From 77654ece88e9f58c774be5b9d921156eaeed00ce Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Sun, 30 Jan 2022 20:29:07 -0600
Subject: [PATCH] Started work on DFU flashing, need to figure out how to send
setup requests from host
---
.../src/hal/src/usb.c | 19 +-
.../tools/make/flash_dfu/cfusb.py | 201 ++++++++++++++++++
.../tools/make/flash_dfu/testdfu.py | 6 +
3 files changed, 224 insertions(+), 2 deletions(-)
create mode 100644 crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py
create mode 100644 crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py
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 ec2ee5e95..f129b089f 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
@@ -48,6 +48,8 @@
#include "crtp.h"
#include "static_mem.h"
+#include "debug.h"
+
NO_DMA_CCM_SAFE_ZERO_INIT __ALIGN_BEGIN USB_OTG_CORE_HANDLE USB_OTG_dev __ALIGN_END ;
@@ -177,10 +179,23 @@ static uint8_t usbd_cf_Setup(void *pdev , USB_SETUP_REQ *req)
USB_RX_TX_PACKET_SIZE);
rxStopped = false;
}
- } else {
+ } else if(command == 0x02){
+ //transition to DFU bootloader mode
+
+ // arm-none-eabi-gcc 4.9.0 does not correctly inline this
+ // // // MSP function, so we write it out explicitly here.
+ __set_MSP(*((uint32_t*) 0x00000000));
+ //__ASM volatile ("movs r3, #0\nldr r3, [r3, #0]\nMSR msp, r3\n" : : : "r3", "sp");
+
+ ((void (*)(void)) *((uint32_t*) 0x00000004))();
+
+ 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
new file mode 100644
index 000000000..349c212cc
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/cfusb.py
@@ -0,0 +1,201 @@
+#!/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
new file mode 100644
index 000000000..e000311dd
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/tools/make/flash_dfu/testdfu.py
@@ -0,0 +1,6 @@
+from cfusb import CfUsb
+
+#TODO this devieid might need to be dynamic?
+cfusb = CfUsb(devid=int(0))
+
+cfusb.set_crtp_to_usb(True)
\ No newline at end of file
--
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