Merge pull request #143 from julianoes/feature_io_bl_rev3

Added support for IO bootloader revision 3 on FMU
2026-05-25 00:31:36 +08:00 · 2013-01-10 22:31:59 -08:00
parent 6de688676d b5eccef69e
commit b5bdb48843
3 changed files with 166 additions and 5 deletions
@@ -825,9 +825,38 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}

+	if (!strcmp(argv[1], "stop")) {
+
+			if (g_dev != nullptr) {
+				/* stop the driver */
+				delete g_dev;
+			} else {
+				errx(1, "not loaded");
+			}
+			exit(0);
+		}
+
+
+	if (!strcmp(argv[1], "status")) {
+
+			if (g_dev != nullptr)
+				printf("[px4io] loaded\n");
+			else
+				printf("[px4io] not loaded\n");
+
+			exit(0);
+		}
+
 	/* note, stop not currently implemented */

 	if (!strcmp(argv[1], "update")) {
+
+		if (g_dev != nullptr) {
+			printf("[px4io] loaded, detaching first\n");
+			/* stop the driver */
+			delete g_dev;
+		}
+
 		PX4IO_Uploader *up;
 		const char *fn[3];

@@ -883,5 +912,5 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "monitor"))
 		monitor();

-	errx(1, "need a command, try 'start', 'test', 'monitor' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor' or 'update'");
 }
@@ -51,6 +51,50 @@

 #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)
@@ -110,6 +154,17 @@ PX4IO_Uploader::upload(const char *filenames[])
 			}
 		}

+		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) {
@@ -124,7 +179,11 @@ PX4IO_Uploader::upload(const char *filenames[])
 			continue;
 		}

-		ret = verify();
+		if (bl_rev <= 2)
+			ret = verify_rev2();
+		else if(bl_rev == 3) {
+			ret = verify_rev3();
+		}

 		if (ret != OK) {
 			log("verify failed");
@@ -320,7 +379,7 @@ PX4IO_Uploader::program()
 }

 int
-PX4IO_Uploader::verify()
+PX4IO_Uploader::verify_rev2()
 {
 	uint8_t	file_buf[PROG_MULTI_MAX];
 	ssize_t count;
@@ -380,6 +439,74 @@ PX4IO_Uploader::verify()
 	return OK;
 }

+int
+PX4IO_Uploader::verify_rev3()
+{
+	int ret;
+	uint8_t	file_buf[4];
+	ssize_t count;
+	uint32_t sum = 0;
+	uint32_t bytes_read = 0;
+	uint32_t fw_size = 0;
+	uint32_t crc = 0;
+	uint8_t fill_blank = 0xff;
+
+	log("verify...");
+	lseek(_fw_fd, 0, SEEK_SET);
+
+	ret = get_info(INFO_FLASH_SIZE, fw_size);
+	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 (true) {
+		lseek(_fw_fd, 0, SEEK_CUR);
+		count = read(_fw_fd, file_buf, sizeof(file_buf));
+
+		/* 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) {
+		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()
 {
@@ -64,21 +64,25 @@ private:
 		PROTO_CHIP_VERIFY	= 0x24,
 		PROTO_PROG_MULTI	= 0x27,
 		PROTO_READ_MULTI	= 0x28,
+		PROTO_GET_CRC		= 0x29,
 		PROTO_REBOOT		= 0x30,

 		INFO_BL_REV		= 1,		/**< bootloader protocol revision */
-		BL_REV			= 2,		/**< supported bootloader protocol  */
+		BL_REV			= 3,		/**< supported bootloader protocol  */
 		INFO_BOARD_ID		= 2,		/**< board type */
 		INFO_BOARD_REV		= 3,		/**< board revision */
 		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */

 		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 */
+
 	};

 	int			_io_fd;
 	int			_fw_fd;

+	uint32_t	bl_rev; /**< bootloader revision */
+
 	void			log(const char *fmt, ...);

 	int			recv(uint8_t &c, unsigned timeout = 1000);
@@ -91,7 +95,8 @@ private:
 	int			get_info(int param, uint32_t &val);
 	int			erase();
 	int			program();
-	int			verify();
+	int			verify_rev2();
+	int			verify_rev3();
 	int			reboot();
 	int			compare(bool &identical);
 };