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Fix bugs in external flash flashing #2826

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Merged
merged 3 commits into from
Apr 4, 2022
Merged

Fix bugs in external flash flashing #2826

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f461e58
px4uploader: correct external flash crc checks
andyp1per Mar 31, 2022
7f1e163
Firmware: report on timeouts, communicate correctly with external flash
andyp1per Mar 31, 2022
b2a8511
px4uploader: fix erroneous check
andyp1per Apr 4, 2022
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15 changes: 13 additions & 2 deletions ExtLibs/px4uploader/Firmware.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ public static Firmware ProcessFirmware(string path)
Console.WriteLine("extf_image_size {0} size {1}", fw.extf_image_size, size);

// pad image to 4-byte length
while ((fw.imagebyte.Length % 4) != 0)
while ((fw.extf_imagebyte.Length % 4) != 0)
{
Array.Resize(ref fw.extf_imagebyte, fw.extf_imagebyte.Length + (4 - (fw.extf_imagebyte.Length % 4)));
}
Expand All @@ -170,7 +170,18 @@ public int crc(int padlen)
{
uint state = __crc32(imagebyte, 0);

for (int i = imagebyte.Length; i < (padlen -1); i += 4)
for (int i = imagebyte.Length; i < (padlen - 1); i += 4)
{
state = __crc32(crcpad, state);
}
return (int)state;
}

public int extf_crc(int padlen)
{
uint state = __crc32(extf_imagebyte, 0);

for (int i = extf_imagebyte.Length; i < (padlen - 1); i += 4)
{
state = __crc32(crcpad, state);
}
Expand Down
149 changes: 114 additions & 35 deletions ExtLibs/px4uploader/Uploader.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -464,7 +464,7 @@ public void __getSync()
while(port.BytesToRead == 0)
{
if (DateTime.Now > deadline)
throw new TimeoutException("timeout waiting for responce");
throw new TimeoutException("timeout waiting for response");
Thread.Yield();
}

Expand Down Expand Up @@ -500,6 +500,8 @@ public bool __trySync()
byte c = __recv()[0];
if (c != (byte)Code.INSYNC)
return false;

c = __recv()[0];
if (c != (byte)Code.OK)
return false;

Expand All @@ -522,38 +524,48 @@ public void __erase()
__getInfo(Info.BL_REV);

__send(new byte[] { (byte)Code.CHIP_ERASE, (byte)Code.EOC });
DateTime deadline = DateTime.Now.AddSeconds(20);
while (DateTime.Now < deadline)
{
System.Threading.Thread.Sleep(100);
if (port.BytesToRead > 0)
{
Console.WriteLine("__erase btr "+ port.BytesToRead);
break;
}
}
__wait_for_bytes(1, 20);

__getSync();
}

public void __erase_extf()
public void __erase_extf(Firmware fw)
{
__sync();

// fix for bootloader bug - must see a sync and a get_device
__getInfo(Info.BL_REV);

__send(new byte[] { (byte)Code.EXTF_ERASE, (byte)Code.EOC });
DateTime deadline = DateTime.Now.AddSeconds(20);
while (DateTime.Now < deadline)
byte[] size_bytes = BitConverter.GetBytes(fw.extf_image_size);

__send(new byte[] {(byte)Code.EXTF_ERASE,
size_bytes[0], size_bytes[1], size_bytes[2], size_bytes[3],
(byte) Code.EOC});

__getSync();

int last_pct = 0;
while (true)
{
System.Threading.Thread.Sleep(100);
if (port.BytesToRead > 0)
if (last_pct < 95)
{
int pct = __recv()[0];
if (last_pct != pct)
{
last_pct = pct;

if (ProgressEvent != null)
ProgressEvent(pct);
}
}
else if (__trySync())
{
Console.WriteLine("__erase_extf btr " + port.BytesToRead);
if (ProgressEvent != null)
ProgressEvent(100);

break;
}
}
__getSync();
}

public void __program_multi_extf(byte[] data)
Expand Down Expand Up @@ -589,6 +601,21 @@ public bool __verify_multi(byte[] data)
return true;
}

bool __wait_for_bytes(int num_bytes, int timeout_secs)
{
DateTime deadline = DateTime.Now.AddSeconds(timeout_secs);
while (DateTime.Now < deadline)
{
port.BaseStream.Flush();
if (port.BytesToRead >= num_bytes)
{
return true;
}
Thread.Yield();
}
return false;
}

bool isMatch(byte[] d1, byte[] d2)
{
if (d1.Length != d2.Length)
Expand Down Expand Up @@ -727,9 +754,34 @@ public void __verify_v3(Firmware fw)

public void __verify_extf(Firmware fw)
{
int expect_crc = fw.crc(self.extf_maxsize);
int expect_crc = fw.extf_crc(fw.extf_image_size);

byte[] size_bytes = BitConverter.GetBytes(fw.extf_image_size);

__send(new byte[] {(byte)Code.EXTF_GET_CRC,
(byte) Code.EOC});
size_bytes[0], size_bytes[1], size_bytes[2], size_bytes[3],
(byte) Code.EOC});

DateTime deadline = DateTime.Now.AddSeconds(10);
while (DateTime.Now < deadline)
{
port.BaseStream.Flush();
if (port.BytesToRead >= 4)
{
if (ProgressEvent != null)
ProgressEvent(100);
break;
}
if (ProgressEvent != null)
{
TimeSpan ts = new TimeSpan(deadline.Ticks - DateTime.Now.Ticks);
ProgressEvent(((10.0 - ts.TotalSeconds) / 10.0) * 100.0);
}
Thread.Yield();
}

__wait_for_bytes(4, 20);

int report_crc = __recv_int();
__getSync();

Expand All @@ -742,25 +794,52 @@ public void __verify_extf(Firmware fw)
}



public void currentChecksum(Firmware fw)
{
if (self.bl_rev < 3)
return;

__sync();

this.port.ReadTimeout = 1000; // 1 sec

int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] {(byte)Code.GET_CRC,
(byte) Code.EOC});
int report_crc = __recv_int();
self.__getSync();
if (self.fw_maxsize > 0 && false)
{
int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] {(byte)Code.GET_CRC,
(byte) Code.EOC});
int report_crc = __recv_int();
self.__getSync();

print("FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
print("FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);

if (expect_crc == report_crc)
throw new Exception("Same Firmware. Not uploading");
}

if (self.extf_maxsize > 0)
{
int expect_crc = fw.extf_crc(fw.extf_image_size);

if (expect_crc == report_crc)
throw new Exception("Same Firmware. Not uploading");
byte[] size_bytes = BitConverter.GetBytes(fw.extf_image_size);

__send(new byte[] {(byte)Code.EXTF_GET_CRC,
size_bytes[0], size_bytes[1], size_bytes[2], size_bytes[3],
(byte) Code.EOC});

// crc can be slow, give it 10s
__wait_for_bytes(4, 30);

int report_crc = __recv_int();
self.__getSync();

print("Ext FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);

if (expect_crc == report_crc)
throw new Exception("Same Firmware. Not uploading");
}
}

public void identify()
Expand Down Expand Up @@ -847,11 +926,11 @@ public void upload(Firmware fw)
}
if(fw.extf_image_size > 0)
{
print("erase...");
self.__erase_extf();
print("program...");
print("erase extf...");
self.__erase_extf(fw);
print("program extf...");
self.__program_extf(fw);
print("verify...");
print("verify extf...");
self.__verify_extf(fw);
}

Expand Down
12 changes: 10 additions & 2 deletions Utilities/Firmware.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -705,9 +705,9 @@ public bool UploadPX4(string filename, BoardDetect.boards board)

updateProgress(-1, port + " Identify");
log.InfoFormat(
"Found board type {0} brdrev {1} blrev {2} fwmax {3} chip {5:X} chipdes {6} on {4}",
"Found board type {0} brdrev {1} blrev {2} fwmax {3} chip {5:X} chipdes {6} on {4} extmax {7}",
up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port, up.chip, up.chip_desc);
up.board_rev, up.bl_rev, up.fw_maxsize, port, up.chip, up.chip_desc, up.extf_maxsize);

up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
Expand Down Expand Up @@ -746,6 +746,14 @@ public bool UploadPX4(string filename, BoardDetect.boards board)
result = false;
return false;
}
catch (TimeoutException ex)
{
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "comms timeout");
uploader.close();
result = false;
return false;
}
catch
{
uploader.__reboot();
Expand Down