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OP-35 Big refactor and update of the DFU object. Upload/download operations are now asynchronous and do not freeze the UI. Firmware download implemented. More details and explanations for each step of operations.

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I have updated the firmware on my mainboard with success several times on this, but it might very well destroy your board right away, just be cautious!



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2083 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-11-06 14:17:21 +00:00 committed by edouard
parent 1de296ec83
commit f1c31d422e
9 changed files with 420 additions and 169 deletions
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81
ground/src/plugins/uploader/devicewidget.cpp
View File

@ -41,7 +41,7 @@ void deviceWidget::setDeviceID(int devID){
deviceID = devID;
}
void deviceWidget::setDfu(OP_DFU *dfu)
void deviceWidget::setDfu(DFUObject *dfu)
{
m_dfu = dfu;
}
@ -116,22 +116,16 @@ void deviceWidget::uploadFirmware()
return;
}
status("Uploading firmware to device");
repaint(); // FW Upload is not threaded and will mostly freeze the UI...
status("Starting firmware upload.");
connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
OP_DFU::Status retstatus = m_dfu->UploadFirmware(filename.toAscii(),verify, deviceID);
if(retstatus != OP_DFU::Last_operation_Success) {
status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data());
connect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(status(QString)));
connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
bool retstatus = m_dfu->UploadFirmware(filename.toAscii(),verify, deviceID);
if(!retstatus ) {
status("Could not start upload");
return;
} else
if(!myDevice->description->text().isEmpty()) {
retstatus = m_dfu->UploadDescription(myDevice->description->text());
if( retstatus != OP_DFU::Last_operation_Success) {
status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data());
return;
}
}
status("Uploading Succeded!");
status("Uploading, please wait...");
}
/**
@ -144,13 +138,62 @@ void deviceWidget::downloadFirmware()
return;
}
/*
qint32 size=((OP_DFU::device)dfu.devices[device]).SizeOfCode;
bool ret=dfu.SaveByteArrayToFile(file.toAscii(),dfu.StartDownload(size,OP_DFU::FW));
return ret;
*/
myDevice->retrieveButton->setEnabled(false);
filename = setOpenFileName();
if (filename.isEmpty()) {
status("Empty filename");
return;
}
status("Downloading firmware from device");
connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
connect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished()));
downloadedFirmware.clear(); // Empty the byte array
bool ret = m_dfu->DownloadFirmware(&downloadedFirmware,deviceID);
if(!ret) {
status(QString("Could not start download!"));
return;
}
status("Download started, please wait");
}
/**
Callback for the firmware download result
*/
void deviceWidget::downloadFinished()
{
disconnect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished()));
status("Download successful");
// Now save the result (use the utility function from OP_DFU)
m_dfu->SaveByteArrayToFile(filename, downloadedFirmware);
myDevice->retrieveButton->setEnabled(true);
}
/**
Callback for the firmware upload result
*/
void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
{
disconnect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
if(retstatus != OP_DFU::Last_operation_Success) {
status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data());
return;
} else
if(!myDevice->description->text().isEmpty()) {
status(QString("Updating description"));
repaint(); // Make sure the text above shows right away
retstatus = m_dfu->UploadDescription(myDevice->description->text());
if( retstatus != OP_DFU::Last_operation_Success) {
status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data());
return;
}
}
status("Upload successful");
}
/**
Slot to update the progress bar
*/

11
ground/src/plugins/uploader/devicewidget.h
View File

@ -33,6 +33,7 @@
#include <QWidget>
#include <QFileDialog>
using namespace OP_DFU;
class deviceWidget : public QWidget
{
@ -40,7 +41,7 @@ class deviceWidget : public QWidget
public:
deviceWidget(QWidget *parent = 0);
void setDeviceID(int devID);
void setDfu(OP_DFU* dfu);
void setDfu(DFUObject* dfu);
void populate();
void freeze();
QString setOpenFileName();
@ -48,8 +49,9 @@ public:
private:
Ui_deviceWidget *myDevice;
int deviceID;
OP_DFU *m_dfu;
void status(QString str);
DFUObject *m_dfu;
QByteArray downloadedFirmware;
QString filename;
signals:
@ -58,6 +60,9 @@ public slots:
void uploadFirmware();
void downloadFirmware();
void setProgress(int);
void downloadFinished();
void uploadFinished(OP_DFU::Status);
void status(QString str);
};

11
ground/src/plugins/uploader/devicewidget.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>516</width>
<height>236</height>
<height>253</height>
</rect>
</property>
<property name="windowTitle">
@ -72,6 +72,9 @@
</item>
<item row="5" column="2">
<widget class="QPushButton" name="verifyButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Verify...</string>
</property>
@ -79,6 +82,9 @@
</item>
<item row="6" column="2">
<widget class="QPushButton" name="updateButton">
<property name="toolTip">
<string>Update the firmware on this board.</string>
</property>
<property name="text">
<string>Update...</string>
</property>
@ -86,6 +92,9 @@
</item>
<item row="7" column="2">
<widget class="QPushButton" name="retrieveButton">
<property name="toolTip">
<string>Download the current board firmware to your computer</string>
</property>
<property name="text">
<string>Retrieve...</string>
</property>

320
ground/src/plugins/uploader/op_dfu.cpp
View File

@ -1,10 +1,14 @@
#include "op_dfu.h"
#include <cmath>
#include <qwaitcondition.h>
#include <QMutex>
#include <QMetaType>
OP_DFU::OP_DFU(bool _debug): debug(_debug)
using namespace OP_DFU;
DFUObject::DFUObject(bool _debug): debug(_debug)
{
qRegisterMetaType<OP_DFU::Status>("Status");
send_delay=10;
use_delay=true;
int numDevices=0;
@ -24,12 +28,12 @@ OP_DFU::OP_DFU(bool _debug): debug(_debug)
qDebug() << numDevices << " device(s) opened";
}
OP_DFU::~OP_DFU()
DFUObject::~DFUObject()
{
}
bool OP_DFU::SaveByteArrayToFile(QString const & sfile, const QByteArray &array)
bool DFUObject::SaveByteArrayToFile(QString const & sfile, const QByteArray &array)
{
QFile file(sfile);
if (!file.open(QIODevice::WriteOnly))
@ -43,19 +47,19 @@ bool OP_DFU::SaveByteArrayToFile(QString const & sfile, const QByteArray &array)
return true;
}
bool OP_DFU::enterDFU(int const &devNumber)
bool DFUObject::enterDFU(int const &devNumber)
{
char buf[BUF_LEN];
buf[0] =0x02;//reportID
buf[1] = OP_DFU::EnterDFU;//DFU Command
buf[2] = 0;//DFU Count
buf[3] = 0;//DFU Count
buf[4] = 0;//DFU Count
buf[5] = 0;//DFU Count
buf[6] = devNumber;//DFU Data0
buf[7] = 1;//DFU Data1
buf[8] = 1;//DFU Data2
buf[9] = 1;//DFU Data3
buf[0] =0x02; //reportID
buf[1] = OP_DFU::EnterDFU; //DFU Command
buf[2] = 0; //DFU Count
buf[3] = 0; //DFU Count
buf[4] = 0; //DFU Count
buf[5] = 0; //DFU Count
buf[6] = devNumber; //DFU Data0
buf[7] = 1; //DFU Data1
buf[8] = 1; //DFU Data2
buf[9] = 1; //DFU Data3
int result = hidHandle.send(0,buf, BUF_LEN, 500);
if(result<1)
@ -64,7 +68,13 @@ bool OP_DFU::enterDFU(int const &devNumber)
qDebug() << "EnterDFU: " << result << " bytes sent";
return true;
}
bool OP_DFU::StartUpload(qint32 const & numberOfBytes, TransferTypes const & type,quint32 crc)
/**
Tells the board to get ready for an upload. It will in particular
erase the memory to make room for the data. You will have to query
its status to wait until erase is done before doing the actual upload.
*/
bool DFUObject::StartUpload(qint32 const & numberOfBytes, TransferTypes const & type,quint32 crc)
{
int lastPacketCount;
qint32 numberOfPackets=numberOfBytes/4/14;
@ -102,7 +112,13 @@ bool OP_DFU::StartUpload(qint32 const & numberOfBytes, TransferTypes const & typ
}
return false;
}
bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray & data)
/**
Does the actual data upload to the board. Needs to be called once the
board is ready to accept data following a StartUpload command, and it is erased.
*/
bool DFUObject::UploadData(qint32 const & numberOfBytes, QByteArray & data)
{
int lastPacketCount;
qint32 numberOfPackets=numberOfBytes/4/14;
@ -167,7 +183,7 @@ bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray & data)
// while(true){}
return true;
}
OP_DFU::Status OP_DFU::UploadDescription(QString description)
OP_DFU::Status DFUObject::UploadDescription(QString description)
{
cout<<"Starting uploading description\n";
if(description.length()%4!=0)
@ -198,49 +214,101 @@ OP_DFU::Status OP_DFU::UploadDescription(QString description)
}
QString OP_DFU::DownloadDescription(int const & numberOfChars)
/**
Downloads the description string for the current device.
You have to call enterDFU before calling this function.
*/
QString DFUObject::DownloadDescription(int const & numberOfChars)
{
// enterDFU(devNumber);
QByteArray arr=StartDownload(numberOfChars,Descript);
QByteArray arr;
StartDownloadT(&arr, numberOfChars,OP_DFU::Descript);
QString str(arr);
return str;
}
/**
Starts a firmware download
@param firmwareArray: pointer to the location where we should store the firmware
@package device: the device to use for the download
*/
bool DFUObject::DownloadFirmware(QByteArray *firmwareArray, int device)
{
QByteArray OP_DFU::StartDownload(qint32 const & numberOfBytes, TransferTypes const & type)
if (isRunning())
return false;
requestedOperation = OP_DFU::Download;
requestSize = devices[device].SizeOfCode;
requestTransferType = OP_DFU::FW;
requestStorage = firmwareArray;
start();
return true;
}
/**
Runs the upload or download operations.
*/
void DFUObject::run()
{
switch (requestedOperation) {
case OP_DFU::Download:
StartDownloadT(requestStorage, requestSize, requestTransferType);
emit(downloadFinished());
break;
case OP_DFU::Upload: {
OP_DFU::Status ret = UploadFirmwareT(requestFilename, requestVerify, requestDevice);
emit(uploadFinished(ret));
break;
}
default:
break;
}
return;
}
/**
Downloads a certain number of bytes from a certain location, and stores in an array whose
pointer is passed as an argument
*/
bool DFUObject::StartDownloadT(QByteArray *fw, qint32 const & numberOfBytes, TransferTypes const & type)
{
int lastPacketCount;
qint32 numberOfPackets=numberOfBytes/4/14;
int pad=(numberOfBytes-numberOfPackets*4*14)/4;
if(pad==0)
{
// First of all, work out the number of DFU packets we should ask for:
qint32 numberOfPackets = numberOfBytes/4/14;
int pad = (numberOfBytes-numberOfPackets*4*14)/4;
if(pad == 0) {
lastPacketCount=14;
}
else
{
else {
++numberOfPackets;
lastPacketCount=pad;
}
QByteArray ret;
char buf[BUF_LEN];
buf[0] =0x02;//reportID
buf[1] = OP_DFU::Download_Req;//DFU Command
buf[2] = numberOfPackets>>24;//DFU Count
buf[3] = numberOfPackets>>16;//DFU Count
buf[4] = numberOfPackets>>8;//DFU Count
buf[5] = numberOfPackets;//DFU Count
buf[6] = (int)type;//DFU Data0
buf[7] = lastPacketCount;//DFU Data1
buf[8] = 1;//DFU Data2
buf[9] = 1;//DFU Data3
buf[0] = 0x02; //reportID
buf[1] = OP_DFU::Download_Req; //DFU Command
buf[2] = numberOfPackets>>24; //DFU Count
buf[3] = numberOfPackets>>16; //DFU Count
buf[4] = numberOfPackets>>8; //DFU Count
buf[5] = numberOfPackets; //DFU Count
buf[6] = (int)type; //DFU Data0
buf[7] = lastPacketCount; //DFU Data1
buf[8] = 1; //DFU Data2
buf[9] = 1; //DFU Data3
int result = hidHandle.send(0,buf, BUF_LEN, 500);
if(debug)
qDebug() << "StartDownload:"<<numberOfPackets<<"packets"<<" Last Packet Size="<<lastPacketCount<<" "<<result << " bytes sent";
float percentage;
int laspercentage;
// Now get those packets:
for(qint32 x=0;x<numberOfPackets;++x)
{
percentage=(float)(x+1)/numberOfPackets*100;
@ -248,8 +316,6 @@ QByteArray OP_DFU::StartDownload(qint32 const & numberOfBytes, TransferTypes con
printProgBar((int)percentage,"DOWNLOADING");
laspercentage=(int)percentage;
// qDebug()<<"Status="<<StatusToString(StatusRequest());
result = hidHandle.receive(0,buf,BUF_LEN,5000);
if(debug)
qDebug() << result << " bytes received"<<" Count="<<x<<"-"<<(int)buf[2]<<";"<<(int)buf[3]<<";"<<(int)buf[4]<<";"<<(int)buf[5]<<" Data="<<(int)buf[6]<<";"<<(int)buf[7]<<";"<<(int)buf[8]<<";"<<(int)buf[9];
@ -258,18 +324,22 @@ QByteArray OP_DFU::StartDownload(qint32 const & numberOfBytes, TransferTypes con
size=lastPacketCount*4;
else
size=14*4;
ret.append(buf+6,size);
fw->append(buf+6,size);
}
cout<<"\n";
StatusRequest();
return ret;
return true;
}
int OP_DFU::ResetDevice(void)
/**
Resets the device
*/
int DFUObject::ResetDevice(void)
{
char buf[BUF_LEN];
buf[0] =0x02;//reportID
buf[1] = OP_DFU::Reset;//DFU Command
buf[0] =0x02; //reportID
buf[1] = OP_DFU::Reset; //DFU Command
buf[2] = 0;
buf[3] = 0;
buf[4] = 0;
@ -281,7 +351,7 @@ int OP_DFU::ResetDevice(void)
return hidHandle.send(0,buf, BUF_LEN, 500);
}
int OP_DFU::AbortOperation(void)
int DFUObject::AbortOperation(void)
{
char buf[BUF_LEN];
buf[0] =0x02;//reportID
@ -297,7 +367,7 @@ int OP_DFU::AbortOperation(void)
return hidHandle.send(0,buf, BUF_LEN, 500);
}
int OP_DFU::JumpToApp()
int DFUObject::JumpToApp()
{
char buf[BUF_LEN];
buf[0] =0x02;//reportID
@ -314,11 +384,11 @@ int OP_DFU::JumpToApp()
return hidHandle.send(0,buf, BUF_LEN, 500);
}
OP_DFU::Status OP_DFU::StatusRequest()
OP_DFU::Status DFUObject::StatusRequest()
{
char buf[BUF_LEN];
buf[0] =0x02;//reportID
buf[1] = OP_DFU::Status_Request;//DFU Command
buf[0] =0x02; //reportID
buf[1] = OP_DFU::Status_Request; //DFU Command
buf[2] = 0;
buf[3] = 0;
buf[4] = 0;
@ -342,12 +412,15 @@ OP_DFU::Status OP_DFU::StatusRequest()
return OP_DFU::abort;
}
bool OP_DFU::findDevices()
/**
Ask the bootloader for the list of devices available
*/
bool DFUObject::findDevices()
{
devices.clear();
char buf[BUF_LEN];
buf[0] =0x02;//reportID
buf[1] = OP_DFU::Req_Capabilities;//DFU Command
buf[0] =0x02; //reportID
buf[1] = OP_DFU::Req_Capabilities; //DFU Command
buf[2] = 0;
buf[3] = 0;
buf[4] = 0;
@ -379,8 +452,8 @@ bool OP_DFU::findDevices()
dev.Readable=(bool)(RWFlags>>(x*2) & 1);
dev.Writable=(bool)(RWFlags>>(x*2+1) & 1);
devices.append(dev);
buf[0] =0x02;//reportID
buf[1] = OP_DFU::Req_Capabilities;//DFU Command
buf[0] =0x02; //reportID
buf[1] = OP_DFU::Req_Capabilities; //DFU Command
buf[2] = 0;
buf[3] = 0;
buf[4] = 0;
@ -412,7 +485,7 @@ bool OP_DFU::findDevices()
}
if(debug)
{
qDebug()<<"Found "<<numberOfDevices;
qDebug() << "Found " << numberOfDevices << " devices";
for(int x=0;x<numberOfDevices;++x)
{
qDebug()<<"Device #"<<x+1;
@ -428,7 +501,9 @@ bool OP_DFU::findDevices()
}
return true;
}
bool OP_DFU::EndOperation()
bool DFUObject::EndOperation()
{
char buf[BUF_LEN];
buf[0] =0x02;//reportID
@ -450,19 +525,42 @@ bool OP_DFU::EndOperation()
return true;
return false;
}
OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify,int device)
//
/**
Starts a firmware upload (asynchronous)
*/
bool DFUObject::UploadFirmware(const QString &sfile, const bool &verify,int device)
{
if (isRunning())
return false;
requestedOperation = OP_DFU::Upload;
requestFilename = sfile;
requestDevice = device;
requestVerify = verify;
start();
return true;
}
OP_DFU::Status DFUObject::UploadFirmwareT(const QString &sfile, const bool &verify,int device)
{
OP_DFU::Status ret;
cout<<"Starting Firmware Uploading...\n";
if (debug)
qDebug() <<"Starting Firmware Uploading...";
QFile file(sfile);
//QFile file("in.txt");
if (!file.open(QIODevice::ReadOnly))
{
if(debug)
qDebug()<<"Cant open file";
return OP_DFU::abort;
}
QByteArray arr=file.readAll();
QByteArray arr = file.readAll();
if(debug)
qDebug()<<"Bytes Loaded="<<arr.length();
@ -474,36 +572,46 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify,i
pad=pad-arr.length();
arr.append(QByteArray(pad,255));
}
if(devices[device].SizeOfCode<arr.length())
if( devices[device].SizeOfCode < arr.length())
{
cout<<"ERROR file to big for device\n";
if (debug)
qDebug() << "ERROR file to big for device";
return OP_DFU::abort;;
}
quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode);
cout<<"NEW FIRMWARE CRC="<<crc<<"\n";
if(!StartUpload(arr.length(),FW,crc))
if (debug)
qDebug() << "NEW FIRMWARE CRC=" << crc;
if( !StartUpload(arr.length(), OP_DFU::FW, crc))
{
if(debug)
{
qDebug()<<"StartUpload failed";
OP_DFU::Status ret=StatusRequest();
qDebug()<<"StartUpload returned:"<< StatusToString(ret);
qDebug() << "StartUpload failed";
OP_DFU::Status ret = StatusRequest();
qDebug() << "StartUpload returned:" << StatusToString(ret);
}
return OP_DFU::abort;
}
cout<<"Erasing memory\n";
if(StatusRequest()==OP_DFU::abort) return OP_DFU::abort;
for(int x=0;x<3;++x)
{
OP_DFU::Status ret=StatusRequest();
if(debug)
qDebug()<<"Erase returned:"<<StatusToString(ret);
if (ret==OP_DFU::uploading)
emit operationProgress(QString("Erasing memory, please wait..."));
if (debug) qDebug() << "Erasing memory";
if( StatusRequest() == OP_DFU::abort) return OP_DFU::abort;
// TODO: why is there a loop there? The "if" statement
// will cause a break or return anyway!!
for (int x = 0; x < 3; ++x) {
OP_DFU::Status ret = StatusRequest();
if (debug) qDebug() << "Erase returned: " << StatusToString(ret);
if (ret == OP_DFU::uploading)
break;
else
return OP_DFU::abort;
}
if(!UploadData(arr.length(),arr))
emit operationProgress(QString("Uploading firmware"));
if( !UploadData(arr.length(),arr))
{
if(debug)
{
@ -534,8 +642,11 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify,i
}
if(verify)
{
emit operationProgress(QString("Verifying firmware"));
cout<<"Starting code verification\n";
if(arr==StartDownload(arr.length(),OP_DFU::FW))
QByteArray arr2;
StartDownloadT(&arr2, arr.length(),OP_DFU::FW);
if (arr == arr2 )
cout<<"Verify:PASSED\n";
else
{
@ -552,7 +663,10 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify,i
cout<<"Firmware Uploading succeeded\n";
return ret;
}
OP_DFU::Status OP_DFU::CompareFirmware(const QString &sfile, const CompareType &type,int device)
OP_DFU::Status DFUObject::CompareFirmware(const QString &sfile, const CompareType &type,int device)
{
cout<<"Starting Firmware Compare...\n";
QFile file(sfile);
@ -589,7 +703,9 @@ OP_DFU::Status OP_DFU::CompareFirmware(const QString &sfile, const CompareType &
}
else
{
if(arr==StartDownload(arr.length(),OP_DFU::FW))
QByteArray arr2;
StartDownloadT(&arr2, arr.length(), OP_DFU::FW);
if(arr == arr2)
{
cout<<"Compare Successfull ALL Bytes MATCH!\n";
}
@ -601,7 +717,7 @@ OP_DFU::Status OP_DFU::CompareFirmware(const QString &sfile, const CompareType &
}
}
void OP_DFU::CopyWords(char *source, char *destination, int count)
void DFUObject::CopyWords(char *source, char *destination, int count)
{
for (int x=0;x<count;x=x+4)
{
@ -611,7 +727,7 @@ void OP_DFU::CopyWords(char *source, char *destination, int count)
*(destination+x+3)=source[x+0];
}
}
QString OP_DFU::StatusToString(OP_DFU::Status const & status)
QString DFUObject::StatusToString(OP_DFU::Status const & status)
{
switch(status)
{
@ -648,26 +764,32 @@ QString OP_DFU::StatusToString(OP_DFU::Status const & status)
}
}
void OP_DFU::printProgBar( int const & percent,QString const& label){
/**
Prints a progress bar with percentage & label during an operation.
*/
void DFUObject::printProgBar( int const & percent,QString const& label){
std::string bar;
emit(progressUpdated(percent));
for(int i = 0; i < 50; i++){
if( i < (percent/2)){
bar.replace(i,1,"=");
}else if( i == (percent/2)){
bar.replace(i,1,">");
}else{
bar.replace(i,1," ");
if (debug) {
for(int i = 0; i < 50; i++){
if( i < (percent/2)){
bar.replace(i,1,"=");
}else if( i == (percent/2)){
bar.replace(i,1,">");
}else{
bar.replace(i,1," ");
}
}
}
std::cout<< "\r"<<label.toLatin1().data()<< "[" << bar << "] ";
std::cout.width( 3 );
std::cout<< percent << "% " << std::flush;
std::cout<< "\r"<<label.toLatin1().data()<< "[" << bar << "] ";
std::cout.width( 3 );
std::cout<< percent << "% " << std::flush;
}
}
quint32 OP_DFU::CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer)
quint32 DFUObject::CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer)
{
//Size = Size >> 2; // /4 Size passed in as a byte count, assumed to be a multiple of 4
@ -695,7 +817,7 @@ quint32 OP_DFU::CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer)
return(Crc);
}
quint32 OP_DFU::CRCFromQBArray(QByteArray array, quint32 Size)
quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size)
{
int pad=Size-array.length();
array.append(QByteArray(pad,255));

135
ground/src/plugins/uploader/op_dfu.h
View File

@ -5,25 +5,25 @@
#include <rawhid/pjrc_rawhid.h>
#include <QDebug>
#include <QFile>
#include <QCryptographicHash>
#include <QThread>
#include <QMutex>
#include <QMutexLocker>
#include <QMetaType>
#include <QCryptographicHash>
#include <QList>
#include <iostream>
#include "delay.h"
using namespace std;
#define BUF_LEN 64
class OP_DFU : public QObject
{
Q_OBJECT;
public:
namespace OP_DFU {
enum TransferTypes
{
FW,
Descript
};
enum CompareType
{
crccompare,
@ -46,8 +46,8 @@ class OP_DFU : public QObject
CRC_Fail,//11
failed_jump,//12
abort//13
};
enum Actions
{
actionProgram,
@ -89,46 +89,95 @@ class OP_DFU : public QObject
bool Writable;
};
OP_DFU(bool debug);
~OP_DFU();
int JumpToApp();
int ResetDevice(void);
bool enterDFU(int const &devNumber);
bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type,quint32 crc);
bool UploadData(qint32 const & numberOfPackets,QByteArray & data);
Status UploadDescription(QString description);
Status UploadFirmware(const QString &sfile, const bool &verify,int device);
Status StatusRequest();
bool EndOperation();
void printProgBar( int const & percent,QString const& label);
QString DownloadDescription(int const & numberOfChars);
QByteArray StartDownload(qint32 const & numberOfBytes, TransferTypes const & type);
bool SaveByteArrayToFile(QString const & file,QByteArray const &array);
void CopyWords(char * source, char* destination, int count);
// QByteArray DownloadData(int devNumber,int numberOfPackets);
bool findDevices();
QList<device> devices;
int numberOfDevices;
QString StatusToString(OP_DFU::Status const & status);
OP_DFU::Status CompareFirmware(const QString &sfile, const CompareType &type,int device);
quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
quint32 CRCFromQBArray(QByteArray array, quint32 Size);
class DFUObject : public QThread
{
Q_OBJECT;
int send_delay;
bool use_delay;
int AbortOperation(void);
public:
signals:
void progressUpdated(int);
DFUObject(bool debug);
~DFUObject();
private:
bool debug;
int RWFlags;
pjrc_rawhid hidHandle;
int setStartBit(int command){return command|0x20;}
};
// Service commands:
bool enterDFU(int const &devNumber);
bool findDevices();
int JumpToApp();
int ResetDevice(void);
OP_DFU::Status StatusRequest();
bool EndOperation();
int AbortOperation(void);
// Upload (send to device) commands
OP_DFU::Status UploadDescription(QString description);
bool UploadFirmware(const QString &sfile, const bool &verify,int device);
// Download (get from device) commands:
// DownloadDescription is synchronous
QString DownloadDescription(int const & numberOfChars);
// Asynchronous firmware download: initiates fw download,
// and a downloadFinished signal is emitted when download
// if finished:
bool DownloadFirmware(QByteArray *byteArray, int device);
// Comparison functions (is this needed?)
OP_DFU::Status CompareFirmware(const QString &sfile, const CompareType &type,int device);
bool SaveByteArrayToFile(QString const & file,QByteArray const &array);
// Variables:
QList<device> devices;
int numberOfDevices;
int send_delay;
bool use_delay;
// Helper functions:
QString StatusToString(OP_DFU::Status const & status);
quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
signals:
void progressUpdated(int);
void downloadFinished();
void uploadFinished(OP_DFU::Status);
void operationProgress(QString status);
private:
bool debug;
int RWFlags;
pjrc_rawhid hidHandle;
int setStartBit(int command){ return command|0x20; }
quint32 CRCFromQBArray(QByteArray array, quint32 Size);
void CopyWords(char * source, char* destination, int count);
void printProgBar( int const & percent,QString const& label);
bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type,quint32 crc);
bool UploadData(qint32 const & numberOfPackets,QByteArray & data);
// Thread management:
// Same as startDownload except that we store in an external array:
bool StartDownloadT(QByteArray *fw, qint32 const & numberOfBytes, TransferTypes const & type);
OP_DFU::Status UploadFirmwareT(const QString &sfile, const bool &verify,int device);
QMutex mutex;
OP_DFU::Commands requestedOperation;
qint32 requestSize;
OP_DFU::TransferTypes requestTransferType;
QByteArray *requestStorage;
QString requestFilename;
bool requestVerify;
int requestDevice;
protected:
void run();// Executes the upload or download operations
};
}
Q_DECLARE_METATYPE(OP_DFU::Status)
#endif // OP_DFU_H

19
ground/src/plugins/uploader/uploader.ui
View File

@ -88,6 +88,25 @@ Only enabled if the system is halted.</string>
<attribute name="title">
<string>Mainboard</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QTextEdit" name="textEdit">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&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;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;- 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;
&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 resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>

4
ground/src/plugins/uploader/uploadergadget.cpp
View File

@ -44,6 +44,8 @@ UploaderGadget::~UploaderGadget()
*/
void UploaderGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
UploaderGadgetConfiguration *m = qobject_cast< UploaderGadgetConfiguration*>(config);
Q_UNUSED(config);
/* UploaderGadgetConfiguration *m = qobject_cast< UploaderGadgetConfiguration*>(config);
*/
}

4
ground/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -119,7 +119,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
// Tell the mainboard to get into bootloader state:
log("Going into Bootloader mode...");
dfu = new OP_DFU(false);
dfu = new DFUObject(false);
dfu->AbortOperation();
if(!dfu->enterDFU(0))
{
@ -177,7 +177,7 @@ void UploaderGadgetWidget::systemBoot()
if (currentStep == IAP_STATE_BOOTLOADER) {
clearLog();
if (!dfu)
dfu = new OP_DFU(true);
dfu = new DFUObject(true);
dfu->AbortOperation();
if(!dfu->enterDFU(0))
{

4
ground/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -45,6 +45,8 @@
#include <QMessageBox>
using namespace OP_DFU;
class UploaderGadgetWidget : public QWidget
{
Q_OBJECT
@ -57,7 +59,7 @@ public:
private:
Ui_UploaderWidget *m_config;
OP_DFU *dfu;
DFUObject *dfu;
IAPStep currentStep;
bool resetOnly;
void log(QString str);