Cleaned up python dfu flasher, added to make file

fully working with 'make flash_dfu'

crazyflie_software/crazyflie-firmware-2021.06/Makefile

@@ -454,7 +454,8 @@ flash_verify:
                  -c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
 
 flash_dfu:
-	$(DFU_UTIL) -a 0 -D $(PROG).dfu
+	$(PYTHON) tools/make/usb-bootloader.py
+	$(DFU_UTIL) -d 0483:df11 -a 0 -D $(PROG).dfu -s :leave
 
 #STM utility targets
 halt:

crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c

@@ -184,17 +184,16 @@ static uint8_t usbd_cf_Setup(void *pdev , USB_SETUP_REQ  *req)
   } else if(command == 0x02){
     //restart system and transition to DFU bootloader mode
 
+    
     //enter bootloader specific to STM32f4xx
     enter_bootloader(0, 0x00000000);
 
-    while(1);
-
+    
   }
   
    else {
     crtpSetLink(radiolinkGetLink());
   }
-  DEBUG_PRINT("USB setup request: %d, %d, %d, %d, %d ",req->bmRequest, req->bRequest, req->wValue, req->wIndex, req->wLength);
   return USBD_OK;
 }
 

crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py

-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-#     ||          ____  _ __
-#  +------+      / __ )(_) /_______________ _____  ___
-#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
-#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
-#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
-#
-#  Copyright (C) 2011-2013 Bitcraze AB
-#
-#  Crazyflie Nano Quadcopter Client
-#
-#  This program is free software; you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License
-#  as published by the Free Software Foundation; either version 2
-#  of the License, or (at your option) any later version.
-#
-#  This program is distributed in the hope that it will be useful,
-#  but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-#  GNU General Public License for more details.
-#  You should have received a copy of the GNU General Public License
-#  along with this program; if not, write to the Free Software
-#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-#  MA  02110-1301, USA.
-"""
-USB driver for the Crazyflie.
-"""
-import logging
-import os
-
-import usb
-
-__author__ = 'Bitcraze AB'
-__all__ = ['CfUsb']
-
-logger = logging.getLogger(__name__)
-
-USB_VID = 0x0483
-USB_PID = 0x5740
-
-try:
-    import usb.core
-
-    pyusb_backend = None
-    if os.name == 'nt':
-        import usb.backend.libusb0 as libusb0
-
-        pyusb_backend = libusb0.get_backend()
-    pyusb1 = True
-
-except Exception:
-    pyusb1 = False
-
-
-def _find_devices():
-    """
-    Returns a list of CrazyRadio devices currently connected to the computer
-    """
-    ret = []
-
-    logger.info('Looking for devices....')
-
-    if pyusb1:
-        for d in usb.core.find(idVendor=USB_VID, idProduct=USB_PID, find_all=1,
-                               backend=pyusb_backend):
-            if d.manufacturer == 'Bitcraze AB':
-                ret.append(d)
-    else:
-        busses = usb.busses()
-        for bus in busses:
-            for device in bus.devices:
-                if device.idVendor == USB_VID:
-                    if device.idProduct == USB_PID:
-                        ret += [device, ]
-
-    return ret
-
-
-class CfUsb:
-    """ Used for communication with the Crazyradio USB dongle """
-
-    def __init__(self, device=None, devid=0):
-        """ Create object and scan for USB dongle if no device is supplied """
-        self.dev = None
-        self.handle = None
-        self._last_write = 0
-        self._last_read = 0
-
-        if device is None:
-            devices = _find_devices()
-            try:
-                self.dev = devices[devid]
-            except Exception:
-                self.dev = None
-
-        if self.dev:
-            if (pyusb1 is True):
-                self.dev.set_configuration(1)
-                self.handle = self.dev
-                self.version = float(
-                    '{0:x}.{1:x}'.format(self.dev.bcdDevice >> 8,
-                                         self.dev.bcdDevice & 0x0FF))
-            else:
-                self.handle = self.dev.open()
-                self.handle.setConfiguration(1)
-                self.handle.claimInterface(0)
-                self.version = float(self.dev.deviceVersion)
-
-    def get_serial(self):
-        # The signature for get_string has changed between versions to 1.0.0b1,
-        # 1.0.0b2 and 1.0.0. Try the old signature first, if that fails try
-        # the newer one.
-        try:
-            return usb.util.get_string(self.dev, 255, self.dev.iSerialNumber)
-        except (usb.core.USBError, ValueError):
-            return usb.util.get_string(self.dev, self.dev.iSerialNumber)
-
-    def close(self):
-        if (pyusb1 is False):
-            if self.handle:
-                self.handle.releaseInterface()
-        else:
-            if self.dev:
-                usb.util.dispose_resources(self.dev)
-
-        self.handle = None
-        self.dev = None
-
-    def scan(self):
-        # TODO: Currently only supports one device
-        if self.dev:
-            return [('usb://0', '')]
-        return []
-
-    def set_crtp_to_usb(self, crtp_to_usb):
-        if crtp_to_usb:
-            _send_vendor_setup(self.handle, 0x01, 0x01, 1, ())
-        else:
-            _send_vendor_setup(self.handle, 0x01, 0x01, 0, ())
-
-    def set_cf_to_dfu(self):
-        _send_vendor_setup(self.handle, 0x01, 0x01, 2, ())
-
-
-    # Data transfers
-    def send_packet(self, dataOut):
-        """ Send a packet and receive the ack from the radio dongle
-            The ack contains information about the packet transmission
-            and a data payload if the ack packet contained any """
-        try:
-            if (pyusb1 is False):
-                self.handle.bulkWrite(1, dataOut, 20)
-            else:
-                self.handle.write(endpoint=1, data=dataOut, timeout=20)
-        except usb.USBError:
-            pass
-
-    def receive_packet(self):
-        dataIn = ()
-        try:
-            if (pyusb1 is False):
-                dataIn = self.handle.bulkRead(0x81, 64, 20)
-            else:
-                dataIn = self.handle.read(0x81, 64, timeout=20)
-        except usb.USBError as e:
-            try:
-                if e.backend_error_code == -7 or e.backend_error_code == -116:
-                    # Normal, the read was empty
-                    pass
-                else:
-                    raise IOError('Crazyflie disconnected')
-            except AttributeError:
-                # pyusb < 1.0 doesn't implement getting the underlying error
-                # number and it seems as if it's not possible to detect
-                # if the cable is disconnected. So this detection is not
-                # supported, but the "normal" case will work.
-                pass
-
-        return dataIn
-
-
-# Private utility functions
-def _send_vendor_setup(handle, request, value, index, data):
-    if pyusb1:
-        handle.ctrl_transfer(usb.TYPE_VENDOR, request, wValue=value,
-                             wIndex=index, timeout=1000, data_or_wLength=data)
-    else:
-        handle.controlMsg(usb.TYPE_VENDOR, request, data, value=value,
-                          index=index, timeout=1000)
-
-
-def _get_vendor_setup(handle, request, value, index, length):
-    if pyusb1:
-        return handle.ctrl_transfer(usb.TYPE_VENDOR | 0x80, request,
-                                    wValue=value, wIndex=index, timeout=1000,
-                                    data_or_wLength=length)
-    else:
-        return handle.controlMsg(usb.TYPE_VENDOR | 0x80, request, length,
-                                 value=value, index=index, timeout=1000)

crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py

-from cfusb import CfUsb
-
-#TODO this devieid might need to be dynamic?
-cfusb = CfUsb(devid=int(0))
-
-cfusb.set_cf_to_dfu()
\ No newline at end of file

crazyflie_software/crazyflie-firmware-2021.06/tools/make/usb-bootloader.py

+#send a USB request to the crazyflie, causing it to enter DFU mode (bootloader) to automatically
+#flash new firmware using 'make flash_dfu'
+
+from time import sleep
+import usb
+import usb.core
+
+#find connected crazyflie, usb vendor and product id = 0483:5740
+dev = usb.core.find(idVendor=0x0483, idProduct=0x5740)
+if dev is None:
+    raise ValueError('Could not find any USB connected crazyflie')
+
+#send signal to enter bootloader
+try:
+    dev.ctrl_transfer(bmRequestType=usb.TYPE_VENDOR, 
+        bRequest=0x01, wValue=0x01, wIndex=2)
+except IOError:
+    #io error expected because the crazyflie will not respond to USB request as it resets into the bootloader
+    #TODO usbd_cf_Setup function in firmware needs to return USBD_OK before rebooting to fix this
+        #sleep to allow time for crazyflie to get into DFU mode
+        sleep(0.5)
\ No newline at end of file