From 11136a55fdf5d3554f879e7786c9bbeb241f83e2 Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Thu, 10 Feb 2022 20:55:24 -0600
Subject: [PATCH] Cleaned up python dfu flasher, added to make file
fully working with 'make flash_dfu'
---
.../crazyflie-firmware-2021.06/Makefile | 3 +-
.../src/hal/src/usb.c | 5 +-
.../tools/make/flash_dfu/cfusb.py | 201 ------------------
.../tools/make/flash_dfu/testdfu.py | 6 -
.../tools/make/usb-bootloader.py | 21 ++
5 files changed, 25 insertions(+), 211 deletions(-)
delete mode 100644 crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py
delete mode 100644 crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py
create mode 100644 crazyflie_software/crazyflie-firmware-2021.06/tools/make/usb-bootloader.py
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/Makefile b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
index 92c3c0f3a..d8b4140c1 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/Makefile
+++ b/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:
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c b/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
index ff8ccc7cd..5b6c8f5a9 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
+++ b/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;
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py b/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py
deleted file mode 100644
index 349c212cc..000000000
--- a/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py
+++ /dev/null
@@ -1,201 +0,0 @@
-#!/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)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py b/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py
deleted file mode 100644
index a40eef753..000000000
--- a/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py
+++ /dev/null
@@ -1,6 +0,0 @@
-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
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/tools/make/usb-bootloader.py b/crazyflie_software/crazyflie-firmware-2021.06/tools/make/usb-bootloader.py
new file mode 100644
index 000000000..0e4ef2626
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/tools/make/usb-bootloader.py
@@ -0,0 +1,21 @@
+#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
--
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