgcApp()->toolbox()->corePlugin()->options()->firmwareUpgradeSingleURL())
, _singleFirmwareMode(!_singleFirmwareURL.isEmpty()) , _singleFirmwareMode (!_singleFirmwareURL.isEmpty())
, _downloadManager(nullptr) , _downloadManager (nullptr)
, _downloadNetworkReply(nullptr) , _downloadNetworkReply (nullptr)
, _statusLog(nullptr) , _statusLog (nullptr)
, _selectedFirmwareType(StableFirmware) , _selectedFirmwareType (StableFirmware)
, _image(nullptr) , _image (nullptr)
, _apmBoardDescriptionReplaceText ("<APMBoardDescription>")
{ {
_threadController = new PX4FirmwareUpgradeThreadController(this); _threadController = new PX4FirmwareUpgradeThreadController(this);
Q_CHECK_PTR(_threadController); Q_CHECK_PTR(_threadController);
...@@ -356,10 +357,10 @@ void FirmwareUpgradeController::_initFirmwareHash() ...@@ -356,10 +357,10 @@ void FirmwareUpgradeController::_initFirmwareHash()
// PX4 Firmwares // PX4 Firmwares
for (const FirmwareType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) { for (const FirmwareType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) {
QString dir = px4MapFirmwareTypeToDir[firmwareType]; QString dir = px4MapFirmwareTypeToDir[firmwareType];
_rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5")); _rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgPX4FMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro")); _rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4")); _rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3")); _rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2")); _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
} }
...@@ -371,30 +372,45 @@ void FirmwareUpgradeController::_initFirmwareHash() ...@@ -371,30 +372,45 @@ void FirmwareUpgradeController::_initFirmwareHash()
QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType]; QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType];
QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType]; QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType];
QString filename = apmMapVehicleTypeToFilename[vehicleType]; QString filename = apmMapVehicleTypeToFilename[vehicleType];
_rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5")); _rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4")); _rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3")); _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")); _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2"));
} }
} }
#endif #endif
#if !defined(NO_ARDUPILOT_DIALECT) #if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares // ArduPilot ChibiOS Firmwares when board id is is a known type. These are added directly into the various board type hashes.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) { for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType]; QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) { for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType]; QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType];
QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType]; QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType];
QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType]; QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType];
_rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename)); _rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename)); _rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").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)); _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
} }
} }
#endif #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.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
QString namedURL("http://firmware.ardupilot.org/%1/%2/%3%4/%5.apj");
QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType];
QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType];
QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType];
_rgAPMChibiosReplaceNamedBoardFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), namedURL.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(_apmBoardDescriptionReplaceText).arg(fmuDir).arg(filename));
}
}
#endif
int size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]); int size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]);
for (int i = 0; i < size; i++) { for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgAeroCoreFirmwareArray[i]; const FirmwareToUrlElement_t& element = rgAeroCoreFirmwareArray[i];
...@@ -459,38 +475,86 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void) ...@@ -459,38 +475,86 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeController::_firmwareHashForBoardId(int boardId) QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeController::_firmwareHashForBoardId(int boardId)
{ {
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* rgFirmware;
switch (boardId) { switch (boardId) {
case Bootloader::boardIDPX4Flow: case Bootloader::boardIDPX4Flow:
return &_rgPX4FLowFirmware; rgFirmware = &_rgPX4FLowFirmware;
break;
case Bootloader::boardIDPX4FMUV2: case Bootloader::boardIDPX4FMUV2:
return &_rgPX4FMUV2Firmware; rgFirmware = &_rgPX4FMUV2Firmware;
break;
case Bootloader::boardIDPX4FMUV3: case Bootloader::boardIDPX4FMUV3:
return &_rgPX4FMUV3Firmware; rgFirmware = &_rgFMUV3Firmware;
break;
case Bootloader::boardIDPX4FMUV4: case Bootloader::boardIDPX4FMUV4:
return &_rgPX4FMUV4Firmware; rgFirmware = &_rgFMUV4Firmware;
break;
case Bootloader::boardIDPX4FMUV4PRO: case Bootloader::boardIDPX4FMUV4PRO:
return &_rgPX4FMUV4PROFirmware; rgFirmware = &_rgFMUV4PROFirmware;
break;
case Bootloader::boardIDPX4FMUV5: case Bootloader::boardIDPX4FMUV5:
return &_rgPX4FMUV5Firmware; rgFirmware = &_rgFMUV5Firmware;
break;
case Bootloader::boardIDAeroCore: case Bootloader::boardIDAeroCore:
return &_rgAeroCoreFirmware; rgFirmware = &_rgAeroCoreFirmware;
break;
case Bootloader::boardIDAUAVX2_1: case Bootloader::boardIDAUAVX2_1:
return &_rgAUAVX2_1Firmware; rgFirmware = &_rgAUAVX2_1Firmware;
break;
case Bootloader::boardIDMINDPXFMUV2: case Bootloader::boardIDMINDPXFMUV2:
return &_rgMindPXFMUV2Firmware; rgFirmware = &_rgMindPXFMUV2Firmware;
break;
case Bootloader::boardIDTAPV1: case Bootloader::boardIDTAPV1:
return &_rgTAPV1Firmware; rgFirmware = &_rgTAPV1Firmware;
break;
case Bootloader::boardIDASCV1: case Bootloader::boardIDASCV1:
return &_rgASCV1Firmware; rgFirmware = &_rgASCV1Firmware;
break;
case Bootloader::boardIDCrazyflie2: case Bootloader::boardIDCrazyflie2:
return &_rgCrazyflie2Firmware; rgFirmware = &_rgCrazyflie2Firmware;
break;
case Bootloader::boardIDNXPHliteV3: case Bootloader::boardIDNXPHliteV3:
return &_rgNXPHliteV3Firmware; rgFirmware = &_rgNXPHliteV3Firmware;
break;
case Bootloader::boardID3DRRadio: case Bootloader::boardID3DRRadio:
return &_rg3DRRadioFirmware; rgFirmware = &_rg3DRRadioFirmware;
break;
default:
rgFirmware = Q_NULLPTR;
}
if (rgFirmware) {
_rgFirmwareDynamic = *rgFirmware;
} else {
_rgFirmwareDynamic.clear();
}
// 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: default:
return nullptr; break;
} }
}
// 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)));
}
}
return &_rgFirmwareDynamic;
} }
/// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state. /// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state.
...@@ -754,8 +818,8 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) ...@@ -754,8 +818,8 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void)
QStringList list; QStringList list;
QList<FirmwareVehicleType_t> vehicleTypes; QList<FirmwareVehicleType_t> vehicleTypes;
// This allows up to force the order of the combo box display // This allows us to force the order of the combo box display
vehicleTypes << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware << CopterChibiOSFirmware << HeliChibiOSFirmware << PlaneChibiOSFirmware << RoverChibiOSFirmware << SubChibiOSFirmware; vehicleTypes << CopterChibiOSFirmware << HeliChibiOSFirmware << PlaneChibiOSFirmware << RoverChibiOSFirmware << SubChibiOSFirmware << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware;
_apmVehicleTypeFromCurrentVersionList.clear(); _apmVehicleTypeFromCurrentVersionList.clear();
...@@ -765,16 +829,16 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) ...@@ -765,16 +829,16 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void)
switch (vehicleType) { switch (vehicleType) {
case CopterFirmware: case CopterFirmware:
version = tr("MultiRotor - "); version = tr("NuttX - MultiRotor:");
break; break;
case HeliFirmware: case HeliFirmware:
version = tr("Heli - "); version = tr("NuttX - Heli:");
break; break;
case CopterChibiOSFirmware: case CopterChibiOSFirmware:
version = tr("ChibiOS:MultiRotor - "); version = tr("ChibiOS- MultiRotor:");
break; break;
case HeliChibiOSFirmware: case HeliChibiOSFirmware:
version = tr("ChibiOS:Heli - "); version = tr("ChibiOS - Heli:");
break; break;
case PlaneChibiOSFirmware: case PlaneChibiOSFirmware:
case RoverChibiOSFirmware: case RoverChibiOSFirmware:
...@@ -782,6 +846,7 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) ...@@ -782,6 +846,7 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void)
version = tr("ChibiOS - "); version = tr("ChibiOS - ");
break; break;
default: default:
version = tr("NuttX - ");
break; break;
} }
......
src/VehicleSetup/FirmwareUpgradeController.h
View file @ d597eeee
...@@ -199,11 +199,11 @@ private: ...@@ -199,11 +199,11 @@ private:
QString _portName; QString _portName;
QString _portDescription; QString _portDescription;
// firmware hashes // Firmware hashes
QHash<FirmwareIdentifier, QString> _rgPX4FMUV5Firmware; QHash<FirmwareIdentifier, QString> _rgFMUV5Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV4PROFirmware; QHash<FirmwareIdentifier, QString> _rgFMUV4PROFirmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV4Firmware; QHash<FirmwareIdentifier, QString> _rgFMUV4Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV3Firmware; QHash<FirmwareIdentifier, QString> _rgFMUV3Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware; QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware; QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
QHash<FirmwareIdentifier, QString> _rgAUAVX2_1Firmware; QHash<FirmwareIdentifier, QString> _rgAUAVX2_1Firmware;
...@@ -215,6 +215,10 @@ private: ...@@ -215,6 +215,10 @@ private:
QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware; QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware; QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
// Hash map for ArduPilot ChibiOS lookup by board name
QHash<FirmwareIdentifier, QString> _rgAPMChibiosReplaceNamedBoardFirmware;
QHash<FirmwareIdentifier, QString> _rgFirmwareDynamic;
QMap<FirmwareType_t, QMap<FirmwareVehicleType_t, QString> > _apmVersionMap; QMap<FirmwareType_t, QMap<FirmwareVehicleType_t, QString> > _apmVersionMap;
QList<FirmwareVehicleType_t> _apmVehicleTypeFromCurrentVersionList; QList<FirmwareVehicleType_t> _apmVehicleTypeFromCurrentVersionList;
...@@ -260,6 +264,8 @@ private: ...@@ -260,6 +264,8 @@ private:
QString _px4StableVersion; // Version strange for latest PX4 stable QString _px4StableVersion; // Version strange for latest PX4 stable
QString _px4BetaVersion; // Version strange for latest PX4 beta QString _px4BetaVersion; // Version strange for latest PX4 beta
const QString _apmBoardDescriptionReplaceText;
}; };
// global hashing function // global hashing function
......
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