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waf: added ChibiOS support

mission-4.1.18
bugobliterator 7 years ago committed by Andrew Tridgell
parent
9869b98da3
commit
925e3a2dcb
4 changed files with 1145 additions and 1 deletions
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  1. 137
      Tools/ardupilotwaf/boards.py
  2. 162
      Tools/ardupilotwaf/chibios.py
  3. 123
      Tools/ardupilotwaf/px_mkfw.py
  4. 724
      Tools/ardupilotwaf/px_uploader.py

137
Tools/ardupilotwaf/boards.py
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@ -8,6 +8,7 @@ import waflib
from waflib.Configure import conf from waflib.Configure import conf
_board_classes = {} _board_classes = {}
_board = None
class BoardMeta(type): class BoardMeta(type):
def __init__(cls, name, bases, dct): def __init__(cls, name, bases, dct):
@ -191,13 +192,17 @@ class Board:
def build(self, bld): def build(self, bld):
bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True)) bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True))
import time
ltime = time.localtime()
bld.ap_version_append_int('BUILD_DATE_YEAR', ltime.tm_year)
bld.ap_version_append_int('BUILD_DATE_MONTH', ltime.tm_mon)
bld.ap_version_append_int('BUILD_DATE_DAY', ltime.tm_mday)
Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__)) Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
def get_boards_names(): def get_boards_names():
return sorted(list(_board_classes.keys())) return sorted(list(_board_classes.keys()))
_board = None
@conf @conf
def get_board(ctx): def get_board(ctx):
global _board global _board
@ -242,6 +247,136 @@ class sitl(Board):
'winmm', 'winmm',
] ]
class chibios(Board):
toolchain = 'arm-none-eabi'
def configure_env(self, cfg, env):
super(chibios, self).configure_env(cfg, env)
env.DEFINES.update(
CONFIG_HAL_BOARD = 'HAL_BOARD_CHIBIOS',
HAVE_OCLOEXEC = 0,
HAVE_STD_NULLPTR_T = 0,
)
env.AP_LIBRARIES += [
'AP_HAL_ChibiOS',
]
env.CXXFLAGS += [
'-Wlogical-op',
'-Wframe-larger-than=1300',
'-fsingle-precision-constant',
'-Wno-attributes',
'-Wno-error=double-promotion',
'-Wno-error=missing-declarations',
'-Wno-error=float-equal',
'-Wno-error=undef',
'-Wno-error=cpp',
'-Wno-cast-align',
'-fno-exceptions',
'-fno-rtti',
'-fno-threadsafe-statics',
'-Wall',
'-Wextra',
'-Wno-sign-compare',
'-Wfloat-equal',
'-Wpointer-arith',
'-Wmissing-declarations',
'-Wno-unused-parameter',
'-Werror=array-bounds',
'-Wfatal-errors',
'-Werror=unused-variable',
'-Werror=uninitialized',
'-Werror=init-self',
'-Wframe-larger-than=1024',
'-Werror=unused-but-set-variable',
'-Wdouble-promotion',
'-Wno-missing-field-initializers',
'-Os',
'-g',
'-fno-strict-aliasing',
'-fomit-frame-pointer',
'-falign-functions=16',
'-ffunction-sections',
'-fdata-sections',
'-fno-strength-reduce',
'-fno-builtin-printf',
'-fno-builtin-fprintf',
'-fno-builtin-vprintf',
'-fno-builtin-vfprintf',
'-fno-builtin-puts',
'-mcpu=cortex-m4',
'-mno-thumb-interwork',
'-mthumb',
'-mfpu=fpv4-sp-d16',
'-mfloat-abi=hard'
]
env.LINKFLAGS = [
'-mcpu=cortex-m4',
'-Os',
'-g',
'-fomit-frame-pointer',
'-falign-functions=16',
'-ffunction-sections',
'-fdata-sections',
'-u_port_lock',
'-u_port_unlock',
'-u_exit',
'-u_kill',
'-u_getpid',
'-u_errno',
'-uchThdExit',
'-u_printf_float',
'-fno-common',
'-nostartfiles',
'-mfloat-abi=hard',
'-mfpu=fpv4-sp-d16',
'-mno-thumb-interwork',
'-mthumb',
]
env.LIB += ['gcc', 'm']
env.GIT_SUBMODULES += [
'ChibiOS',
]
cfg.load('chibios')
def build(self, bld):
super(chibios, self).build(bld)
bld.load('chibios')
class skyviper_f412(chibios):
name = 'skyviper-f412'
def configure_env(self, cfg, env):
super(skyviper_f412, self).configure_env(cfg, env)
env.DEFINES.update(
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412',
)
env.BOARD = 'skyviper-f412'
env.LINKFLAGS += [
'-L%s'\
% cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\
% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(),
]
class fmuv3(chibios):
name = 'fmuv3'
def configure_env(self, cfg, env):
super(fmuv3, self).configure_env(cfg, env)
env.DEFINES.update(
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3',
)
env.BOARD = 'fmuv3'
env.LINKFLAGS += [
'-L%s'\
% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/').abspath(),
'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\
% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(),
]
class linux(Board): class linux(Board):
def configure_env(self, cfg, env): def configure_env(self, cfg, env):
super(linux, self).configure_env(cfg, env) super(linux, self).configure_env(cfg, env)

162
Tools/ardupilotwaf/chibios.py
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@ -0,0 +1,162 @@
#!/usr/bin/env python
# encoding: utf-8
"""
Waf tool for PX4 build
"""
from waflib import Errors, Logs, Task, Utils
from waflib.TaskGen import after_method, before_method, feature
import os
import shutil
import sys
import re
_dynamic_env_data = {}
def _load_dynamic_env_data(bld):
bldnode = bld.bldnode.make_node('modules/ChibiOS')
tmp_str = bldnode.find_node('include_dirs').read()
tmp_str = tmp_str.replace(';\n','')
if 'include_dirs' == 'include_dirs':
tmp_str = tmp_str.replace('-I','') #remove existing -I flags
_dynamic_env_data['include_dirs'] = re.split('; ', tmp_str)
print _dynamic_env_data['include_dirs']
@feature('ch_ap_library', 'ch_ap_program')
@before_method('process_source')
def ch_dynamic_env(self):
# The generated files from configuration possibly don't exist if it's just
# a list command (TODO: figure out a better way to address that).
if self.bld.cmd == 'list':
return
if not _dynamic_env_data:
_load_dynamic_env_data(self.bld)
self.use += ' ch'
self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs'])
class upload_fw(Task.Task):
color='BLUE'
always_run = True
def run(self):
upload_tools = self.env.get_flat('UPLOAD_TOOLS')
src = self.inputs[0]
return self.exec_command("python {}/px_uploader.py --port /dev/serial/by-id/usb-3D*,/dev/serial/by-id/usb-Ardu* \
--baud-bootloader 115200 {}".format(
upload_tools, src))
def exec_command(self, cmd, **kw):
kw['stdout'] = sys.stdout
return super(upload_fw, self).exec_command(cmd, **kw)
def keyword(self):
return "Uploading"
class generate_fw(Task.Task):
color='CYAN'
run_str='${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \
python ${UPLOAD_TOOLS}/px_mkfw.py --image ${SRC}.bin \
--prototype ${BUILDROOT}/apj.prototype > ${TGT}'
always_run = True
def keyword(self):
return "Generating"
def __str__(self):
return self.outputs[0].path_from(self.generator.bld.bldnode)
class make_chibios_task(Task.Task):
color = 'CYAN'
always_run = True
def run(self):
build_dir = self.env.get_flat('BUILDDIR')
ch_root = self.env.get_flat('CHIBIOS')
make = self.env.get_flat('MAKE')
ap_hal = self.env.get_flat('AP_HAL')
brd_type = self.env.get_flat('BOARD')
return self.exec_command("BUILDDIR='{}' CHIBIOS='{}' AP_HAL={}\
'{}' lib -f {}/hwdef/{}/chibios_board.mk".format(
build_dir, ch_root, ap_hal, make, ap_hal, brd_type
))
def exec_command(self, cmd, **kw):
kw['stdout'] = sys.stdout
return super(make_chibios_task, self).exec_command(cmd, **kw)
def keyword(self):
return "Generating"
def __str__(self):
return self.outputs[0].path_from(self.generator.bld.bldnode)
@feature('ch_ap_program')
@after_method('process_source')
def chibios_firmware(self):
self.link_task.always_run = True
make_tsk = self.create_task('make_chibios_task',
group='dynamic_sources',
tgt=self.bld.bldnode.find_or_declare('modules/ChibiOS/libch.a'))
make_tsk.env.BUILDDIR = self.bld.env.BUILDDIR
make_tsk.env.CHIBIOS = self.bld.env.CH_ROOT
make_tsk.env.AP_HAL = self.bld.env.AP_HAL_ROOT
link_output = self.link_task.outputs[0]
self.objcopy_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
generate_fw_task = self.create_task('generate_fw',
src=link_output,
tgt=self.objcopy_target)
generate_fw_task.set_run_after(self.link_task)
if self.bld.options.upload:
_upload_task = self.create_task('upload_fw',
src=self.objcopy_target)
_upload_task.set_run_after(generate_fw_task)
def configure(cfg):
cfg.find_program('make', var='MAKE')
#cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True)
cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY')
env = cfg.env
bldnode = cfg.bldnode.make_node(cfg.variant)
def srcpath(path):
return cfg.srcnode.make_node(path).abspath()
def bldpath(path):
return bldnode.make_node(path).abspath()
env.AP_PROGRAM_FEATURES += ['ch_ap_program']
kw = env.AP_LIBRARIES_OBJECTS_KW
kw['features'] = Utils.to_list(kw.get('features', [])) + ['ch_ap_library']
env.CH_ROOT = srcpath('modules/ChibiOS')
env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS')
env.BUILDDIR = bldpath('modules/ChibiOS')
env.BUILDROOT = bldpath('')
env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf')
env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
def build(bld):
bld(
source='libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % bld.env.get_flat('BOARD'),
rule='python ${AP_HAL_ROOT}/hwdef/scripts/chibios_hwdef.py -D ${BUILDROOT} ${AP_HAL_ROOT}/hwdef/${BOARD}/hwdef.dat',
group='dynamic_sources',
target=['hwdef.h', 'apj.prototype']
)
bld(
rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${MAKE} pass -f ${AP_HAL_ROOT}/hwdef/${BOARD}/chibios_board.mk',
group='dynamic_sources',
target='modules/ChibiOS/include_dirs'
)
bld.env.LIB += ['ch']
bld.env.LIBPATH += ['modules/ChibiOS/']
wraplist = ['strerror_r']
for w in wraplist:
bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]
# @feature('ch_ap_program')
# @after_method('process_source')
# def chibios_firmware(self):
# fw_task = self.create_task('make_chibios', self.bld.bldnode.make_node(self.program_dir), self.bld.bldnode.make_node(self.program_name))
# fw_task.set_run_after(self.link_task)
# fw_task.env.env = dict(os.environ)
# fw_task.env.env['BUILDDIR'] = self.bld.bldnode.find_or_declare('modules/ChibiOS').abspath()
# fw_task.env.env['CH_ROOT'] = self.bld.srcnode.make_node('modules/ChibiOS').abspath()
# fw_task.env['AP_HAL'] = self.bld.srcnode.make_node('libraries/AP_HAL_ChibiOS').abspath()

123
Tools/ardupilotwaf/px_mkfw.py
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@ -0,0 +1,123 @@
#!/usr/bin/env python
############################################################################
#
# 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.
#
############################################################################
#
# PX4 firmware image generator
#
# The PX4 firmware file is a JSON-encoded Python object, containing
# metadata fields and a zlib-compressed base64-encoded firmware image.
#
import sys
import argparse
import json
import base64
import zlib
import time
import subprocess
#
# Construct a basic firmware description
#
def mkdesc():
proto = {}
proto['magic'] = "PX4FWv1"
proto['board_id'] = 0
proto['board_revision'] = 0
proto['version'] = ""
proto['summary'] = ""
proto['description'] = ""
proto['git_identity'] = ""
proto['build_time'] = 0
proto['image'] = bytes()
proto['image_size'] = 0
return proto
# Parse commandline
parser = argparse.ArgumentParser(description="Firmware generator for the PX autopilot system.")
parser.add_argument("--prototype", action="store", help="read a prototype description from a file")
parser.add_argument("--board_id", action="store", help="set the board ID required")
parser.add_argument("--board_revision", action="store", help="set the board revision required")
parser.add_argument("--version", action="store", help="set a version string")
parser.add_argument("--summary", action="store", help="set a brief description")
parser.add_argument("--description", action="store", help="set a longer description")
parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity")
parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file")
parser.add_argument("--airframe_xml", action="store", help="the airframes.xml file")
parser.add_argument("--image", action="store", help="the firmware image")
args = parser.parse_args()
# Fetch the firmware descriptor prototype if specified
if args.prototype != None:
f = open(args.prototype,"r")
desc = json.load(f)
f.close()
else:
desc = mkdesc()
desc['build_time'] = int(time.time())
if args.board_id != None:
desc['board_id'] = int(args.board_id)
if args.board_revision != None:
desc['board_revision'] = int(args.board_revision)
if args.version != None:
desc['version'] = str(args.version)
if args.summary != None:
desc['summary'] = str(args.summary)
if args.description != None:
desc['description'] = str(args.description)
if args.git_identity != None:
cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"])
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
desc['git_identity'] = str(p.read().strip())
p.close()
if args.parameter_xml != None:
f = open(args.parameter_xml, "rb")
bytes = f.read()
desc['parameter_xml_size'] = len(bytes)
desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4
if args.airframe_xml != None:
f = open(args.airframe_xml, "rb")
bytes = f.read()
desc['airframe_xml_size'] = len(bytes)
desc['airframe_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
if args.image != None:
f = open(args.image, "rb")
bytes = f.read()
desc['image_size'] = len(bytes)
desc['image'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
print(json.dumps(desc, indent=4))

724
Tools/ardupilotwaf/px_uploader.py
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@ -0,0 +1,724 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (c) 2012-2017 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.
#
############################################################################
#
# Serial firmware uploader for the PX4FMU bootloader
#
# The PX4 firmware file is a JSON-encoded Python object, containing
# metadata fields and a zlib-compressed base64-encoded firmware image.
#
# The uploader uses the following fields from the firmware file:
#
# image
# The firmware that will be uploaded.
# image_size
# The size of the firmware in bytes.
# board_id
# The board for which the firmware is intended.
# board_revision
# Currently only used for informational purposes.
#
# for python2.7 compatibility
from __future__ import print_function
import sys
import argparse
import binascii
import serial
import struct
import json
import zlib
import base64
import time
import array
import os
from sys import platform as _platform
# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True
class firmware(object):
'''Loads a firmware file'''
desc = {}
image = bytes()
crctab = array.array('I', [
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])
crcpad = bytearray(b'\xff\xff\xff\xff')
def __init__(self, path):
# read the file
f = open(path, "r")
self.desc = json.load(f)
f.close()
self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
# pad image to 4-byte length
while ((len(self.image) % 4) != 0):
self.image.append('\xff')
def property(self, propname):
return self.desc[propname]
def __crc32(self, bytes, state):
for byte in bytes:
index = (state ^ byte) & 0xff
state = self.crctab[index] ^ (state >> 8)
return state
def crc(self, padlen):
state = self.__crc32(self.image, int(0))
for i in range(len(self.image), (padlen - 1), 4):
state = self.__crc32(self.crcpad, state)
return state
class uploader(object):
'''Uploads a firmware file to the PX FMU bootloader'''
# protocol bytes
INSYNC = b'\x12'
EOC = b'\x20'
# reply bytes
OK = b'\x10'
FAILED = b'\x11'
INVALID = b'\x13' # rev3+
BAD_SILICON_REV = b'\x14' # rev5+
# command bytes
NOP = b'\x00' # guaranteed to be discarded by the bootloader
GET_SYNC = b'\x21'
GET_DEVICE = b'\x22'
CHIP_ERASE = b'\x23'
CHIP_VERIFY = b'\x24' # rev2 only
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
GET_CHIP = b'\x2c' # rev5+ , get chip version
SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay
GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII
MAX_DES_LENGTH = 20
REBOOT = b'\x30'
SET_BAUD = b'\x33' # set baud
INFO_BL_REV = b'\x01' # bootloader protocol revision
BL_REV_MIN = 2 # minimum supported bootloader protocol
BL_REV_MAX = 5 # maximum supported bootloader protocol
INFO_BOARD_ID = b'\x02' # board type
INFO_BOARD_REV = b'\x03' # board revision
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4
READ_MULTI_MAX = 252 # protocol max is 255
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\x40\x40\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\x53\x6b')
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\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\xcc\x37')
def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None):
# open the port, keep the default timeout short so we can poll quickly
self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0)
self.otp = b''
self.sn = b''
self.baudrate_bootloader = baudrate_bootloader
if baudrate_bootloader_flash is not None:
self.baudrate_bootloader_flash = baudrate_bootloader_flash
else:
self.baudrate_bootloader_flash = self.baudrate_bootloader
self.baudrate_flightstack = baudrate_flightstack
self.baudrate_flightstack_idx = -1
def close(self):
if self.port is not None:
self.port.close()
def open(self):
timeout = time.time() + 0.2
# Attempt to open the port while it exists and until timeout occurs
while self.port is not None:
portopen = True
try:
portopen = self.port.is_open
except AttributeError:
portopen = self.port.isOpen()
if not portopen and time.time() < timeout:
try:
self.port.open()
except OSError:
# wait for the port to be ready
time.sleep(0.04)
except serial.SerialException:
# if open fails, try again later
time.sleep(0.04)
else:
break
def __send(self, c):
# print("send " + binascii.hexlify(c))
self.port.write(c)
def __recv(self, count=1):
c = self.port.read(count)
if len(c) < 1:
raise RuntimeError("timeout waiting for data (%u bytes)" % count)
# print("recv " + binascii.hexlify(c))
return c
def __recv_int(self):
raw = self.__recv(4)
val = struct.unpack("<I", raw)
return val[0]
def __getSync(self):
self.port.flush()
c = bytes(self.__recv())
if c != self.INSYNC:
raise RuntimeError("unexpected %s instead of INSYNC" % c)
c = self.__recv()
if c == self.INVALID:
raise RuntimeError("bootloader reports INVALID OPERATION")
if c == self.FAILED:
raise RuntimeError("bootloader reports OPERATION FAILED")
if c != self.OK:
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
# attempt to get back into sync with the bootloader
def __sync(self):
# send a stream of ignored bytes longer than the longest possible conversation
# that we might still have in progress
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
self.port.flushInput()
self.__send(uploader.GET_SYNC +
uploader.EOC)
self.__getSync()
def __trySync(self):
try:
self.port.flush()
if (self.__recv() != self.INSYNC):
# print("unexpected 0x%x instead of INSYNC" % ord(c))
return False
c = self.__recv()
if (c == self.BAD_SILICON_REV):
raise NotImplementedError()
if (c != self.OK):
# print("unexpected 0x%x instead of OK" % ord(c))
return False
return True
except NotImplementedError:
raise RuntimeError("Programing not supported for this version of silicon!\n"
"See https://pixhawk.org/help/errata")
except RuntimeError:
# timeout, no response yet
return False
# send the GET_DEVICE command and wait for an info parameter
def __getInfo(self, param):
self.__send(uploader.GET_DEVICE + param + uploader.EOC)
value = self.__recv_int()
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_SN 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 GET_CHIP command
def __getCHIP(self):
self.__send(uploader.GET_CHIP + uploader.EOC)
value = self.__recv_int()
self.__getSync()
return value
# send the GET_CHIP command
def __getCHIPDes(self):
self.__send(uploader.GET_CHIP_DES + uploader.EOC)
length = self.__recv_int()
value = self.__recv(length)
self.__getSync()
peices = value.split(",")
return peices
def __drawProgressBar(self, label, progress, maxVal):
if maxVal < progress:
progress = maxVal
percent = (float(progress) / float(maxVal)) * 100.0
sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
sys.stdout.flush()
# send the CHIP_ERASE command and wait for the bootloader to become ready
def __erase(self, label):
print("\n", end='')
self.__send(uploader.CHIP_ERASE +
uploader.EOC)
# erase is very slow, give it 20s
deadline = time.time() + 20.0
while time.time() < deadline:
# Draw progress bar (erase usually takes about 9 seconds to complete)
estimatedTimeRemaining = deadline-time.time()
if estimatedTimeRemaining >= 9.0:
self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0)
else:
self.__drawProgressBar(label, 10.0, 10.0)
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()))
sys.stdout.flush()
if self.__trySync():
self.__drawProgressBar(label, 10.0, 10.0)
return
raise RuntimeError("timed out waiting for erase")
# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data):
if runningPython3:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.PROG_MULTI)
self.__send(length)
self.__send(data)
self.__send(uploader.EOC)
self.__getSync()
# verify multiple bytes in flash
def __verify_multi(self, data):
if runningPython3:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.READ_MULTI)
self.__send(length)
self.__send(uploader.EOC)
self.port.flush()
programmed = self.__recv(len(data))
if programmed != data:
print("got " + binascii.hexlify(programmed))
print("expect " + binascii.hexlify(data))
return False
self.__getSync()
return True
# send the reboot command
def __reboot(self):
self.__send(uploader.REBOOT +
uploader.EOC)
self.port.flush()
# v3+ can report failure if the first word flash fails
if self.bl_rev >= 3:
self.__getSync()
# split a sequence into a list of size-constrained pieces
def __split_len(self, seq, length):
return [seq[i:i+length] for i in range(0, len(seq), length)]
# upload code
def __program(self, label, fw):
print("\n", end='')
code = fw.image
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
uploadProgress = 0
for bytes in groups:
self.__program_multi(bytes)
# Print upload progress (throttled, so it does not delay upload progress)
uploadProgress += 1
if uploadProgress % 256 == 0:
self.__drawProgressBar(label, uploadProgress, len(groups))
self.__drawProgressBar(label, 100, 100)
# verify code
def __verify_v2(self, label, fw):
print("\n", end='')
self.__send(uploader.CHIP_VERIFY +
uploader.EOC)
self.__getSync()
code = fw.image
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
verifyProgress = 0
for bytes in groups:
verifyProgress += 1
if verifyProgress % 256 == 0:
self.__drawProgressBar(label, verifyProgress, len(groups))
if (not self.__verify_multi(bytes)):
raise RuntimeError("Verification failed")
self.__drawProgressBar(label, 100, 100)
def __verify_v3(self, label, fw):
print("\n", end='')
self.__drawProgressBar(label, 1, 100)
expect_crc = fw.crc(self.fw_maxsize)
self.__send(uploader.GET_CRC +
uploader.EOC)
report_crc = self.__recv_int()
self.__getSync()
if report_crc != expect_crc:
print("Expected 0x%x" % expect_crc)
print("Got 0x%x" % report_crc)
raise RuntimeError("Program CRC failed")
self.__drawProgressBar(label, 100, 100)
def __set_boot_delay(self, boot_delay):
self.__send(uploader.SET_BOOT_DELAY +
struct.pack("b", boot_delay) +
uploader.EOC)
self.__getSync()
def __setbaud(self, baud):
self.__send(uploader.SET_BAUD +
struct.pack("I", baud) +
uploader.EOC)
self.__getSync()
# get basic data about the board
def identify(self):
# make sure we are in sync before starting
self.__sync()
# get the bootloader protocol ID first
self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
raise RuntimeError("Bootloader protocol mismatch")
self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
# upload the firmware
def upload(self, fw, force=False, boot_delay=None):
# Make sure we are doing the right thing
if self.board_type != fw.property('board_id'):
msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
self.board_type, fw.property('board_id'))
print("WARNING: %s" % msg)
if force:
print("FORCED WRITE, FLASHING ANYWAY!")
else:
raise IOError(msg)
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:
try:
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("chip: %08x" % self.__getCHIP())
if (self.bl_rev >= 5):
des = self.__getCHIPDes()
if (len(des) == 2):
print("family: %s" % des[0])
print("revision: %s" % des[1])
print("flash %d" % self.fw_maxsize)
except Exception:
# ignore bad character encodings
pass
if self.baudrate_bootloader_flash != self.baudrate_bootloader:
print("Setting baudrate to %u" % self.baudrate_bootloader_flash)
self.__setbaud(self.baudrate_bootloader_flash)
self.port.baudrate = self.baudrate_bootloader_flash
self.__sync()
self.__erase("Erase ")
self.__program("Program", fw)
if self.bl_rev == 2:
self.__verify_v2("Verify ", fw)
else:
self.__verify_v3("Verify ", fw)
if boot_delay is not None:
self.__set_boot_delay(boot_delay)
print("\nRebooting.\n")
self.__reboot()
self.port.close()
def __next_baud_flightstack(self):
self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
if self.baudrate_flightstack_idx >= len(self.baudrate_flightstack):
return False
self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx]
return True
def send_reboot(self):
if (not self.__next_baud_flightstack()):
return False
print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
try:
# try MAVLINK command first
self.port.flush()
self.__send(uploader.MAVLINK_REBOOT_ID1)
self.__send(uploader.MAVLINK_REBOOT_ID0)
# then try reboot via NSH
self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT_BL)
self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT)
self.port.flush()
self.port.baudrate = self.baudrate_bootloader
except:
try:
self.port.flush()
self.port.baudrate = self.baudrate_bootloader
except Exception:
pass
return True
def main():
# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
parser.add_argument('--baud-bootloader-flash', action="store", type=int, default=None, help="Attempt to negotiate this baudrate with bootloader for flashing.")
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
args = parser.parse_args()
# warn people about ModemManager which interferes badly with Pixhawk
if os.path.exists("/usr/sbin/ModemManager"):
print("==========================================================================================================")
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
print("==========================================================================================================")
# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
# Spin waiting for a device to show up
try:
while True:
portlist = []
patterns = args.port.split(",")
# on unix-like platforms use glob to support wildcard ports. This allows
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
# causing modem hangups etc
if "linux" in _platform or "darwin" in _platform:
import glob
for pattern in patterns:
portlist += glob.glob(pattern)
else:
portlist = patterns
baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
for port in portlist:
# print("Trying %s" % port)
# create an uploader attached to the port
try:
if "linux" in _platform:
# Linux, don't open Mac OS and Win ports
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if "COM" not in port and "ACM" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash)
elif "win" in _platform:
# Windows, don't open POSIX ports
if "/" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash)
except Exception:
# open failed, rate-limit our attempts
time.sleep(0.05)
# and loop to the next port
continue
found_bootloader = False
while (True):
up.open()
# port is open, try talking to it
try:
# identify the bootloader
up.identify()
found_bootloader = True
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
break
except Exception:
if not up.send_reboot():
break
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.25)
# always close the port
up.close()
# wait for the close, without we might run into Serial I/O Error 6
time.sleep(0.3)
if not found_bootloader:
# Go to the next port
continue
try:
# ok, we have a bootloader, try flashing it
up.upload(fw, force=args.force, boot_delay=args.boot_delay)
except RuntimeError as ex:
# print the error
print("\nERROR: %s" % ex.args)
except IOError:
up.close()
continue
finally:
# always close the port
up.close()
# we could loop here if we wanted to wait for more boards...
sys.exit(0)
# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
time.sleep(0.05)
# CTRL+C aborts the upload/spin-lock by interrupt mechanics
except KeyboardInterrupt:
print("\n Upload aborted by user.")
sys.exit(0)
if __name__ == '__main__':
main()
# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
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