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Add PX4IOv2 support to the uploader.

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This commit is contained in:
px4dev
2013-07-04 12:50:59 -07:00
parent f2079ae7ff
commit 2e001aad04
3 changed files with 37 additions and 4 deletions
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src/drivers/boards/px4fmu/px4fmu_internal.h
+3
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@@ -58,6 +58,9 @@ __BEGIN_DECLS
****************************************************************************************************/ ****************************************************************************************************/
/* Configuration ************************************************************************************/ /* Configuration ************************************************************************************/
/* PX4IO connection configuration */
#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
//#ifdef CONFIG_STM32_SPI2 //#ifdef CONFIG_STM32_SPI2
//# error "SPI2 is not supported on this board" //# error "SPI2 is not supported on this board"
//#endif //#endif
src/drivers/boards/px4fmuv2/px4fmu_internal.h
+1
View File
@@ -59,6 +59,7 @@ __BEGIN_DECLS
/* Configuration ************************************************************************************/ /* Configuration ************************************************************************************/
/* PX4IO connection configuration */ /* PX4IO connection configuration */
#define PX4IO_SERIAL_DEVICE "/dev/ttyS5"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX #define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX #define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */ #define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
src/drivers/px4io/uploader.cpp
+33 -4
View File
@@ -49,10 +49,21 @@
#include <unistd.h> #include <unistd.h>
#include <fcntl.h> #include <fcntl.h>
#include <poll.h> #include <poll.h>
#include <termios.h>
#include <sys/stat.h> #include <sys/stat.h>
#include "uploader.h" #include "uploader.h"
#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
#include <drivers/boards/px4fmuv2/px4fmu_internal.h>
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU
#include <drivers/boards/px4fmu/px4fmu_internal.h>
#endif
// define for comms logging
//#define UDEBUG
static const uint32_t crctab[] = static const uint32_t crctab[] =
{ {
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
@@ -114,13 +125,23 @@ PX4IO_Uploader::upload(const char *filenames[])
const char *filename = NULL; const char *filename = NULL;
size_t fw_size; size_t fw_size;
_io_fd = open("/dev/ttyS2", O_RDWR); #ifndef PX4IO_SERIAL_DEVICE
#error Must define PX4IO_SERIAL_DEVICE in board configuration to support firmware upload
#endif
_io_fd = open(PX4IO_SERIAL_DEVICE, O_RDWR);
if (_io_fd < 0) { if (_io_fd < 0) {
log("could not open interface"); log("could not open interface");
return -errno; return -errno;
} }
/* adjust line speed to match bootloader */
struct termios t;
tcgetattr(_io_fd, &t);
cfsetspeed(&t, 115200);
tcsetattr(_io_fd, TCSANOW, &t);
/* look for the bootloader */ /* look for the bootloader */
ret = sync(); ret = sync();
@@ -251,12 +272,16 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
int ret = ::poll(&fds[0], 1, timeout); int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) { if (ret < 1) {
#ifdef UDEBUG
log("poll timeout %d", ret); log("poll timeout %d", ret);
#endif
return -ETIMEDOUT; return -ETIMEDOUT;
} }
read(_io_fd, &c, 1); read(_io_fd, &c, 1);
//log("recv 0x%02x", c); #ifdef UDEBUG
log("recv 0x%02x", c);
#endif
return OK; return OK;
} }
@@ -282,16 +307,20 @@ PX4IO_Uploader::drain()
do { do {
ret = recv(c, 1000); ret = recv(c, 1000);
#ifdef UDEBUG
if (ret == OK) { if (ret == OK) {
//log("discard 0x%02x", c); log("discard 0x%02x", c);
} }
#endif
} while (ret == OK); } while (ret == OK);
} }
int int
PX4IO_Uploader::send(uint8_t c) PX4IO_Uploader::send(uint8_t c)
{ {
//log("send 0x%02x", c); #ifdef UDEBUG
log("send 0x%02x", c);
#endif
if (write(_io_fd, &c, 1) != 1) if (write(_io_fd, &c, 1) != 1)
return -errno; return -errno;