OP-214 SSP protocol now implemented on the Uploader gadget, and board halt/reboot is now tested and working. Not tried an actual firmware flash yet, but if you do, please report (should work).

I have done my best to make the interface foolproof, by only enabling the relevant buttons in the relevant situations, please let me know if this creates trouble in some use-cases I have overlooked... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2254 ebee16cc-31ac-478f-84a7-5cbb03baadba
2025-01-18 03:52:11 +01:00 · 2010-12-19 14:42:47 +00:00 · 2010-12-19 14:42:47 +00:00 · 1ef88e854b
commit 1ef88e854b
parent 1aa6a206db
5 changed files with 122 additions and 48 deletions
--- a/ground/src/plugins/uploader/SSP/qssp.cpp
+++ b/ground/src/plugins/uploader/SSP/qssp.cpp
@ -537,7 +537,7 @@ uint16_t   qssp::sf_CheckTimeout()
    }
    if(retval)
         if (debug)
-            qDebug()<<"timeout"<<current_time<<thisport->timeout;
+            qDebug()<<"timeout "<<current_time<<thisport->timeout;
    return retval;
 }

--- a/ground/src/plugins/uploader/op_dfu.cpp
+++ b/ground/src/plugins/uploader/op_dfu.cpp
@ -34,13 +34,11 @@ using namespace OP_DFU;

 DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname): debug(_debug),use_serial(_use_serial),mready(true)
 {
+    info = NULL;

    qRegisterMetaType<OP_DFU::Status>("Status");
    if(use_serial)
    {
-        // cout<<"Connect hw now and press any key";
-        //  getch();
-        // delay::msleep(2000);
        PortSettings settings;
        settings.BaudRate=BAUD57600;
        settings.DataBits=DATA_8;
@ -57,20 +55,25 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname): debug(_debu
        info->timeoutLen	= 1000;
        if(info->status()!=port::open)
        {
-            cout<<"Could not open serial port\n";
-            mready=false;
+            cout << "Could not open serial port\n";
+            mready = false;
            return;
        }
-        serialhandle=new qsspt(info,debug);
+        serialhandle = new qsspt(info,debug);

-        while(serialhandle->ssp_Synchronise()==false)
+        int count = 0;
+        while((serialhandle->ssp_Synchronise()==false) && (count < 10))
        {
             if (debug)
                 qDebug()<<"SYNC failed, resending";
+             count++;
+        }
+        if (count == 10) {
+            mready = false;
+            return;
        }
        qDebug() << "SYNC Succeded";
        serialhandle->start();
-        // serialhandle->start();
    }
    else
    {
@ -93,7 +96,12 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname): debug(_debu

 DFUObject::~DFUObject()
 {
-    hidHandle.close(0);
+    if (use_serial) {
+        if (mready)
+            delete serialhandle;
+    } else {
+        hidHandle.close(0);
+    }

 }

--- a/ground/src/plugins/uploader/uploader.ui
+++ b/ground/src/plugins/uploader/uploader.ui
@ -40,7 +40,10 @@ through serial or USB)</string>
       <property name="toolTip">
        <string>Boots the system.
 Only useful if the system is halted
-(mainboard blue LED blinking slowly, orange LED off)</string>
+(mainboard blue LED blinking slowly, orange LED off)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.</string>
       </property>
       <property name="text">
        <string>Boot</string>
@ -66,7 +69,9 @@ through serial or USB)</string>
      <widget class="QPushButton" name="rescueButton">
       <property name="toolTip">
        <string>Start a guided procedure to manually
-recover a system which does not boot.</string>
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.</string>
       </property>
       <property name="text">
        <string>Rescue</string>
@ -89,7 +94,12 @@ recover a system which does not boot.</string>
     <item>
      <widget class="QComboBox" name="telemetryLink">
       <property name="toolTip">
-        <string>When telemetry is not connected, select the communication method using this combo box.</string>
+        <string>When telemetry is not connected, select the communication
+method using this combo box.
+
+You can use this to force a communication channel when doing
+a &quot;Boot&quot; (button on the left). It is updated automatically when
+halting a running board.</string>
       </property>
      </widget>
     </item>
@ -141,7 +151,7 @@ p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Connect telemetry in USB mode&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Connect telemetry&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You will get a list of devices.&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/p&gt;
@ -161,7 +171,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Please connect your board through USB for firmware upload.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
      </property>
     </widget>
    </widget>
--- a/ground/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/src/plugins/uploader/uploadergadgetwidget.cpp
@ -26,6 +26,8 @@
 */
 #include "uploadergadgetwidget.h"

+#define DFU_DEBUG true
+
 UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
 {
    m_config = new Ui_UploaderWidget();
@ -89,6 +91,20 @@ void UploaderGadgetWidget::getSerialPorts()
 }


+QString UploaderGadgetWidget::getPortDevice(const QString &friendName)
+{
+    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
+    foreach( QextPortInfo port, ports ) {
+           if(port.friendName == friendName)
+#ifdef Q_OS_WIN
+            return port.portName;
+#else
+            return port.physName;
+#endif
+        }
+    return "";
+}
+

 /**
  Enables widget buttons if autopilot connected
@ -96,6 +112,9 @@ void UploaderGadgetWidget::getSerialPorts()
 void UploaderGadgetWidget::onAutopilotConnect(){
    m_config->haltButton->setEnabled(true);
    m_config->resetButton->setEnabled(true);
+    m_config->bootButton->setEnabled(false);
+    m_config->rescueButton->setEnabled(false);
+    m_config->telemetryLink->setEnabled(false);
 }

 /**
@ -104,6 +123,9 @@ void UploaderGadgetWidget::onAutopilotConnect(){
 void UploaderGadgetWidget::onAutopilotDisconnect(){
    m_config->haltButton->setEnabled(false);
    m_config->resetButton->setEnabled(false);
+    m_config->bootButton->setEnabled(true);
+    m_config->rescueButton->setEnabled(true);
+    m_config->telemetryLink->setEnabled(true);
 }


@ -161,16 +183,22 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
    case IAP_STEP_RESET:
    {
        currentStep = IAP_STATE_READY;
-        if (success) {
-            log("Oops, unexpected success step 3");
+        if (!success) {
+            log("Oops, failure step 3");
            log("Reset did NOT happen");
            disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
            break;
        }
        // The board is now reset: we have to disconnect telemetry
        Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
+        QString dli = cm->getCurrentDevice().devName;
+        QString dlj = cm->getCurrentDevice().displayedName;
        cm->disconnectDevice();
        log("Board Reset");
+        if (dlj.startsWith("USB"))
+            m_config->telemetryLink->setCurrentIndex(m_config->telemetryLink->findText("USB"));
+        else
+            m_config->telemetryLink->setCurrentIndex(m_config->telemetryLink->findText(dli));

        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
        disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
@ -183,9 +211,16 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
        cnx->suspendPolling();

        // Tell the mainboard to get into bootloader state:
-        log("Going into Bootloader mode...");
-        if (!dfu)
-            dfu = new DFUObject(false, false, QString());
+        log("Going into Bootloader mode, please wait 5 seconds...");
+        this->repaint();
+           delay::msleep(5000); // Required to let the board settle, otherwise we
+                                // get garbage on the USB HID pipe for the 1st request. Why ???
+        if (!dfu) {
+            if (dlj.startsWith("USB"))
+                dfu = new DFUObject(DFU_DEBUG, false, QString());
+            else
+                dfu = new DFUObject(DFU_DEBUG,true, getPortDevice(dli));
+        }
        dfu->AbortOperation();
        if(!dfu->enterDFU(0))
        {
@ -210,9 +245,12 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
            dw->populate();
            m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
        }
+        /*  (done already by autopilot disconnect signal)
        m_config->haltButton->setEnabled(false);
        m_config->resetButton->setEnabled(false);
-        //m_config->bootButton->setEnabled(true);
+        m_config->bootButton->setEnabled(true);
+        */
+        m_config->telemetryLink->setEnabled(false);
        m_config->rescueButton->setEnabled(false);
    }
        break;
@ -241,41 +279,58 @@ void UploaderGadgetWidget::systemReset()
  */
 void UploaderGadgetWidget::systemBoot()
 {
-    if (currentStep == IAP_STATE_BOOTLOADER) {
-        clearLog();
-        if (!dfu)
-            dfu = new DFUObject(true, false, QString());
-        dfu->AbortOperation();
-        if(!dfu->enterDFU(0))
-        {
-            log("Could not enter DFU mode.");
-            return;
-        }
-        log("Booting system...");
-        dfu->JumpToApp();
-        currentStep = IAP_STATE_READY;
-        // Restart the polling thread
+    clearLog();
+    if (currentStep != IAP_STATE_BOOTLOADER) {
+        log("Did not go into bootloader from this interface");
+        log("I assume you know what you're doing...");
+        this->repaint();
+        // Stop the polling thread just in case (really necessary)
        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
        RawHIDConnection *cnx =  pm->getObject<RawHIDConnection>();
-        cnx->resumePolling();
-        // m_config->bootButton->setEnabled(false);
-        m_config->haltButton->setEnabled(true);
-        m_config->resetButton->setEnabled(true);
-        m_config->rescueButton->setEnabled(true);
-        m_config->boardStatus->setText("Running");
+        cnx->suspendPolling();
+    }
+
+    QString devName = m_config->telemetryLink->currentText();
+
+    if (!dfu) {
+        if (devName == "USB")
+            dfu = new DFUObject(DFU_DEBUG, false, QString());
+        else
+            dfu = new DFUObject(DFU_DEBUG,true,getPortDevice(devName));
+    }
+    dfu->AbortOperation();
+    if(!dfu->enterDFU(0))
+    {
+        log("Could not enter DFU mode.");
+        delete dfu;
+        dfu = NULL;
+        return;
+    }
+    log("Booting system...");
+    dfu->JumpToApp();
+    // Restart the polling thread
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    RawHIDConnection *cnx =  pm->getObject<RawHIDConnection>();
+    cnx->resumePolling();
+    // m_config->bootButton->setEnabled(false);
+    //m_config->haltButton->setEnabled(true);
+    //m_config->resetButton->setEnabled(true);
+    m_config->rescueButton->setEnabled(true);
+    m_config->telemetryLink->setEnabled(true);
+    m_config->boardStatus->setText("Running");
+    if (currentStep == IAP_STATE_BOOTLOADER) {
        // Freeze the tabs, they are not useful anymore and their buttons
        // will cause segfaults or weird stuff if we use them.
        for (int i=0; i< m_config->systemElements->count(); i++) {
             deviceWidget *qw = (deviceWidget*)m_config->systemElements->widget(i);
             qw->freeze();
        }
-
-        delete dfu;
-        dfu = NULL;
-
-    } else {
-        log("Not in bootloader mode!");
    }
+    currentStep = IAP_STATE_READY;
+    log("You can now reconnect telemetry...");
+    delete dfu;
+    dfu = NULL;
+
 }

 /**
@ -327,7 +382,7 @@ void UploaderGadgetWidget::systemRescue()
    case RESCUE_STEP3:
        log("... Detecting Mainboard...");
        repaint();
-        dfu = new DFUObject(true, false, QString());
+        dfu = new DFUObject(DFU_DEBUG, false, QString());
        dfu->AbortOperation();
        if(!dfu->enterDFU(0))
        {
--- a/ground/src/plugins/uploader/uploadergadgetwidget.h
+++ b/ground/src/plugins/uploader/uploadergadgetwidget.h
@ -74,6 +74,7 @@ private:
     bool resetOnly;
     void log(QString str);
     void clearLog();
+     QString getPortDevice(const QString &friendName);

     QLineEdit* openFileNameLE;