int
PX4IO_Uploader::upload(const char *filenames[])
{
int ret;
const char *filename = NULL;
size_t fw_size;
#ifndef PX4IO_SERIAL_DEVICE
#error Must define PX4IO_SERIAL_DEVICE in board configuration to support firmware upload
#endif
/* allow an early abort and look for file first */
for (unsigned i = 0; filenames[i] != nullptr; i++) {
_fw_fd = open(filenames[i], O_RDONLY);
if (_fw_fd < 0) {
log("failed to open %s", filenames[i]);
continue;
}
log("using firmware from %s", filenames[i]);
filename = filenames[i];
break;
}
if (filename == NULL) {
log("no firmware found");
close(_io_fd);
_io_fd = -1;
return -ENOENT;
}
_io_fd = open(PX4IO_SERIAL_DEVICE, O_RDWR);
if (_io_fd < 0) {
log("could not open interface");
return -errno;
}
/* save initial uart configuration to reset after the update */
struct termios t_original;
tcgetattr(_io_fd, &t_original);
/* 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 for 150 ms */
for (int i = 0; i < 15; i++) {
ret = sync();
if (ret == OK) {
break;
} else {
usleep(10000);
}
}
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -EIO;
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -errno;
}
fw_size = st.st_size;
if (_fw_fd == -1) {
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -ENOENT;
}
/* do the usual program thing - allow for failure */
for (unsigned retries = 0; retries < 1; retries++) {
if (retries > 0) {
log("retrying update...");
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -EIO;
}
}
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);
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return OK;
}
}
ret = erase();
if (ret != OK) {
log("erase failed");
continue;
}
ret = program(fw_size);
if (ret != OK) {
log("program failed");
continue;
}
if (bl_rev <= 2) {
ret = verify_rev2(fw_size);
} else {
/* verify rev 3 and higher. Every version *needs* to be verified. */
ret = verify_rev3(fw_size);
}
if (ret != OK) {
log("verify failed");
continue;
}
ret = reboot();
if (ret != OK) {
log("reboot failed");
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return ret;
}
log("update complete");
ret = OK;
break;
}
/* reset uart to previous/default baudrate */
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_fw_fd);
close(_io_fd);
_io_fd = -1;
// sleep for enough time for the IO chip to boot. This makes
// forceupdate more reliably startup IO again after update
up_udelay(100*1000);
return ret;
}
/*
upload a firmware to the IOMCU
*/
bool AP_IOMCU::upload_fw(void)
{
// set baudrate for bootloader
uart.begin(115200, 256, 256);
bool ret = false;
/* look for the bootloader for 150 ms */
for (uint8_t i = 0; i < 15; i++) {
ret = sync();
if (ret) {
break;
}
hal.scheduler->delay(10);
}
if (!ret) {
debug("IO update failed sync");
return false;
}
uint32_t bl_rev;
ret = get_info(INFO_BL_REV, bl_rev);
if (!ret) {
debug("Err: failed to contact bootloader");
return false;
}
if (bl_rev > BL_REV) {
debug("Err: unsupported bootloader revision %u", unsigned(bl_rev));
return false;
}
debug("found bootloader revision: %u", unsigned(bl_rev));
ret = erase();
if (!ret) {
debug("erase failed");
return false;
}
ret = program(fw_size);
if (!ret) {
debug("program failed");
return false;
}
if (bl_rev <= 2) {
ret = verify_rev2(fw_size);
} else {
ret = verify_rev3(fw_size);
}
if (!ret) {
debug("verify failed");
return false;
}
ret = reboot();
if (!ret) {
debug("reboot failed");
return false;
}
debug("update complete");
// sleep for enough time for the IO chip to boot
hal.scheduler->delay(100);
return true;
}