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Diffstat (limited to 'apps/drivers/px4io/uploader.cpp')
-rw-r--r--apps/drivers/px4io/uploader.cpp603
1 files changed, 0 insertions, 603 deletions
diff --git a/apps/drivers/px4io/uploader.cpp b/apps/drivers/px4io/uploader.cpp
deleted file mode 100644
index abf59216a..000000000
--- a/apps/drivers/px4io/uploader.cpp
+++ /dev/null
@@ -1,603 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2012 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 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");
- 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");
- return -ENOENT;
- }
-
- struct stat st;
- if (stat(filename, &st) != 0) {
- log("Failed to stat %s - %d\n", filename, (int)errno);
- return -errno;
- }
- fw_size = st.st_size;
-
- if (_fw_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");
- 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);
- 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);
- 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);
-}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-08 03:38:17 +0000