diff options
Diffstat (limited to 'Tools')
| -rwxr-xr-x | Tools/px_uploader.py | 24 |
1 files changed, 23 insertions, 1 deletions
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index c2ba6d034..cab3c2fd0 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -165,6 +165,12 @@ class uploader(object): PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4 READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64 + + NSH_INIT = bytearray(b'\x0d\x0d\x0d') + NSH_REBOOT_BL = b"reboot -b\n" + NSH_REBOOT = b"reboot\n" + MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0') + MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac') def __init__(self, portname, baudrate): # open the port, keep the default timeout short so we can poll quickly @@ -362,6 +368,18 @@ class uploader(object): print("done, rebooting.") self.__reboot() self.port.close() + + def send_reboot(self): + # try reboot via NSH first + self.__send(uploader.NSH_INIT) + self.__send(uploader.NSH_REBOOT_BL) + self.__send(uploader.NSH_INIT) + self.__send(uploader.NSH_REBOOT) + # then try MAVLINK command + self.__send(uploader.MAVLINK_REBOOT_ID1) + self.__send(uploader.MAVLINK_REBOOT_ID0) + + # Detect python version if sys.version_info[0] < 3: @@ -414,7 +432,11 @@ while True: print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) except: - # most probably a timeout talking to the port, no bootloader + # most probably a timeout talking to the port, no bootloader, try to reboot the board + print("attempting reboot on %s..." % port) + up.send_reboot() + # wait for the reboot, without we might run into Serial I/O Error 5 + time.sleep(1.5) continue try: |