Merge pull request #5095 from mavlink/pr-new-board-support

Add support for FMUv4PRO and FMUv5 boards

src/VehicleSetup/Bootloader.cc

@@ -96,6 +96,9 @@ bool Bootloader::_getCommandResponse(QextSerialPort* port, int responseTimeout)
     if (response[0] != PROTO_INSYNC) {
         _errorString = tr("Invalid sync response: 0x%1 0x%2").arg(response[0], 2, 16, QLatin1Char('0')).arg(response[1], 2, 16, QLatin1Char('0'));
         return false;
+    } else if (response[0] == PROTO_INSYNC && response[1] == PROTO_BAD_SILICON_REV) {
+        _errorString = tr("This board is using a microcontroller with faulty silicon and an incorrect configuration and should be put out of service.");
+        return false;
     } else if (response[1] != PROTO_OK) {
         QString responseCode = tr("Unknown response code");
         if (response[1] == PROTO_FAILED) {

src/VehicleSetup/Bootloader.h

@@ -64,6 +64,8 @@ public:
     static const int boardIDPX4FMUV1 = 5;       ///< PX4 V1 board, as from USB PID
     static const int boardIDPX4FMUV2 = 9;       ///< PX4 V2 board, as from USB PID
     static const int boardIDPX4FMUV4 = 11;      ///< PX4 V4 board, as from USB PID
+    static const int boardIDPX4FMUV4PRO = 13;      ///< PX4 V4PRO board, as from USB PID
+    static const int boardIDPX4FMUV5 = 50;      ///< PX4 V5 board, as from USB PID
     static const int boardIDPX4Flow = 6;        ///< PX4 Flow board, as from USB PID
     static const int boardIDAeroCore = 98;      ///< Gumstix AeroCore board, as from USB PID
     static const int boardIDAUAVX2_1 = 33;      ///< AUAV X2.1 board, as from USB PID
@@ -98,6 +100,7 @@ private:
     enum {
         // protocol bytes
         PROTO_INSYNC =          0x12,   ///< 'in sync' byte sent before status
+        PROTO_BAD_SILICON_REV = 0x14,   ///< device is using silicon not suitable for the target the bootloader was used for
         PROTO_EOC =             0x20,   ///< end of command
         
         // Reply bytes

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -190,6 +190,22 @@ void FirmwareUpgradeController::_initFirmwareHash()
         return;
     }
 
+    //////////////////////////////////// PX4FMUV5 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgPX4FMV5FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v5_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v5_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v5_default.px4"},
+        { SingleFirmwareMode,StableFirmware,    DefaultVehicleFirmware, _singleFirmwareURL},
+    };
+
+    //////////////////////////////////// PX4FMUV4PRO firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgPX4FMV4PROFirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4pro_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v4pro_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v4pro_default.px4"},
+        { SingleFirmwareMode,StableFirmware,    DefaultVehicleFirmware, _singleFirmwareURL},
+    };
+
     //////////////////////////////////// PX4FMUV4 firmwares //////////////////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FMV4FirmwareArray[] = {
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4_default.px4"},
@@ -330,7 +346,19 @@ void FirmwareUpgradeController::_initFirmwareHash()
     };
 
     // populate hashes now
-    int size = sizeof(rgPX4FMV4FirmwareArray)/sizeof(rgPX4FMV4FirmwareArray[0]);
+    int size = sizeof(rgPX4FMV5FirmwareArray)/sizeof(rgPX4FMV5FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgPX4FMV5FirmwareArray[i];
+        _rgPX4FMUV5Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
+    size = sizeof(rgPX4FMV4PROFirmwareArray)/sizeof(rgPX4FMV4PROFirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgPX4FMV4PROFirmwareArray[i];
+        _rgPX4FMUV4PROFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
+    size = sizeof(rgPX4FMV4FirmwareArray)/sizeof(rgPX4FMV4FirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FMV4FirmwareArray[i];
         _rgPX4FMUV4Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
@@ -415,6 +443,10 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
         return &_rgPX4FMUV2Firmware;
     case Bootloader::boardIDPX4FMUV4:
         return &_rgPX4FMUV4Firmware;
+    case Bootloader::boardIDPX4FMUV4PRO:
+        return &_rgPX4FMUV4PROFirmware;
+    case Bootloader::boardIDPX4FMUV5:
+        return &_rgPX4FMUV5Firmware;
     case Bootloader::boardIDAeroCore:
         return &_rgAeroCoreFirmware;
     case Bootloader::boardIDAUAVX2_1:

src/VehicleSetup/FirmwareUpgradeController.h

@@ -201,6 +201,8 @@ private:
     QString _portDescription;
 
     // firmware hashes
+    QHash<FirmwareIdentifier, QString> _rgPX4FMUV5Firmware;
+    QHash<FirmwareIdentifier, QString> _rgPX4FMUV4PROFirmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV4Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
     QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;

src/comm/USBBoardInfo.json

@@ -9,10 +9,12 @@
         { "vendorID": 9900, "productID": 16,        "boardClass": "Pixhawk",    "name": "PX4 FMU V1" },
         { "vendorID": 9900, "productID": 17,        "boardClass": "Pixhawk",    "name": "PX4 FMU V2" },
         { "vendorID": 9900, "productID": 18,        "boardClass": "Pixhawk",    "name": "PX4 FMU V4" },
+        { "vendorID": 9900, "productID": 19,        "boardClass": "Pixhawk",    "name": "PX4 FMU V4 PRO" },
         { "vendorID": 9900, "productID": 22,        "boardClass": "Pixhawk",    "name": "PX4 FMU V2",           "comment": "Bootloader on older Pixhawk V2 boards" },
         { "vendorID": 9900, "productID": 4097,      "boardClass": "Pixhawk",    "name": "AeroCore" },
         { "vendorID": 9900, "productID": 33,        "boardClass": "Pixhawk",    "name": "AUAV X2.1 FMU V2" },
         { "vendorID": 9900, "productID": 48,        "boardClass": "Pixhawk",    "name": "MindPX FMU V2" },
+        { "vendorID": 9900, "productID": 50,        "boardClass": "Pixhawk",    "name": "PX4 FMU V5" },
         { "vendorID": 9900, "productID": 64,        "boardClass": "Pixhawk",    "name": "TAP V1" },
         { "vendorID": 9900, "productID": 65,        "boardClass": "Pixhawk",    "name": "ASC V1" },
 
@@ -30,6 +32,10 @@
     ],
 
     "boardFallback": [
+        { "regExp": "^PX4 FMU v5.x$",   "boardClass": "Pixhawk" },
+        { "regExp": "^PX4 BL FMU v5.x$","boardClass": "Pixhawk" },
+        { "regExp": "^PX4 FMU v4.x PRO$",   "boardClass": "Pixhawk" },
+        { "regExp": "^PX4 BL FMU v4.x PRO$","boardClass": "Pixhawk" },
         { "regExp": "^PX4 FMU v4.x$",       "boardClass": "Pixhawk" },
         { "regExp": "^PX4 BL FMU v4.x$",    "boardClass": "Pixhawk" },
         { "regExp": "^PX4 FMU v2.x$",       "boardClass": "Pixhawk" },