px4io_uploader.cpp

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/****************************************************************************
 *
 *   Copyright (c) 2012-2015 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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 ****************************************************************************/

/**
 * @file uploader.cpp
 * Firmware uploader for PX4IO
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/time.h>

#include <sys/types.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdarg.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <termios.h>
#include <sys/stat.h>
#include <nuttx/arch.h>

#include <crc32.h>

#include "uploader.h"

#include <board_config.h>

// define for comms logging
//#define UDEBUG

PX4IO_Uploader::PX4IO_Uploader() :
    _io_fd(-1),
    _fw_fd(-1),
    bl_rev(0)
{
}

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 {
            px4_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;
}

int
PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout)
{
    struct pollfd fds[1];

    fds[0].fd = _io_fd;
    fds[0].events = POLLIN;

    /* wait <timout> ms for a character */
    int ret = ::poll(&fds[0], 1, timeout);

    if (ret < 1) {
#ifdef UDEBUG
        log("poll timeout %d", ret);
#endif
        return -ETIMEDOUT;
    }

    read(_io_fd, c, 1);
#ifdef UDEBUG
    log("recv_bytes 0x%02x", c);
#endif
    return OK;
}

int
PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
{
    int ret = OK;

    while (count--) {
        ret = recv_byte_with_timeout(p++, 5000);

        if (ret != OK) {
            break;
        }
    }

    return ret;
}

void
PX4IO_Uploader::drain()
{
    uint8_t c;
    int ret;

    do {
        // the small recv_bytes timeout here is to allow for fast
        // drain when rebooting the io board for a forced
        // update of the fw without using the safety switch
        ret = recv_byte_with_timeout(&c, 40);

#ifdef UDEBUG

        if (ret == OK) {
            log("discard 0x%02x", c);
        }

#endif
    } while (ret == OK);
}

int
PX4IO_Uploader::send(uint8_t c)
{
#ifdef UDEBUG
    log("send 0x%02x", c);
#endif

    if (write(_io_fd, &c, 1) != 1) {
        return -errno;
    }

    return OK;
}

int
PX4IO_Uploader::send(uint8_t *p, unsigned count)
{
    int ret;

    while (count--) {
        ret = send(*p++);

        if (ret != OK) {
            break;
        }
    }

    return ret;
}

int
PX4IO_Uploader::get_sync(unsigned timeout)
{
    uint8_t c[2];
    int ret;

    ret = recv_byte_with_timeout(c, timeout);

    if (ret != OK) {
        return ret;
    }

    ret = recv_byte_with_timeout(c + 1, timeout);

    if (ret != OK) {
        return ret;
    }

    if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
        log("bad sync 0x%02x,0x%02x", c[0], c[1]);
        return -EIO;
    }

    return OK;
}

int
PX4IO_Uploader::sync()
{
    drain();

    /* complete any pending program operation */
    for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++) {
        send(0);
    }

    send(PROTO_GET_SYNC);
    send(PROTO_EOC);
    return get_sync();
}

int
PX4IO_Uploader::get_info(int param, uint32_t &val)
{
    int ret;

    send(PROTO_GET_DEVICE);
    send(param);
    send(PROTO_EOC);

    ret = recv_bytes((uint8_t *)&val, sizeof(val));

    if (ret != OK) {
        return ret;
    }

    return get_sync();
}

int
PX4IO_Uploader::erase()
{
    log("erase...");
    send(PROTO_CHIP_ERASE);
    send(PROTO_EOC);
    return get_sync(10000);     /* allow 10s timeout */
}


static int read_with_retry(int fd, void *buf, size_t n)
{
    int ret;
    uint8_t retries = 0;

    do {
        ret = read(fd, buf, n);
    } while (ret == -1 && retries++ < 100);

    if (retries != 0) {
        printf("read of %u bytes needed %u retries\n",
               (unsigned)n,
               (unsigned)retries);
    }

    return ret;
}

int
PX4IO_Uploader::program(size_t fw_size)
{
    uint8_t *file_buf;
    ssize_t count;
    int ret;
    size_t sent = 0;

    file_buf = new uint8_t[PROG_MULTI_MAX];

    if (!file_buf) {
        log("Can't allocate program buffer");
        return -ENOMEM;
    }

    ASSERT((fw_size & 3) == 0);
    ASSERT((PROG_MULTI_MAX & 3) == 0);

    log("programming %u bytes...", (unsigned)fw_size);

    ret = lseek(_fw_fd, 0, SEEK_SET);

    while (sent < fw_size) {
        /* get more bytes to program */
        size_t n = fw_size - sent;

        if (n > PROG_MULTI_MAX) {
            n = PROG_MULTI_MAX;
        }

        count = read_with_retry(_fw_fd, file_buf, n);

        if (count != (ssize_t)n) {
            log("firmware read of %u bytes at %u failed -> %d errno %d",
                (unsigned)n,
                (unsigned)sent,
                (int)count,
                (int)errno);
            ret = -errno;
            break;
        }

        sent += count;

        send(PROTO_PROG_MULTI);
        send(count);
        send(file_buf, count);
        send(PROTO_EOC);

        ret = get_sync(1000);

        if (ret != OK) {
            break;
        }
    }

    delete [] file_buf;
    return ret;
}

int
PX4IO_Uploader::verify_rev2(size_t fw_size)
{
    uint8_t file_buf[4];
    ssize_t count;
    int ret;
    size_t sent = 0;

    log("verify...");
    lseek(_fw_fd, 0, SEEK_SET);

    send(PROTO_CHIP_VERIFY);
    send(PROTO_EOC);
    ret = get_sync();

    if (ret != OK) {
        return ret;
    }

    while (sent < fw_size) {
        /* get more bytes to verify */
        size_t n = fw_size - sent;

        if (n > sizeof(file_buf)) {
            n = sizeof(file_buf);
        }

        count = read_with_retry(_fw_fd, file_buf, n);

        if (count != (ssize_t)n) {
            log("firmware read of %u bytes at %u failed -> %d errno %d",
                (unsigned)n,
                (unsigned)sent,
                (int)count,
                (int)errno);
        }

        if (count == 0) {
            break;
        }

        sent += count;

        if (count < 0) {
            return -errno;
        }

        ASSERT((count % 4) == 0);

        send(PROTO_READ_MULTI);
        send(count);
        send(PROTO_EOC);

        for (ssize_t i = 0; i < count; i++) {
            uint8_t c;

            ret = recv_byte_with_timeout(&c, 5000);

            if (ret != OK) {
                log("%d: got %d waiting for bytes", sent + i, ret);
                return ret;
            }

            if (c != file_buf[i]) {
                log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]);
                return -EINVAL;
            }
        }

        ret = get_sync();

        if (ret != OK) {
            log("timeout waiting for post-verify sync");
            return ret;
        }
    }

    return OK;
}

int
PX4IO_Uploader::verify_rev3(size_t fw_size_local)
{
    int ret;
    uint8_t file_buf[4];
    ssize_t count;
    uint32_t sum = 0;
    uint32_t bytes_read = 0;
    uint32_t crc = 0;
    uint32_t fw_size_remote;
    uint8_t fill_blank = 0xff;

    log("verify...");
    lseek(_fw_fd, 0, SEEK_SET);

    ret = get_info(INFO_FLASH_SIZE, fw_size_remote);
    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 (bytes_read < fw_size_local) {
        size_t n = fw_size_local - bytes_read;

        if (n > sizeof(file_buf)) {
            n = sizeof(file_buf);
        }

        count = read_with_retry(_fw_fd, file_buf, n);

        if (count != (ssize_t)n) {
            log("firmware read of %u bytes at %u failed -> %d errno %d",
                (unsigned)n,
                (unsigned)bytes_read,
                (int)count,
                (int)errno);
        }

        /* 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 = crc32part((uint8_t *)&file_buf, sizeof(file_buf), sum);

        bytes_read += count;
    }

    /* fill the rest with 0xff */
    while (bytes_read < fw_size_remote) {
        sum = crc32part(&fill_blank, sizeof(fill_blank), sum);
        bytes_read += sizeof(fill_blank);
    }

    /* request CRC from IO */
    send(PROTO_GET_CRC);
    send(PROTO_EOC);

    ret = recv_bytes((uint8_t *)(&crc), sizeof(crc));

    if (ret != OK) {
        log("did not receive CRC checksum");
        return ret;
    }

    ret = get_sync();

    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()
{
    int ret;

    send(PROTO_REBOOT);
    up_udelay(100 * 1000); // Ensure the farend is in wait for char.
    send(PROTO_EOC);

    ret = get_sync();

    if (ret == OK) {
        up_udelay(10 * 1000);   // Ensure that we do not close UART too soon
    }

    return ret;
}

void
PX4IO_Uploader::log(const char *fmt, ...)
{
    va_list ap;

    printf("[PX4IO] ");
    va_start(ap, fmt);
    vprintf(fmt, ap);
    va_end(ap);
    printf("\n");
    fflush(stdout);
}