#!/usr/bin/env python3 ############################################################################ # # Copyright (c) 2024 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 Teensy import sys import argparse import time import sys import usb.core import subprocess from sys import platform as _platform from pymavlink import mavutil try: import serial except ImportError as e: print("Failed to import serial: " + str(e)) print("") print("You may need to install it using:") print(" pip3 install --user pyserial") print("") sys.exit(1) # Define time to use time.time() by default def _time(): return time.time() class uploader(object): def __init__(self, portname): self.mavlink = mavutil.mavlink_connection(portname) def send_reboot(self): try: self.mavlink.wait_heartbeat() self.mavlink.reboot_autopilot(True) except: pass return True TEENSY_BL_VENDORID = 0x16c0 TEENSY_BL_PRODUCTID = 0x0478 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('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading') parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') parser.add_argument('--vendor-id', type=lambda x: int(x,0), default=None, help='PX4 USB vendorid') parser.add_argument('--product-id', type=lambda x: int(x,0), default=None, help='PX4 USB productid') parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)") args = parser.parse_args() found_bootloader = False # find USB devices dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID) # loop through devices, printing vendor and product ids in decimal and hex if dev is not None: print("Found teensy bootloader") found_bootloader = True else: dev = usb.core.find(idVendor=args.vendor_id, idProduct=args.product_id) if dev is None: print("No PX4 Device found try to press the button program push button") print("Attempting to reboot into Teensy bootloader...", end="", flush=True) 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 or "cygwin" in _platform: import glob for pattern in patterns: portlist += glob.glob(pattern) else: portlist = patterns for port in portlist: try: if "linux" in _platform: # Linux, don't open Mac OS and Win ports if "COM" not in port and "tty.usb" not in port: up = uploader(port) 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) elif "cygwin" in _platform: # Cygwin, don't open native Windows COM and Linux ports if "COM" not in port and "ACM" not in port: up = uploader(port) elif "win" in _platform: # Windows, don't open POSIX ports if "/" not in port: up = uploader(port) except Exception: # open failed, rate-limit our attempts time.sleep(0.05) # and loop to the next port continue while True: up.send_reboot() # wait for the reboot, without we might run into Serial I/O Error 5 time.sleep(0.25) # wait for the close, without we might run into Serial I/O Error 6 time.sleep(0.3) dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID) # loop through devices, printing vendor and product ids in decimal and hex if dev is not None: print("") print("Found teensy bootloader") found_bootloader = True break print('.', end="", flush=True) if not found_bootloader: # Go to the next port continue if(found_bootloader): while True: result = subprocess.Popen("teensy_loader_cli -v --mcu=TEENSY41 " + args.firmware[0], shell=True) text = result.communicate()[0] if(result.returncode == 0): 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()