class uploader(object):
'''Uploads a firmware file to the SiK bootloader'''
NOP = chr(0x00)
OK = chr(0x10)
FAILED = chr(0x11)
INSYNC = chr(0x12)
EOC = chr(0x20)
GET_SYNC = chr(0x21)
GET_DEVICE = chr(0x22)
CHIP_ERASE = chr(0x23)
LOAD_ADDRESS= chr(0x24)
PROG_FLASH = chr(0x25)
READ_FLASH = chr(0x26)
PROG_MULTI = chr(0x27)
READ_MULTI = chr(0x28)
PARAM_ERASE = chr(0x29)
REBOOT = chr(0x30)
PROG_MULTI_MAX = 32 # 64 causes serial hangs with some USB-serial adapters
READ_MULTI_MAX = 255
BANK_PROGRAMING = -1
def __init__(self, portname, atbaudrate=57600, use_mavlink=False, mavport=0, debug=0):
print("Connecting to %s" % portname)
if use_mavlink:
from pymavlink import mavutil
self.port = mavutil.MavlinkSerialPort(portname, 115200, devnum=mavport,
timeout=3, debug=debug)
else:
self.port = serial.Serial(portname, 115200, timeout=3)
self.atbaudrate = atbaudrate
def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument("--mavport", required=True, help="Mavlink port name")
parser.add_argument("--mavbaud",
type=int,
help="Mavlink port baud rate",
default=115200)
parser.add_argument("--devnum",
default=2,
type=int,
help="PX4 UART device number (defaults to GPS port)")
parser.add_argument(
"--devbaud",
default=38400,
type=int,
help="PX4 UART baud rate (defaults to u-Blox GPS baud)")
parser.add_argument("--tcpport",
default=1001,
type=int,
help="local TCP port (defaults to %(default)s)")
parser.add_argument("--debug", default=0, type=int, help="debug level")
parser.add_argument("--buffsize",
default=128,
type=int,
help="buffer size")
args = parser.parse_args()
print("Connecting to MAVLINK...")
mav_serialport = mavutil.MavlinkSerialPort(args.mavport,
args.mavbaud,
devnum=args.devnum,
devbaud=args.devbaud,
debug=args.debug)
listen_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
listen_sock.bind(('127.0.0.1', args.tcpport))
listen_sock.listen(1)
print("Waiting for a TCP connection.")
print("Use tcp://localhost:%d in u-Center." % args.tcpport)
conn_sock, addr = listen_sock.accept()
conn_sock.setblocking(0) # non-blocking mode
print("TCP connection accepted. Use Ctrl+C to exit.")
while True:
try:
data = conn_sock.recv(args.buffsize)
if data:
if args.debug >= 1:
print '>', len(data)
mav_serialport.write(data)
except socket.error:
pass
data = mav_serialport.read(args.buffsize)
if data:
if args.debug >= 1:
print '<', len(data)
conn_sock.send(data)
def init_port(portname, baudrate=57600, use_mavlink=False, mavport=0):
print("Connecting to %s" % portname)
port = None
if use_mavlink:
from pymavlink import mavutil
port = mavutil.MavlinkSerialPort(portname, baudrate, devnum=mavport)
else:
port = serial.Serial(portname, baudrate, timeout=3)
return port
def __init__(self, portname, atbaudrate=57600, use_mavlink=False, mavport=0, debug=0):
print("Connecting to %s" % portname)
if use_mavlink:
from pymavlink import mavutil
self.port = mavutil.MavlinkSerialPort(portname, 115200, devnum=mavport,
timeout=3, debug=debug)
else:
self.port = serial.Serial(portname, 115200, timeout=3)
self.atbaudrate = atbaudrate
self._debug = debug
self.percent = -1
if use_mavlink:
# we can send a bit more on mavlink
uploader.PROG_MULTI_MAX = 64