Merge remote-tracking branch 'upstream/master' into new_state_machine

Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c

1 files changed, 619 insertions, 0 deletions

diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
new file mode 100644
index 000000000..15524c3ae
--- /dev/null
+++ b/src/drivers/px4io/uploader.cpp
@@ -0,0 +1,619 @@
+/****************************************************************************
+ *
+ *   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 <sys/stat.h>
+
+#include "uploader.h"
+
+static const uint32_t crctab[] =
+{
+	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+};
+
+static uint32_t
+crc32(const uint8_t *src, unsigned len, unsigned state)
+{
+	for (unsigned i = 0; i < len; i++)
+		state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
+	return state;
+}
+
+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;
+
+	_io_fd = open("/dev/ttyS2", O_RDWR);
+
+	if (_io_fd < 0) {
+		log("could not open interface");
+		return -errno;
+	}
+
+	/* 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) {
+		log("poll timeout %d", ret);
+		return -ETIMEDOUT;
+	}
+
+	read(_io_fd, &c, 1);
+	//log("recv 0x%02x", c);
+	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);
+
+		if (ret == OK) {
+			//log("discard 0x%02x", c);
+		}
+	} while (ret == OK);
+}
+
+int
+PX4IO_Uploader::send(uint8_t c)
+{
+	//log("send 0x%02x", c);
+	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 = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum);
+
+		bytes_read += count;
+	}
+
+	/* fill the rest with 0xff */
+	while (bytes_read < fw_size_remote) {
+		sum = crc32(&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);
+}