diff options
author | px4dev <px4@purgatory.org> | 2013-07-13 20:13:53 -0700 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2013-07-13 20:13:53 -0700 |
commit | e67f6a51a320a9b8bf0a27c4ffb55a9485805680 (patch) | |
tree | e98c4b24f1acb6d3084ab2699c51044cec0b40fd /src/drivers/px4io/px4io_uploader.cpp | |
parent | c459901f263b19d13466c47fcb8e2dce828ab59c (diff) | |
download | px4-firmware-e67f6a51a320a9b8bf0a27c4ffb55a9485805680.tar.gz px4-firmware-e67f6a51a320a9b8bf0a27c4ffb55a9485805680.tar.bz2 px4-firmware-e67f6a51a320a9b8bf0a27c4ffb55a9485805680.zip |
Make px4io driver filenames less ambiguous.
Diffstat (limited to 'src/drivers/px4io/px4io_uploader.cpp')
-rw-r--r-- | src/drivers/px4io/px4io_uploader.cpp | 606 |
1 files changed, 606 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp new file mode 100644 index 000000000..ec22a5e17 --- /dev/null +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -0,0 +1,606 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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. + * + ****************************************************************************/ + +/** + * @file uploader.cpp + * Firmware uploader for PX4IO + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <assert.h> +#include <errno.h> +#include <string.h> +#include <stdio.h> +#include <stdarg.h> +#include <unistd.h> +#include <fcntl.h> +#include <poll.h> +#include <termios.h> +#include <sys/stat.h> + +#include <crc32.h> + +#include "uploader.h" + +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +#include <drivers/boards/px4fmuv2/px4fmu_internal.h> +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 +#include <drivers/boards/px4fmu/px4fmu_internal.h> +#endif + +// define for comms logging +//#define UDEBUG + +PX4IO_Uploader::PX4IO_Uploader() : + _io_fd(-1), + _fw_fd(-1) +{ +} + +PX4IO_Uploader::~PX4IO_Uploader() +{ +} + +int +PX4IO_Uploader::upload(const char *filenames[]) +{ + int ret; + const char *filename = NULL; + size_t fw_size; + +#ifndef PX4IO_SERIAL_DEVICE +#error Must define PX4IO_SERIAL_DEVICE in board configuration to support firmware upload +#endif + + _io_fd = open(PX4IO_SERIAL_DEVICE, O_RDWR); + + if (_io_fd < 0) { + log("could not open interface"); + return -errno; + } + + /* adjust line speed to match bootloader */ + struct termios t; + tcgetattr(_io_fd, &t); + cfsetspeed(&t, 115200); + tcsetattr(_io_fd, TCSANOW, &t); + + /* look for the bootloader */ + ret = sync(); + + if (ret != OK) { + /* this is immediately fatal */ + log("bootloader not responding"); + close(_io_fd); + _io_fd = -1; + return -EIO; + } + + for (unsigned i = 0; filenames[i] != nullptr; i++) { + _fw_fd = open(filenames[i], O_RDONLY); + + if (_fw_fd < 0) { + log("failed to open %s", filenames[i]); + continue; + } + + log("using firmware from %s", filenames[i]); + filename = filenames[i]; + break; + } + + if (filename == NULL) { + log("no firmware found"); + close(_io_fd); + _io_fd = -1; + return -ENOENT; + } + + struct stat st; + if (stat(filename, &st) != 0) { + log("Failed to stat %s - %d\n", filename, (int)errno); + close(_io_fd); + _io_fd = -1; + return -errno; + } + fw_size = st.st_size; + + if (_fw_fd == -1) { + close(_io_fd); + _io_fd = -1; + return -ENOENT; + } + + /* do the usual program thing - allow for failure */ + for (unsigned retries = 0; retries < 1; retries++) { + if (retries > 0) { + log("retrying update..."); + ret = sync(); + + if (ret != OK) { + /* this is immediately fatal */ + log("bootloader not responding"); + close(_io_fd); + _io_fd = -1; + return -EIO; + } + } + + ret = get_info(INFO_BL_REV, bl_rev); + + if (ret == OK) { + if (bl_rev <= BL_REV) { + log("found bootloader revision: %d", bl_rev); + } else { + log("found unsupported bootloader revision %d, exiting", bl_rev); + close(_io_fd); + _io_fd = -1; + return OK; + } + } + + ret = erase(); + + if (ret != OK) { + log("erase failed"); + continue; + } + + ret = program(fw_size); + + if (ret != OK) { + log("program failed"); + continue; + } + + if (bl_rev <= 2) + ret = verify_rev2(fw_size); + else if(bl_rev == 3) { + ret = verify_rev3(fw_size); + } + + if (ret != OK) { + log("verify failed"); + continue; + } + + ret = reboot(); + + if (ret != OK) { + log("reboot failed"); + return ret; + } + + log("update complete"); + + ret = OK; + break; + } + + close(_fw_fd); + close(_io_fd); + _io_fd = -1; + return ret; +} + +int +PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) +{ + struct pollfd fds[1]; + + fds[0].fd = _io_fd; + fds[0].events = POLLIN; + + /* wait 100 ms for a character */ + int ret = ::poll(&fds[0], 1, timeout); + + if (ret < 1) { +#ifdef UDEBUG + log("poll timeout %d", ret); +#endif + return -ETIMEDOUT; + } + + read(_io_fd, &c, 1); +#ifdef UDEBUG + log("recv 0x%02x", c); +#endif + return OK; +} + +int +PX4IO_Uploader::recv(uint8_t *p, unsigned count) +{ + while (count--) { + int ret = recv(*p++, 5000); + + if (ret != OK) + return ret; + } + + return OK; +} + +void +PX4IO_Uploader::drain() +{ + uint8_t c; + int ret; + + do { + ret = recv(c, 1000); + +#ifdef UDEBUG + if (ret == OK) { + log("discard 0x%02x", c); + } +#endif + } while (ret == OK); +} + +int +PX4IO_Uploader::send(uint8_t c) +{ +#ifdef UDEBUG + log("send 0x%02x", c); +#endif + if (write(_io_fd, &c, 1) != 1) + return -errno; + + return OK; +} + +int +PX4IO_Uploader::send(uint8_t *p, unsigned count) +{ + while (count--) { + int ret = send(*p++); + + if (ret != OK) + return ret; + } + + return OK; +} + +int +PX4IO_Uploader::get_sync(unsigned timeout) +{ + uint8_t c[2]; + int ret; + + ret = recv(c[0], timeout); + + if (ret != OK) + return ret; + + ret = recv(c[1], timeout); + + if (ret != OK) + return ret; + + if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) { + log("bad sync 0x%02x,0x%02x", c[0], c[1]); + return -EIO; + } + + return OK; +} + +int +PX4IO_Uploader::sync() +{ + drain(); + + /* complete any pending program operation */ + for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++) + send(0); + + send(PROTO_GET_SYNC); + send(PROTO_EOC); + return get_sync(); +} + +int +PX4IO_Uploader::get_info(int param, uint32_t &val) +{ + int ret; + + send(PROTO_GET_DEVICE); + send(param); + send(PROTO_EOC); + + ret = recv((uint8_t *)&val, sizeof(val)); + + if (ret != OK) + return ret; + + return get_sync(); +} + +int +PX4IO_Uploader::erase() +{ + log("erase..."); + send(PROTO_CHIP_ERASE); + send(PROTO_EOC); + return get_sync(10000); /* allow 10s timeout */ +} + + +static int read_with_retry(int fd, void *buf, size_t n) +{ + int ret; + uint8_t retries = 0; + do { + ret = read(fd, buf, n); + } while (ret == -1 && retries++ < 100); + if (retries != 0) { + printf("read of %u bytes needed %u retries\n", + (unsigned)n, + (unsigned)retries); + } + return ret; +} + +int +PX4IO_Uploader::program(size_t fw_size) +{ + uint8_t file_buf[PROG_MULTI_MAX]; + ssize_t count; + int ret; + size_t sent = 0; + + log("programming %u bytes...", (unsigned)fw_size); + + ret = lseek(_fw_fd, 0, SEEK_SET); + + while (sent < fw_size) { + /* get more bytes to program */ + size_t n = fw_size - sent; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)sent, + (int)count, + (int)errno); + } + + if (count == 0) + return OK; + + sent += count; + + if (count < 0) + return -errno; + + ASSERT((count % 4) == 0); + + send(PROTO_PROG_MULTI); + send(count); + send(&file_buf[0], count); + send(PROTO_EOC); + + ret = get_sync(1000); + + if (ret != OK) + return ret; + } + return OK; +} + +int +PX4IO_Uploader::verify_rev2(size_t fw_size) +{ + uint8_t file_buf[4]; + ssize_t count; + int ret; + size_t sent = 0; + + log("verify..."); + lseek(_fw_fd, 0, SEEK_SET); + + send(PROTO_CHIP_VERIFY); + send(PROTO_EOC); + ret = get_sync(); + + if (ret != OK) + return ret; + + while (sent < fw_size) { + /* get more bytes to verify */ + size_t n = fw_size - sent; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)sent, + (int)count, + (int)errno); + } + + if (count == 0) + break; + + sent += count; + + if (count < 0) + return -errno; + + ASSERT((count % 4) == 0); + + send(PROTO_READ_MULTI); + send(count); + send(PROTO_EOC); + + for (ssize_t i = 0; i < count; i++) { + uint8_t c; + + ret = recv(c, 5000); + + if (ret != OK) { + log("%d: got %d waiting for bytes", sent + i, ret); + return ret; + } + + if (c != file_buf[i]) { + log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]); + return -EINVAL; + } + } + + ret = get_sync(); + + if (ret != OK) { + log("timeout waiting for post-verify sync"); + return ret; + } + } + + return OK; +} + +int +PX4IO_Uploader::verify_rev3(size_t fw_size_local) +{ + int ret; + uint8_t file_buf[4]; + ssize_t count; + uint32_t sum = 0; + uint32_t bytes_read = 0; + uint32_t crc = 0; + uint32_t fw_size_remote; + uint8_t fill_blank = 0xff; + + log("verify..."); + lseek(_fw_fd, 0, SEEK_SET); + + ret = get_info(INFO_FLASH_SIZE, fw_size_remote); + send(PROTO_EOC); + + if (ret != OK) { + log("could not read firmware size"); + return ret; + } + + /* read through the firmware file again and calculate the checksum*/ + while (bytes_read < fw_size_local) { + size_t n = fw_size_local - bytes_read; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)bytes_read, + (int)count, + (int)errno); + } + + /* set the rest to ff */ + if (count == 0) { + break; + } + /* stop if the file cannot be read */ + if (count < 0) + return -errno; + + /* calculate crc32 sum */ + sum = crc32part((uint8_t *)&file_buf, sizeof(file_buf), sum); + + bytes_read += count; + } + + /* fill the rest with 0xff */ + while (bytes_read < fw_size_remote) { + sum = crc32part(&fill_blank, sizeof(fill_blank), sum); + bytes_read += sizeof(fill_blank); + } + + /* request CRC from IO */ + send(PROTO_GET_CRC); + send(PROTO_EOC); + + ret = recv((uint8_t*)(&crc), sizeof(crc)); + + if (ret != OK) { + log("did not receive CRC checksum"); + return ret; + } + + /* compare the CRC sum from the IO with the one calculated */ + if (sum != crc) { + log("CRC wrong: received: %d, expected: %d", crc, sum); + return -EINVAL; + } + + return OK; +} + +int +PX4IO_Uploader::reboot() +{ + send(PROTO_REBOOT); + send(PROTO_EOC); + + return OK; +} + +void +PX4IO_Uploader::log(const char *fmt, ...) +{ + va_list ap; + + printf("[PX4IO] "); + va_start(ap, fmt); + vprintf(fmt, ap); + va_end(ap); + printf("\n"); + fflush(stdout); +} |