Uploader tool: Add option to set different baudrates for bootloader and flight stack

By default the baudrate in flight stack (Mavlink or NSH) 57600 and the default
baudrate of bootloader is 115200. So we may need to set different
baudrates.

Tools/px_uploader.py

@@ -184,11 +184,13 @@ class uploader(object):
         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):
+        def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
                 # open the port, keep the default timeout short so we can poll quickly
-                self.port = serial.Serial(portname, baudrate, timeout=0.5)
+                self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5)
                 self.otp = b''
                 self.sn = b''
+                self.baudrate_bootloader = baudrate_bootloader;
+                self.baudrate_flightstack = baudrate_flightstack;
 
         def close(self):
                 if self.port is not None:
@@ -512,6 +514,8 @@ class uploader(object):
         def send_reboot(self):
                 try:
                     # try MAVLINK command first
+                    self.port.flush()
+                    self.port.baudrate = self.baudrate_flightstack
                     self.__send(uploader.MAVLINK_REBOOT_ID1)
                     self.__send(uploader.MAVLINK_REBOOT_ID0)
                     # then try reboot via NSH
@@ -519,7 +523,11 @@ class uploader(object):
                     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:
+                    self.port.flush()
+                    self.port.baudrate = self.baudrate_bootloader
                     return
 
 
@@ -532,7 +540,8 @@ else:
 # Parse commandline arguments
 parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
 parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
-parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.")
+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-flightstack', action="store", type=int, default=57600, help="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")
@@ -573,15 +582,15 @@ try:
                             if "linux" in _platform:
                             # Linux, don't open Mac OS and Win ports
                                     if not "COM" in port and not "tty.usb" in port:
-                                            up = uploader(port, args.baud)
+                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
                             elif "darwin" in _platform:
                                     # OS X, don't open Windows and Linux ports
                                     if not "COM" in port and not "ACM" in port:
-                                            up = uploader(port, args.baud)
+                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
                             elif "win" in _platform:
                                     # Windows, don't open POSIX ports
                                     if not "/" in port:
-                                            up = uploader(port, args.baud)
+                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
                     except Exception:
                             # open failed, rate-limit our attempts
                             time.sleep(0.05)