Merged master into beta

1 files changed, 48 insertions, 0 deletions

diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index cce5e5e54..e4a8b3c05 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -50,6 +50,9 @@
 #       Currently only used for informational purposes.
 #
 
+# for python2.7 compatibility
+from __future__ import print_function
+
 import sys
 import argparse
 import binascii
@@ -154,6 +157,8 @@ class uploader(object):
         PROG_MULTI      = b'\x27'
         READ_MULTI      = b'\x28'     # rev2 only
         GET_CRC         = b'\x29'     # rev3+
+        GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
+        GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
         REBOOT          = b'\x30'
         
         INFO_BL_REV     = b'\x01'        # bootloader protocol revision
@@ -175,6 +180,8 @@ class uploader(object):
         def __init__(self, portname, baudrate):
                 # open the port, keep the default timeout short so we can poll quickly
                 self.port = serial.Serial(portname, baudrate, timeout=0.5)
+                self.otp = b''
+                self.sn = b''
 
         def close(self):
                 if self.port is not None:
@@ -237,6 +244,22 @@ class uploader(object):
                 self.__getSync()
                 return value
 
+        # send the GET_OTP command and wait for an info parameter
+        def __getOTP(self, param):
+                t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
+                self.__send(uploader.GET_OTP + t + uploader.EOC)
+                value = self.__recv(4)
+                self.__getSync()
+                return value
+
+        # send the GET_OTP command and wait for an info parameter
+        def __getSN(self, param):
+                t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
+                self.__send(uploader.GET_SN + t + uploader.EOC)
+                value = self.__recv(4)
+                self.__getSync()
+                return value
+
         # send the CHIP_ERASE command and wait for the bootloader to become ready
         def __erase(self):
                 self.__send(uploader.CHIP_ERASE
@@ -353,6 +376,31 @@ class uploader(object):
                 if self.fw_maxsize < fw.property('image_size'):
                         raise RuntimeError("Firmware image is too large for this board")
 
+                # OTP added in v4:
+                if self.bl_rev > 3:
+                    for byte in range(0,32*6,4):
+                        x = self.__getOTP(byte)
+                        self.otp  = self.otp + x
+                        print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
+                    # see src/modules/systemlib/otp.h in px4 code:
+                    self.otp_id = self.otp[0:4]
+                    self.otp_idtype = self.otp[4:5]
+                    self.otp_vid = self.otp[8:4:-1]
+                    self.otp_pid = self.otp[12:8:-1]
+                    self.otp_coa = self.otp[32:160]
+                    # show user:
+                    print("type: " + self.otp_id.decode('Latin-1'))
+                    print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                    print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                    print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                    print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+                    print("sn: ", end='')
+                    for byte in range(0,12,4):
+                        x = self.__getSN(byte)
+                        x = x[::-1]  # reverse the bytes
+                        self.sn  = self.sn + x
+                        print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
+                    print('')
                 print("erase...")
                 self.__erase()