zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Full support for ChibiOS flash, including PX4 flash on ChibiOS bootloader

QGC4.4
Don Gagne 6 years ago
parent
ddc1fa6185
commit
99d87c3457
3 changed files with 48 additions and 66 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/VehicleSetup/Bootloader.h
  2. 111
      src/VehicleSetup/FirmwareUpgradeController.cc
  3. 1
      src/VehicleSetup/PX4FirmwareUpgradeThread.cc

2
src/VehicleSetup/Bootloader.h
Unescape View File

@ -64,7 +64,7 @@ public: @@ -64,7 +64,7 @@ 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 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

111
src/VehicleSetup/FirmwareUpgradeController.cc
Unescape View File

@ -363,48 +363,44 @@ void FirmwareUpgradeController::_initFirmwareHash() @@ -363,48 +363,44 @@ void FirmwareUpgradeController::_initFirmwareHash()
// PX4 Firmwares
for (const FirmwareType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) {
QString dir = px4MapFirmwareTypeToDir[firmwareType];
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
}
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot Firmwares
// ArduPilot non-ChibiOS Firmwares for direct board id to fmu mappings
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmMapVehicleTypeToDir.keys()) {
QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType];
QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType];
QString filename = apmMapVehicleTypeToFilename[vehicleType];
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3"));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2"));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares when board id is is a known type. These are added directly into the various board type hashes.
// ArduPilot ChibiOS Firmwares for direct board id to fmu mappings. Used when bootloader is not new ArduPilot bootloader.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType];
QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType];
QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType];
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares when board id is an unknown type but follows ArduPilot port info naming conventions.
// This is only used if the board using the ArduPilot port naming scheme.
// This is only used if the board is using the new ArduPilot bootloader port naming scheme.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
@ -487,85 +483,75 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void) @@ -487,85 +483,75 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeController::_firmwareHashForBoardId(int boardId)
{
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* rgFirmware;
_rgFirmwareDynamic.clear();
switch (boardId) {
case Bootloader::boardIDPX4Flow:
rgFirmware = &_rgPX4FLowFirmware;
_rgFirmwareDynamic = _rgPX4FLowFirmware;
break;
case Bootloader::boardIDPX4FMUV2:
rgFirmware = &_rgPX4FMUV2Firmware;
_rgFirmwareDynamic = _rgPX4FMUV2Firmware;
break;
case Bootloader::boardIDPX4FMUV3:
rgFirmware = &_rgFMUV3Firmware;
_rgFirmwareDynamic = _rgFMUV3Firmware;
break;
case Bootloader::boardIDPX4FMUV4:
rgFirmware = &_rgFMUV4Firmware;
_rgFirmwareDynamic = _rgFMUV4Firmware;
break;
case Bootloader::boardIDPX4FMUV4PRO:
rgFirmware = &_rgFMUV4PROFirmware;
_rgFirmwareDynamic = _rgFMUV4PROFirmware;
break;
case Bootloader::boardIDPX4FMUV5:
rgFirmware = &_rgFMUV5Firmware;
_rgFirmwareDynamic = _rgFMUV5Firmware;
break;
case Bootloader::boardIDAeroCore:
rgFirmware = &_rgAeroCoreFirmware;
_rgFirmwareDynamic = _rgAeroCoreFirmware;
break;
case Bootloader::boardIDAUAVX2_1:
rgFirmware = &_rgAUAVX2_1Firmware;
_rgFirmwareDynamic = _rgAUAVX2_1Firmware;
break;
case Bootloader::boardIDMINDPXFMUV2:
rgFirmware = &_rgMindPXFMUV2Firmware;
_rgFirmwareDynamic = _rgMindPXFMUV2Firmware;
break;
case Bootloader::boardIDTAPV1:
rgFirmware = &_rgTAPV1Firmware;
_rgFirmwareDynamic = _rgTAPV1Firmware;
break;
case Bootloader::boardIDASCV1:
rgFirmware = &_rgASCV1Firmware;
_rgFirmwareDynamic = _rgASCV1Firmware;
break;
case Bootloader::boardIDCrazyflie2:
rgFirmware = &_rgCrazyflie2Firmware;
_rgFirmwareDynamic = _rgCrazyflie2Firmware;
break;
case Bootloader::boardIDOmnibusF4SD:
rgFirmware = &_rgOmnibusF4SDFirmware;
_rgFirmwareDynamic = _rgOmnibusF4SDFirmware;
break;
case Bootloader::boardIDNXPHliteV3:
rgFirmware = &_rgNXPHliteV3Firmware;
_rgFirmwareDynamic = _rgNXPHliteV3Firmware;
break;
case Bootloader::boardID3DRRadio:
rgFirmware = &_rg3DRRadioFirmware;
_rgFirmwareDynamic = _rg3DRRadioFirmware;
break;
default:
rgFirmware = Q_NULLPTR;
// Unknown board id
break;
}
if (rgFirmware) {
_rgFirmwareDynamic = *rgFirmware;
} else {
_rgFirmwareDynamic.clear();
}
// Check for ArduPilot ChibiOS bootloader
QStringList rgManufacturers = { QStringLiteral("ArduPilot"), QStringLiteral("Hex/ProfiCNC"), QStringLiteral("Holybro") };
QString apmDescriptionSuffix("-BL");
if (rgManufacturers.contains(_foundBoardInfo.manufacturer()) && _foundBoardInfo.description().endsWith(apmDescriptionSuffix)) {
// Board ios using a ChibiOS bootloader. Prefer naming scheme from that over board ids for ArduPilot entries.
// Special case handling for ArduPilot named ChibiOS board
if (_foundBoardInfo.manufacturer() == QStringLiteral("ArduPilot") || _foundBoardInfo.manufacturer() == QStringLiteral("Hex/ProfiCNC")) {
// Remove the ChibiOS by board id entries from the list
for (const FirmwareIdentifier& firmwareId: _rgFirmwareDynamic.keys()) {
switch (firmwareId.firmwareVehicleType) {
case CopterChibiOSFirmware:
case HeliChibiOSFirmware:
case PlaneChibiOSFirmware:
case RoverChibiOSFirmware:
case SubChibiOSFirmware:
_rgAPMChibiosReplaceNamedBoardFirmware.remove(firmwareId);
break;
default:
break;
}
// First remove the ChibiOS by board id entries from the list
for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) {
_rgFirmwareDynamic.remove(firmwareId);
}
// Add the ChibiOS by board description entries to the list
// Now add the ChibiOS by board description entries to the list
for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) {
QString namedUrl = _rgAPMChibiosReplaceNamedBoardFirmware[firmwareId];
_rgFirmwareDynamic.insert(firmwareId, namedUrl.replace(_apmBoardDescriptionReplaceText, _foundBoardInfo.description().left(_foundBoardInfo.description().length() - 3)));
_rgFirmwareDynamic.insert(firmwareId, namedUrl.replace(_apmBoardDescriptionReplaceText, _foundBoardInfo.description().left(_foundBoardInfo.description().length() - apmDescriptionSuffix.length())));
}
}
@ -577,21 +563,16 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId) @@ -577,21 +563,16 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
{
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(static_cast<int>(_bootloaderBoardID));
if (!prgFirmware && firmwareId.firmwareType != CustomFirmware) {
_errorCancel(tr("Attempting to flash an unknown board type, you must select 'Custom firmware file'"));
return;
}
if (firmwareId.firmwareType == CustomFirmware) {
_firmwareFilename = QGCQFileDialog::getOpenFileName(nullptr, // Parent to main window
tr("Select Firmware File"), // Dialog Caption
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
tr("Firmware Files (*.px4 *.bin *.ihx)")); // File filter
tr("Firmware Files (*.px4 *.apj *.bin *.ihx)")); // File filter
} else {
if (prgFirmware->contains(firmwareId)) {
_firmwareFilename = prgFirmware->value(firmwareId);
} else {
_errorCancel(tr("Unable to find specified firmware download location"));
_errorCancel(tr("Unable to find specified firmware for board type"));
return;
}
}

1
src/VehicleSetup/PX4FirmwareUpgradeThread.cc
Unescape View File

@ -125,6 +125,7 @@ bool PX4FirmwareUpgradeThreadWorker::_findBoardFromPorts(QGCSerialPortInfo& port @@ -125,6 +125,7 @@ bool PX4FirmwareUpgradeThreadWorker::_findBoardFromPorts(QGCSerialPortInfo& port
qCDebug(FirmwareUpgradeVerboseLog) << "Serial Port --------------";
qCDebug(FirmwareUpgradeVerboseLog) << "\tboard type" << boardType;
qCDebug(FirmwareUpgradeVerboseLog) << "\tboard name" << boardName;
qCDebug(FirmwareUpgradeVerboseLog) << "\tmanufacturer:" << info.manufacturer();
qCDebug(FirmwareUpgradeVerboseLog) << "\tport name:" << info.portName();
qCDebug(FirmwareUpgradeVerboseLog) << "\tdescription:" << info.description();
qCDebug(FirmwareUpgradeVerboseLog) << "\tsystem location:" << info.systemLocation();

Write Preview
Loading…
Cancel
Save