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author | Lorenz Meier <lorenz@px4.io> | 2015-03-15 12:50:32 +0100 |
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committer | Lorenz Meier <lorenz@px4.io> | 2015-03-15 12:50:32 +0100 |
commit | b73ea032448d5be5b403fd7fd767be1b75c5d1e0 (patch) | |
tree | 6ce3f9bbaac5fb16d4bf60e4fc8a4e4fc540ad4e | |
parent | 2d8908ad01cc75fd7fdcd3bc2c94c6d398322662 (diff) | |
parent | 9d8931328b1c4423f747c08d115aec1387d5e597 (diff) | |
download | px4-firmware-b73ea032448d5be5b403fd7fd767be1b75c5d1e0.tar.gz px4-firmware-b73ea032448d5be5b403fd7fd767be1b75c5d1e0.tar.bz2 px4-firmware-b73ea032448d5be5b403fd7fd767be1b75c5d1e0.zip |
Merge pull request #1917 from tridge/pullrequest-boot-delay
Pullrequest boot delay
-rwxr-xr-x | Tools/boot_now.py | 59 | ||||
-rwxr-xr-x | Tools/px_uploader.py | 11 | ||||
-rw-r--r-- | nuttx-configs/px4fmu-v2/scripts/ld.script | 8 |
3 files changed, 78 insertions, 0 deletions
diff --git a/Tools/boot_now.py b/Tools/boot_now.py new file mode 100755 index 000000000..5a9e608da --- /dev/null +++ b/Tools/boot_now.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2012-2015 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. +# +############################################################################ + +# send BOOT command to a device + +import argparse +import serial, sys + +from sys import platform as _platform + +# Parse commandline arguments +parser = argparse.ArgumentParser(description="Send boot command to a device") +parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port") +parser.add_argument('port', action="store", help="Serial port(s) to which the FMU may be attached") +args = parser.parse_args() + +REBOOT = b'\x30' +EOC = b'\x20' + +print("Sending reboot to %s" % args.port) +try: + port = serial.Serial(args.port, args.baud, timeout=0.5) +except Exception: + print("Unable to open %s" % args.port) + sys.exit(1) +port.write(REBOOT + EOC) +port.close() +sys.exit(0) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index 43a116745..3cdd9d1a6 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -161,6 +161,7 @@ class uploader(object): GET_OTP = b'\x2a' # rev4+ , get a word from OTP area GET_SN = b'\x2b' # rev4+ , get a word from SN area GET_CHIP = b'\x2c' # rev5+ , get chip version + SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay REBOOT = b'\x30' INFO_BL_REV = b'\x01' # bootloader protocol revision @@ -405,6 +406,12 @@ class uploader(object): raise RuntimeError("Program CRC failed") self.__drawProgressBar(label, 100, 100) + def __set_boot_delay(self, boot_delay): + self.__send(uploader.SET_BOOT_DELAY + + struct.pack("b", boot_delay) + + uploader.EOC) + self.__getSync() + # get basic data about the board def identify(self): # make sure we are in sync before starting @@ -472,6 +479,9 @@ class uploader(object): else: self.__verify_v3("Verify ", fw) + if args.boot_delay is not None: + self.__set_boot_delay(args.boot_delay) + print("\nRebooting.\n") self.__reboot() self.port.close() @@ -501,6 +511,7 @@ parser = argparse.ArgumentParser(description="Firmware uploader for the PX autop parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached") parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.") parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading') +parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") args = parser.parse_args() diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script index bec896d1c..b04ad89a6 100644 --- a/nuttx-configs/px4fmu-v2/scripts/ld.script +++ b/nuttx-configs/px4fmu-v2/scripts/ld.script @@ -66,12 +66,20 @@ EXTERN(_vectors) /* force the vectors to be included in the output */ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). */ EXTERN(abort) +EXTERN(_bootdelay_signature) SECTIONS { .text : { _stext = ABSOLUTE(.); *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; *(.text .text.*) *(.fixup) *(.gnu.warning) |