diff --git a/conf/Makefile.stm32-upload b/conf/Makefile.stm32-upload
index b43459ef7e..acc0446293 100644
--- a/conf/Makefile.stm32-upload
+++ b/conf/Makefile.stm32-upload
@@ -158,7 +158,7 @@ else ifeq ($(FLASH_MODE),PX4_BOOTLOADER)
# Program the device and start it.
upload: $(OBJDIR)/$(TARGET).bin
$(PAPARAZZI_SRC)/sw/tools/px4/px_mkfw.py --prototype $(PX4_PROTOTYPE) --image $(OBJDIR)/$(TARGET).bin > $(OBJDIR)/$(TARGET).px4
- $(PAPARAZZI_SRC)/sw/tools/px4/print_message.py
+ $(PAPARAZZI_SRC)/sw/tools/px4/set_target.py $(PX4_TARGET)
$(PAPARAZZI_SRC)/sw/tools/px4/px_uploader.py --port $(PX4_BL_PORT) $(OBJDIR)/$(TARGET).px4
#
diff --git a/conf/boards/px4fmu_2.4.makefile b/conf/boards/px4fmu_2.4.makefile
index 1a0496230c..89ed0eca31 100644
--- a/conf/boards/px4fmu_2.4.makefile
+++ b/conf/boards/px4fmu_2.4.makefile
@@ -22,6 +22,7 @@ HARD_FLOAT=yes
# default flash mode is the PX4 bootloader
# possibilities: DFU, SWD, PX4 bootloader
FLASH_MODE ?= PX4_BOOTLOADER
+PX4_TARGET = "ap"
PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4fmu-v2.prototype"
PX4_BL_PORT ?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
@@ -33,7 +34,7 @@ RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= none
GPS_LED ?= none
-SYS_TIME_LED ?= 1
+SYS_TIME_LED ?= none
#
# default UART configuration (modem, gps, spektrum)
diff --git a/conf/boards/px4io_2.4.makefile b/conf/boards/px4io_2.4.makefile
index d6957c71c2..1041cf3a76 100644
--- a/conf/boards/px4io_2.4.makefile
+++ b/conf/boards/px4io_2.4.makefile
@@ -16,9 +16,9 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/px4io_2.4.ld
# default flash mode is via usb dfu bootloader
# possibilities: DFU, SWD, PX4_BOOTLOADER
-PX4_BL_PORT ?= "/dev/serial/by-id/usb-FTDI_*"
+PX4_BL_PORT ?= "/dev/serial/by-id/usb-Paparazzi_UAV_CDC_Serial_STM32_*"
PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4io-v2.prototype"
-
+PX4_TARGET = "fbw"
FLASH_MODE ?= PX4_BOOTLOADER
diff --git a/conf/modules/px4io_flash.xml b/conf/modules/px4io_flash.xml
index f16af5254a..ccc424c0fe 100644
--- a/conf/modules/px4io_flash.xml
+++ b/conf/modules/px4io_flash.xml
@@ -14,13 +14,14 @@
+
-
+
diff --git a/sw/airborne/arch/stm32/usb_ser_hw.c b/sw/airborne/arch/stm32/usb_ser_hw.c
index b89a19bf8c..ed09a888e5 100644
--- a/sw/airborne/arch/stm32/usb_ser_hw.c
+++ b/sw/airborne/arch/stm32/usb_ser_hw.c
@@ -39,11 +39,14 @@
#include "mcu_periph/usb_serial.h"
+#include "mcu_periph/sys_time_arch.h"
/* Max packet size for USB transfer */
#define MAX_PACKET_SIZE 64
/* Max fifo size for storing data */
-#define VCOM_FIFO_SIZE 128
+#define VCOM_FIFO_SIZE 256
+
+#define TX_TIMEOUT_CNT 20 //TODO, make dynamic with event period
typedef struct {
int head;
@@ -62,7 +65,7 @@ bool_t fifo_put(fifo_t *fifo, uint8_t c);
bool_t fifo_get(fifo_t *fifo, uint8_t *pc);
int fifo_avail(fifo_t *fifo);
int fifo_free(fifo_t *fifo);
-
+int tx_timeout;
usbd_device *my_usbd_dev;
@@ -387,10 +390,13 @@ int VCOM_putchar(int c)
if (VCOM_check_free_space(2)) {
// if yes, add char
fifo_put(&txfifo, c);
+ tx_timeout = TX_TIMEOUT_CNT;
} else {
// less than 2 bytes available, add byte and send data now
fifo_put(&txfifo, c);
+ sys_time_usleep(10); //far from optimal, increase fifo size to prevent this problem
VCOM_send_message();
+ tx_timeout = TX_TIMEOUT_CNT;
}
return c;
}
@@ -433,7 +439,19 @@ int VCOM_check_available(void)
*/
void VCOM_event(void)
{
+ if (tx_timeout == 1) { // send a remaining bytes that still hangs arround in the tx fifo, after a timeout
+ if (fifo_avail(&txfifo)) {
+ VCOM_send_message();
+ tx_timeout = TX_TIMEOUT_CNT;
+ } else {
+ tx_timeout = 0;
+ }
+ } else if (tx_timeout > 1) {
+ tx_timeout--;
+ }
+
usbd_poll(my_usbd_dev);
+
}
/**
@@ -443,6 +461,7 @@ void VCOM_event(void)
void VCOM_send_message(void)
{
if (usb_connected) {
+
uint8_t buf[MAX_PACKET_SIZE];
uint8_t i;
for (i = 0; i < MAX_PACKET_SIZE; i++) {
@@ -450,7 +469,10 @@ void VCOM_send_message(void)
break;
}
}
+
+ while (usbd_ep_stall_get(my_usbd_dev, 0x82)) {};
usbd_ep_write_packet(my_usbd_dev, 0x82, buf, i);
+
}
}
@@ -532,4 +554,6 @@ void VCOM_init(void)
usb_serial.device.send_message = (send_message_t) usb_serial_send;
usb_serial.device.char_available = (char_available_t) usb_serial_char_available;
usb_serial.device.get_byte = (get_byte_t) usb_serial_getch;
+
+ tx_timeout = -1;
}
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 615906af87..fe6815aa86 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -36,7 +36,12 @@
#define UART_RX_BUFFER_SIZE 128
#endif
#ifndef UART_TX_BUFFER_SIZE
+#ifdef STM32F4 //the F4 has enough memory, and the PX4 bootloader needs more then 128
+#define UART_TX_BUFFER_SIZE 256
+#else
#define UART_TX_BUFFER_SIZE 128
+#endif
+
#endif
#define UART_DEV_NAME_SIZE 16
diff --git a/sw/airborne/modules/px4io_flash/px4io_flash.c b/sw/airborne/modules/px4io_flash/px4io_flash.c
index cba0de8b51..d0eaf8b170 100644
--- a/sw/airborne/modules/px4io_flash/px4io_flash.c
+++ b/sw/airborne/modules/px4io_flash/px4io_flash.c
@@ -32,6 +32,11 @@
// Serial Port
#include "mcu_periph/uart.h"
+#include "mcu_periph/usb_serial.h"
+
+#include "led.h"
+
+#include "libopencm3/cm3/scb.h"
// define coms link for px4io f1
#define PX4IO_PORT (&((PX4IO_UART).device))
@@ -39,20 +44,20 @@
// weird that these below are not in protocol.h, which is from the firmware px4 repo
// below is copied from qgroundcontrol:
-#define PROTO_INSYNC 0x12 ///< 'in sync' byte sent before status
-#define PROTO_EOC 0x20 ///< end of command
+#define PROTO_INSYNC 0x12 //< 'in sync' byte sent before status
+#define PROTO_EOC 0x20 //< end of command
// Reply bytes
-#define PROTO_OK 0x10 ///< INSYNC/OK - 'ok' response
-#define PROTO_FAILED 0x11 ///< INSYNC/FAILED - 'fail' response
-#define PROTO_INVALID 0x13 ///< INSYNC/INVALID - 'invalid' response for bad commands
+#define PROTO_OK 0x10 //< INSYNC/OK - 'ok' response
+#define PROTO_FAILED 0x11 //< INSYNC/FAILED - 'fail' response
+#define PROTO_INVALID 0x13 //< INSYNC/INVALID - 'invalid' response for bad commands
// Command bytes
-#define PROTO_GET_SYNC 0x21 ///< NOP for re-establishing sync
-#define PROTO_GET_DEVICE 0x22 ///< get device ID bytes
-#define PROTO_CHIP_ERASE 0x23 ///< erase program area and reset program address
-#define PROTO_LOAD_ADDRESS 0x24 ///< set next programming address
-#define PROTO_PROG_MULTI 0x27 ///< write bytes at program address and increment
-#define PROTO_GET_CRC 0x29 ///< compute & return a CRC
-#define PROTO_BOOT 0x30 ///< boot the application
+#define PROTO_GET_SYNC 0x21 //< NOP for re-establishing sync
+#define PROTO_GET_DEVICE 0x22 //< get device ID bytes
+#define PROTO_CHIP_ERASE 0x23 //< erase program area and reset program address
+#define PROTO_LOAD_ADDRESS 0x24 //< set next programming address
+#define PROTO_PROG_MULTI 0x27 //< write bytes at program address and increment
+#define PROTO_GET_CRC 0x29 //< compute & return a CRC
+#define PROTO_BOOT 0x30 //< boot the application
bool_t setToBootloaderMode;
@@ -63,82 +68,111 @@ void px4ioflash_init(void)
void px4ioflash_event(void)
{
- // setToBootloaderMode=true;
if (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
if (!setToBootloaderMode) {
//ignore anything coming from IO if not in bootloader mode (which should be nothing)
} else {
//relay everything from IO to the laptop
- unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
- TELEM2_PORT->put_byte(TELEM2_PORT->periph, b);
+ while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
+ unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
+ TELEM2_PORT->put_byte(TELEM2_PORT->periph, b);
+ }
}
}
- //TODO: check if timeout was surpassed
+ //TODO: check if bootloader timeout was surpassed
if (TELEM2_PORT->char_available(TELEM2_PORT->periph) && !setToBootloaderMode) {
- //data was received on the pc uart, so
- //stop all intermcu comminication:
- disable_inter_comm(true);
- //send the reboot to bootloader command:
+ // TMP TEST
+ // while (TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
+ // unsigned char bla = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
+ // TELEM2_PORT->put_byte(TELEM2_PORT->periph,bla);
+ // }
+ // return;
- /*
+ //check whether this is flash related communication, and for who (ap/fbw)
+ int state = 0;
+ while (state < 4 && TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
+ unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
+ switch (state) {
+ case (0) :
+ if (b == 'p') { state++; } else { return; }
+ break;
+ case (1) :
+ if (b == 'p') { state++; } else { return; }
+ break;
+ case (2) :
+ if (b == 'r') { state++; } else { return; }
+ break;
+ case (3) :
+ if (b == 'z') { state++; } else { return; }
+ break;
+ default :
+ break;
+ }
+ }
+
+ if (state != 4) {return;}
+ //TODO: check if/how this interferes with flashing original PX4 firmware
+ unsigned char target = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
+ if (target == '1') { //target ap
+ //the target is the ap, so reboot to PX4 bootloader
+ scb_reset_system();
+
+ } else { // target fbw
+ //the target is the fbw, so reboot the fbw and switch to relay mode
+
+ //stop all intermcu communication:
+ disable_inter_comm(true);
+
+ /*
* The progdieshit define is very usefull, if for whatever reason the (normal, not bootloader) firmware on the IO chip became disfunct.
* In that case:
* 1. enable this define
* 2. build and upload the fmu f4 chip (ap target in pprz center)
* 3. build the io code, and convert the firmware using the following command:
- * /home/houjebek/paparazzi/sw/tools/pixhawk/px_mkfw.py --prototype "/home/houjebek/px4/Firmware/Images/px4io-v2.prototype" --image /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.bin > /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.px4
+ * /home/houjebek/paparazzi/sw/tools/px4/px_mkfw.py --prototype "/home/houjebek/px4/Firmware/Images/px4io-v2.prototype" --image /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.bin > /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.px4
* 4. Start the following command:
- * /home/houjebek/paparazzi/sw/tools/pixhawk/px_uploader.py --port "/dev/serial/by-id/usb-FTDI_TTL232R-3V3_FT906KBO-if00-port0" /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.px4
+ * /home/houjebek/paparazzi/sw/tools/px4/px_uploader.py --port "/dev/ttyACM0" /home/houjebek/paparazzi/var/aircrafts/Iris/fbw/fbw.px4
* 5a. Either, boot the Pixhawk (reconnect usb) holding the IO reset button until the FMU led stops blinking fast (i.e. exits its own bootloader)
* 5b Or, press the IO reset button on the pixhawk
* 6. Watch the output of the command of step 4, it should recognize the IO bootloader and start flashing. If not try repeating step 5a.
* 7. Don forget to disable the define and upload the ap again :)
*/
- //#define progdieshit
+ // #define progdieshit
#ifndef progdieshit
- static struct IOPacket dma_packet;
- dma_packet.count_code = 0x40 + 0x01;
- dma_packet.crc = 0;
- dma_packet.page = PX4IO_PAGE_SETUP;
- dma_packet.offset = PX4IO_P_SETUP_REBOOT_BL;
- dma_packet.regs[0] = PX4IO_REBOOT_BL_MAGIC;
- dma_packet.crc = crc_packet(&dma_packet);
- struct IOPacket *pkt = &dma_packet;
- uint8_t *p = (uint8_t *)pkt;
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[0]);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[1]);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[2]);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[3]);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[4]);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[5]);
+ //send the reboot to bootloader command:
+ static struct IOPacket dma_packet;
+ dma_packet.count_code = 0x40 + 0x01;
+ dma_packet.crc = 0;
+ dma_packet.page = PX4IO_PAGE_SETUP;
+ dma_packet.offset = PX4IO_P_SETUP_REBOOT_BL;
+ dma_packet.regs[0] = PX4IO_REBOOT_BL_MAGIC;
+ dma_packet.crc = crc_packet(&dma_packet);
+ struct IOPacket *pkt = &dma_packet;
+ uint8_t *p = (uint8_t *)pkt;
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[0]);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[1]);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[2]);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[3]);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[4]);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, p[5]);
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'E');
- // for (int i=0;i<6;i++) {
- // unsigned char tmp[3];
- // itoa(p[i],tmp,16);
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,tmp[0]);
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,tmp[1]);
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
- // }
+ sys_time_usleep(5000); // this seems to be close to the minimum delay necessary to process this packet at the IO side
+ //the pixhawk IO chip should respond with:
+ // 0x00 ( PKT_CODE_SUCCESS )
+ // 0xe5
+ // 0x32
+ // 0x0a
+ //After that, the IO chips reboots into bootloader mode, in which it will stay for a short period
+ //The baudrate in bootloader mode ic changed to 115200 (normal operating baud is 1500000, at least for original pixhawk fmu firmware)
- sys_time_usleep(5000); // this seems to be close to the minimum delay necessary to process this packet at the IO side
- //the pixhawk IO chip should respond with:
- // 0x00 ( PKT_CODE_SUCCESS )
- // 0xe5
- // 0x32
- // 0x0a
- //After that, the IO chips reboots into bootloader mode, in which it will stay for a short period
- //The baudrate in bootloader mode ic changed to 115200 (normal operating baud is 1500000, at least for original pixhawk fmu firmware)
+ //state machine
+ state = 0;
+ while (state < 4 && PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
- //state machine
- int state = 0;
- while (state < 4 && PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
-
- unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
- switch (state) {
+ unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
+ switch (state) {
case (0) :
if (b == PKT_CODE_SUCCESS) { state++; } else { state = 0; }
break;
@@ -152,107 +186,50 @@ void px4ioflash_event(void)
if (b == 0x0a) { state++; } else { state = 0; }
break;
default :
- TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'b');
break;
- }
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,state+48);
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
- }
-#else
- int state = 4;
-#endif
- if (state == 4) {
-#ifndef progdieshit
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'6');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
-#endif
- uart_periph_set_baudrate(PX4IO_PORT->periph, B115200);
- /* look for the bootloader for 150 ms */
- int ret = 0;
- for (int i = 0; i < 15 && !ret ; i++) {
- sys_time_usleep(10000);
-
-
- //send a get_sync command in order to keep the io in bootloader mode
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, PROTO_GET_SYNC);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, PROTO_EOC);
-
-
-#ifndef progdieshit
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'6');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'a');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
-#endif
-
- //get_sync should be replied with, so check if that happens and
- //all other bytes are discarded, hopefully those were not important
- //(they may be caused by sending multiple syncs)
- while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
- unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
-
-#ifndef progdieshit
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'6');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'b');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
-#endif
-
- if (b == PROTO_INSYNC) {
-#ifndef progdieshit
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'7');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
-#endif
-
- setToBootloaderMode = true;
- ret = 1;
- break;
- }
}
}
- if (setToBootloaderMode) {
-
-#ifndef progdieshit
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'8');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
+#else
+ int state = 4;
#endif
+ if (state == 4) {
+ uart_periph_set_baudrate(PX4IO_PORT->periph, B115200);
+ /* look for the bootloader for 150 ms */
+ int ret = 0;
+ for (int i = 0; i < 15 && !ret ; i++) {
+ sys_time_usleep(10000);
- //if successfully entered bootloader mode, clear any remaining bytes (which may have a function, but I did not check)
- while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {PX4IO_PORT->get_byte(PX4IO_PORT->periph);}
+ //send a get_sync command in order to keep the io in bootloader mode
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, PROTO_GET_SYNC);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, PROTO_EOC);
+
+ //get_sync should be replied with, so check if that happens and
+ //all other bytes are discarded, hopefully those were not important
+ //(they may be caused by sending multiple syncs)
+ while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {
+ unsigned char b = PX4IO_PORT->get_byte(PX4IO_PORT->periph);
+
+ if (b == PROTO_INSYNC) {
+ setToBootloaderMode = true;
+ ret = 1;
+ break;
+ }
+ }
+ }
+ if (setToBootloaderMode) {
+ //if successfully entered bootloader mode, clear any remaining bytes (which may have a function, but I did not check)
+ while (PX4IO_PORT->char_available(PX4IO_PORT->periph)) {PX4IO_PORT->get_byte(PX4IO_PORT->periph);}
+ }
+ } else {
+ TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E'); //TODO: find out what the PX4 protocol for error feedback is...
}
-
-#ifndef progdieshit
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'S');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'9');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
-#endif
-
- } else {
- TELEM2_PORT->put_byte(TELEM2_PORT->periph, 'E');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'r');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'r');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'o');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'r');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\n');
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,'\r');
}
} else if (TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
//already in bootloader mode, just directly relay data
- unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
- PX4IO_PORT->put_byte(PX4IO_PORT->periph, b);
- // TELEM2_PORT->put_byte(TELEM2_PORT->periph,b);
+ while (TELEM2_PORT->char_available(TELEM2_PORT->periph)) {
+ unsigned char b = TELEM2_PORT->get_byte(TELEM2_PORT->periph);
+ PX4IO_PORT->put_byte(PX4IO_PORT->periph, b);
+ }
}
-
}
diff --git a/sw/tools/px4/set_target.py b/sw/tools/px4/set_target.py
new file mode 100755
index 0000000000..c83efe22a8
--- /dev/null
+++ b/sw/tools/px4/set_target.py
@@ -0,0 +1,15 @@
+#!/usr/bin/python
+import sys
+import serial
+
+print sys.argv[2]
+portname = sys.argv[1]
+if sys.argv[2] == "fbw" :
+ line = "pprz0"
+else :
+ line = "pprz1"
+
+#print line.rstrip() + " " + str(len(line))
+ser = serial.Serial(portname)
+ser.write(line)
+