#!/usr/bin/env python############################################################################## Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.## Redistribution and use in source and binary forms, with or without# modification, are permitted provided that the following conditions# are met:## 1. Redistributions of source code must retain the above copyright# notice, this list of conditions and the following disclaimer.# 2. Redistributions in binary form must reproduce the above copyright# notice, this list of conditions and the following disclaimer in# the documentation and/or other materials provided with the# distribution.# 3. Neither the name PX4 nor the names of its contributors may be# used to endorse or promote products derived from this software# without specific prior written permission.## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE# POSSIBILITY OF SUCH DAMAGE.############################################################################### Serial firmware uploader for the PX4FMU bootloader## The PX4 firmware file is a JSON-encoded Python object, containing# metadata fields and a zlib-compressed base64-encoded firmware image.## The uploader uses the following fields from the firmware file:## image# The firmware that will be uploaded.# image_size# The size of the firmware in bytes.# board_id# The board for which the firmware is intended.# board_revision# Currently only used for informational purposes.## for python2.7 compatibilityfrom __future__ import print_function
import sys
import argparse
import binascii
import serial
import struct
import json
import zlib
import base64
import time
import array
import os
from sys import platform as _platform
# default list of port names to look for autopilots
default_ports =['/dev/serial/by-id/usb-Ardu*','/dev/serial/by-id/usb-3D*','/dev/serial/by-id/usb-APM*','/dev/serial/by-id/usb-Radio*','/dev/serial/by-id/usb-*_3DR_*','/dev/serial/by-id/usb-Hex_Technology_Limited*','/dev/serial/by-id/usb-Hex_ProfiCNC*','/dev/tty.usbmodem*']if"cygwin"in _platform:
default_ports +=['/dev/ttyS*']# Detect python versionif sys.version_info[0]<3:
runningPython3 =Falseelse:
runningPython3 =Trueclassfirmware(object):'''Loads a firmware file'''
desc ={
}
image =bytes()
crctab = array.array('I',[0x00000000,0x77073096,0xee0e612c,0x990951ba,0x076dc419,0x706af48f,0xe963a535,0x9e6495a3,0x0edb8832,0x79dcb8a4,0xe0d5e91e,0x97d2d988,0x09b64c2b,0x7eb17cbd,0xe7b82d07,0x90bf1d91,0x1db71064,0x6ab020f2,0xf3b97148,0x84be41de,0x1adad47d,0x6ddde4eb,0xf4d4b551,0x83d385c7,0x136c9856,0x646ba8c0,0xfd62f97a,0x8a65c9ec,0x14015c4f,0x63066cd9,0xfa0f3d63,0x8d080df5,0x3b6e20c8,0x4c69105e,0xd56041e4,0xa2677172,0x3c03e4d1,0x4b04d447,0xd20d85fd,0xa50ab56b,0x35b5a8fa,0x42b2986c,0xdbbbc9d6,0xacbcf940,0x32d86ce3,0x45df5c75,0xdcd60dcf,0xabd13d59,0x26d930ac,0x51de003a,0xc8d75180,0xbfd06116,0x21b4f4b5,0x56b3c423,0xcfba9599,0xb8bda50f,0x2802b89e,0x5f058808,0xc60cd9b2,0xb10be924,0x2f6f7c87,0x58684c11,0xc1611dab,0xb6662d3d,0x76dc4190,0x01db7106,0x98d220bc,0xefd5102a,0x71b18589,0x06b6b51f,0x9fbfe4a5,0xe8b8d433,0x7807c9a2,0x0f00f934,0x9609a88e,0xe10e9818,0x7f6a0dbb,0x086d3d2d,0x91646c97,0xe6635c01,0x6b6b51f4,0x1c6c6162,0x856530d8,0xf262004e,0x6c0695ed,0x1b01a57b,0x8208f4c1,0xf50fc457,0x65b0d9c6,0x12b7e950,0x8bbeb8ea,0xfcb9887c,0x62dd1ddf,0x15da2d49,0x8cd37cf3,0xfbd44c65,0x4db26158,0x3ab551ce,0xa3bc0074,0xd4bb30e2,0x4adfa541,0x3dd895d7,0xa4d1c46d,0xd3d6f4fb,0x4369e96a,0x346ed9fc,0xad678846,0xda60b8d0,0x44042d73,0x33031de5,0xaa0a4c5f,0xdd0d7cc9,0x5005713c,0x270241aa,0xbe0b1010,0xc90c2086,0x5768b525,0x206f85b3,0xb966d409,0xce61e49f,0x5edef90e,0x29d9c998,0xb0d09822,0xc7d7a8b4,0x59b33d17,0x2eb40d81,0xb7bd5c3b,0xc0ba6cad,0xedb88320,0x9abfb3b6,0x03b6e20c,0x74b1d29a,0xead54739,0x9dd277af,0x04db2615,0x73dc1683,0xe3630b12,0x94643b84,0x0d6d6a3e,0x7a6a5aa8,0xe40ecf0b,0x9309ff9d,0x0a00ae27,0x7d079eb1,0xf00f9344,0x8708a3d2,0x1e01f268,0x6906c2fe,0xf762575d,0x806567cb,0x196c3671,0x6e6b06e7,0xfed41b76,0x89d32be0,0x10da7a5a,0x67dd4acc,0xf9b9df6f,0x8ebeeff9,0x17b7be43,0x60b08ed5,0xd6d6a3e8,0xa1d1937e,0x38d8c2c4,0x4fdff252,0xd1bb67f1,0xa6bc5767,0x3fb506dd,0x48b2364b,0xd80d2bda,0xaf0a1b4c,0x36034af6,0x41047a60,0xdf60efc3,0xa867df55,0x316e8eef,0x4669be79,0xcb61b38c,0xbc66831a,0x256fd2a0,0x5268e236,0xcc0c7795,0xbb0b4703,0x220216b9,0x5505262f,0xc5ba3bbe,0xb2bd0b28,0x2bb45a92,0x5cb36a04,0xc2d7ffa7,0xb5d0cf31,0x2cd99e8b,0x5bdeae1d,0x9b64c2b0,0xec63f226,0x756aa39c,0x026d930a,0x9c0906a9,0xeb0e363f,0x72076785,0x05005713,0x95bf4a82,0xe2b87a14,0x7bb12bae,0x0cb61b38,0x92d28e9b,0xe5d5be0d,0x7cdcefb7,0x0bdbdf21,0x86d3d2d4,0xf1d4e242,0x68ddb3f8,0x1fda836e,0x81be16cd,0xf6b9265b,0x6fb077e1,0x18b74777,0x88085ae6,0xff0f6a70,0x66063bca,0x11010b5c,0x8f659eff,0xf862ae69,0x616bffd3,0x166ccf45,0xa00ae278,0xd70dd2ee,0x4e048354,0x3903b3c2,0xa7672661,0xd06016f7,0x4969474d,0x3e6e77db,0xaed16a4a,0xd9d65adc,0x40df0b66,<