ao-tools: Add ao-sky-flash to update GPS firmware

This uses a new feature of AltOS to directly connect the GPS chip to
the USB link to reprogram the former.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 257fdaece07f7d4a060c1125cdd305700a8faaba..871b8205705757aa1b86f1045474316435bfc993 100644 (file)
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -1 +1 @@
-SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem
+SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem ao-sky-flash

diff --git a/ao-tools/ao-sky-flash/Makefile.am b/ao-tools/ao-sky-flash/Makefile.am
new file mode 100644 (file)
index 0000000..f6c5089
--- /dev/null
+++ b/ao-tools/ao-sky-flash/Makefile.am
@@ -0,0 +1,18 @@
+bin_PROGRAMS=ao-sky-flash
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+AO_SKY_FLASH_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_sky_flash_DEPENDENCIES = $(AO_SKY_FLASH_LIBS)
+
+ao_sky_flash_LDADD=$(AO_SKY_FLASH_LIBS) $(LIBUSB_LIBS)
+
+ao_sky_flash_SOURCES = \
+       sky_bin.c \
+       sky_debug.c \
+       sky_flash.c \
+       sky_flash.h \
+       sky_serial.c \
+       sky_srec.c
+
+man_MANS = ao-sky-flash.1

diff --git a/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin
new file mode 100644 (file)
index 0000000..c698add
Binary files /dev/null and b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin differ

diff --git a/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin
new file mode 100644 (file)
index 0000000..9e25689
Binary files /dev/null and b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin differ

diff --git a/ao-tools/ao-sky-flash/ao-sky-flash.1 b/ao-tools/ao-sky-flash/ao-sky-flash.1
new file mode 100644 (file)
index 0000000..d61c9c9
--- /dev/null
+++ b/ao-tools/ao-sky-flash/ao-sky-flash.1
@@ -0,0 +1,85 @@
+.\"
+.\" Copyright © 2009 Keith Packard <keithp@keithp.com>
+.\"
+.\" 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.,
+.\" 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+.\"
+.\"
+.TH AO-SKY-FLASH 1 "ao-sky-flash" ""
+.SH NAME
+ao-sky-flash \- flash GPS firmware program to a SkyTraq GPS chip
+.SH SYNOPSIS
+.B "ao-sky-flash"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+[\--loader \fIboot-loader\fP]
+[\--firmware \fIgps-firmware\fP]
+[\--query]
+[\--quiet]
+[\--raw]
+.SH DESCRIPTION
+.I ao-sky-flash
+loads the specified GPS firmware file into the target GPS chip flash
+memory using the specified boot loader.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMetrum:2
+.br
+TeleMetrum
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.TP
+\--loader boot-loader
+This specifies the desired boot loader to use for reflashing the
+device. You should use srec_115200.bin unless you have a good reason
+not to. This should be in S record format.
+.TP
+\--firmware gps-firmware
+This specifies the new GPS firmware image to load onto the target GPS
+chip. No checking is done on this device at all; flash garbage and the
+GPS chip will probably fail to boot.
+.TP
+\--query
+Instead of loading new firmware, query the current version of firmware
+running on the target device.
+.TP
+\--quiet
+Normally, ao-spy-flash is quite chatty. This shuts it up, except for
+error messages.
+.TP
+\--raw
+The expected target for reflashing is an Altus Metrum product with the
+GPS chip connected to the CPU on that board and not directly to the
+USB serial port. This option says that the target GPS chip is directly
+connected, which changes how things are initialized a bit.
+.SH USAGE
+.I ao-sky-flash
+loads the specified bootloader into device RAM and then uses that to
+load new firmware to flash.
+.SH AUTHOR
+Keith Packard

diff --git a/ao-tools/ao-sky-flash/sky_bin.c b/ao-tools/ao-sky-flash/sky_bin.c
new file mode 100644 (file)
index 0000000..e693c89
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_bin.c
@@ -0,0 +1,75 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+#define FLASHBYTES     8192
+
+int
+skytraq_send_bin(int fd, const char *filename)
+{
+       FILE            *file;
+       char            buf[FLASHBYTES];
+       int             count;
+       unsigned char   cksum;
+       int             c;
+       long            size;
+       long            pos;
+       char            message[1024];
+       int             ret;
+       
+       file = fopen(filename, "r");
+       if (!file) {
+               perror(filename);
+               return -1;
+       }
+
+       printf ("computing checksum...\n"); fflush(stdout);
+       /* Compute checksum, figure out how long the file */
+       cksum = 0;
+       while ((c = getc(file)) != EOF)
+               cksum += (unsigned char) c;
+       size = ftell(file);
+       rewind(file);
+       printf ("checksum: %d\n", cksum); fflush(stdout);
+
+       sprintf(message, "BINSIZE = %d Checksum = %d Loopnumber = %d ", size, cksum, 1);
+
+       ret = skytraq_cmd_wait(fd, message, strlen(message) + 1, "OK", 20000);
+       if (ret < 0)
+               printf ("waitstatus failed %d\n", ret);
+
+       pos = 0;
+       for (;;) {
+               count = fread(buf, 1, sizeof (buf), file);
+               if (count < 0) {
+                       perror("fread");
+                       fclose(file);
+                       return -1;
+               }
+               if (count == 0)
+                       break;
+               printf ("write %ld of %ld ", pos + count, size); fflush(stdout);
+               pos += count;
+               ret = skytraq_cmd_wait(fd, buf, count, "OK", 20000);
+               if (ret < 0)
+                       return ret;
+       }
+       return skytraq_waitstatus(fd, "END", 30000);
+}

diff --git a/ao-tools/ao-sky-flash/sky_debug.c b/ao-tools/ao-sky-flash/sky_debug.c
new file mode 100644 (file)
index 0000000..32571f0
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_debug.c
@@ -0,0 +1,111 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <sys/time.h>
+#include "sky_flash.h"
+
+static int     dbg_input;
+static int     dbg_newline = 1;
+
+int
+skytraq_millis(void)
+{
+       struct timeval  tv;
+       gettimeofday(&tv, NULL);
+       return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+skytraq_dbg_time(void)
+{
+       int     delta = skytraq_millis() - skytraq_open_time;
+
+       if (!skytraq_verbose)
+               return;
+       printf ("%4d.%03d ", delta / 1000, delta % 1000);
+}
+
+void
+skytraq_dbg_newline(void)
+{
+       if (!skytraq_verbose)
+               return;
+       if (!dbg_newline) {
+               putchar('\n');
+               dbg_newline = 1;
+       }
+}
+
+static void
+skytraq_dbg_set(int input)
+{
+       if (!skytraq_verbose)
+               return;
+       if (input != dbg_input) {
+               skytraq_dbg_newline();
+               if (input)
+                       putchar('\t');
+               dbg_input = input;
+       }
+}
+
+void
+skytraq_dbg_char(int input, char c)
+{
+       if (!skytraq_verbose)
+               return;
+       skytraq_dbg_set(input);
+       if (dbg_newline)
+               skytraq_dbg_time();
+       if (c < ' '  || c > '~')
+               printf ("\\%02x", (unsigned char) c);
+       else
+               putchar(c);
+       dbg_newline = 0;
+       if (c == '\n')
+               dbg_input = 2;
+       fflush(stdout);
+}
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len)
+{
+       if (!skytraq_verbose)
+               return;
+       while (len--)
+               skytraq_dbg_char(input, *buf++);
+}
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...)
+{
+       va_list ap;
+
+       if (!skytraq_verbose)
+               return;
+       skytraq_dbg_set(input);
+       if (dbg_newline)
+               skytraq_dbg_time();
+       va_start (ap, fmt);
+       vprintf(fmt, ap);
+       va_end(ap);
+       dbg_newline = 0;
+}

diff --git a/ao-tools/ao-sky-flash/sky_flash.c b/ao-tools/ao-sky-flash/sky_flash.c
new file mode 100644 (file)
index 0000000..55cb2cb
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_flash.c
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "sky_flash.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <getopt.h>
+#include "cc.h"
+
+static const struct option options[] = {
+       { .name = "tty", .has_arg = 1, .val = 'T' },
+       { .name = "device", .has_arg = 1, .val = 'D' },
+       { .name = "loader", .has_arg = 1, .val = 'l' },
+       { .name = "firmware", .has_arg = 1, .val = 'f' },
+       { .name = "query", .has_arg = 0, .val = 'q' },
+       { .name = "raw", .has_arg = 0, .val = 'r' },
+       { .name = "quiet", .has_arg = 0, .val = 'Q' },
+       { 0, 0, 0, 0},
+};
+
+static uint8_t query_version[] = {
+       0xa0, 0xa1, 0x00, 0x02, 0x02, 0x01, 0x03, 0x0d, 0x0a
+};
+
+static void
+usage(char *program)
+{
+       fprintf(stderr,
+               "usage: %s [--tty <tty-name>]\n"
+               "          [--device <device-name>]\n"
+               "          [--loader <srec bootloader file>]\n"
+               "          [--firmware <binary firmware file>]\n"
+               "          [--query]\n"
+               "          [--quiet]\n"
+               "          [--raw]\n", program);
+       exit(1);
+}
+
+int
+skytraq_expect(int fd, uint8_t want, int timeout) {
+       int     c;
+
+       c = skytraq_waitchar(fd, timeout);
+       if (c < 0)
+               return -1;
+       if (c == want)
+               return 1;
+       return 0;
+}
+
+int
+skytraq_wait_reply(int fd, uint8_t reply, uint8_t *buf, uint8_t reply_len) {
+
+       for(;;) {
+               uint8_t a, b;
+               uint8_t cksum_computed, cksum_read;
+               int     len;
+               switch (skytraq_expect(fd, 0xa0, 10000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               case 1:
+                       break;
+               }
+               switch (skytraq_expect(fd, 0xa1, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               a = skytraq_waitchar(fd, 1000);
+               b = skytraq_waitchar(fd, 1000);
+               switch (skytraq_expect(fd, reply, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               len = (a << 16) | b;
+               if (len != reply_len)
+                       continue;
+               *buf++ = reply;
+               len--;
+               cksum_computed = reply;
+               while (len--) {
+                       a = skytraq_waitchar(fd, 1000);
+                       if (a < 0)
+                               return a;
+                       cksum_computed ^= a;
+                       *buf++ = a;
+               }
+               switch (skytraq_expect(fd, cksum_computed, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               switch (skytraq_expect(fd, 0x0d, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               switch (skytraq_expect(fd, 0x0a, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               break;
+       }
+       return 0;
+}
+
+int
+main(int argc, char **argv)
+{
+       int     fd;
+       char    buf[512];
+       int     ret;
+       FILE    *input;
+       long    size;
+       unsigned char   cksum;
+       int     c;
+       char    message[1024];
+       char    *tty = NULL;
+       char    *device = NULL;
+       char    *loader = "srec_115200.bin";
+       char    *file = NULL;
+       int     query = 0;
+       int     raw = 0;
+
+       while ((c = getopt_long(argc, argv, "T:D:l:f:qQr", options, NULL)) != -1) {
+               switch (c) {
+               case 'T':
+                       tty = optarg;
+                       break;
+               case 'D':
+                       device = optarg;
+                       break;
+               case 'l':
+                       loader = optarg;
+                       break;
+               case 'f':
+                       file = optarg;
+                       break;
+               case 'q':
+                       query = 1;
+                       break;
+               case 'Q':
+                       skytraq_verbose = 0;
+                       break;
+               case 'r':
+                       raw = 1;
+                       break;
+               default:
+                       usage(argv[0]);
+                       break;
+               }
+       }
+
+       if (!tty)
+               tty = cc_usbdevs_find_by_arg(device, "TeleMetrum");
+       if (!tty)
+               tty = getenv("ALTOS_TTY");
+       if (!tty)
+               tty="/dev/ttyACM0";
+       fd = skytraq_open(tty);
+       if (fd < 0)
+               exit(1);
+
+       if (raw) {
+               /* Set the baud rate to 115200 */
+               skytraq_setcomm(fd, 115200);
+               sleep(1);
+               skytraq_setspeed(fd, 115200);
+       } else {
+               /* Connect TM to the device */
+               skytraq_write(fd, "U\n", 2);
+       }
+
+       /* Wait for the device to stabilize after baud rate changes */
+       for (c = 0; c < 6; c++) {
+               skytraq_flush(fd);
+               sleep(1);
+       }
+
+       if (query) {
+               uint8_t query_reply[14];
+
+               uint8_t         software_type;
+               uint32_t        kernel_version;
+               uint32_t        odm_version;
+               uint32_t        revision;
+
+               skytraq_write(fd, query_version, 9);
+               if (skytraq_wait_reply(fd, 0x80, query_reply, sizeof (query_reply)) != 0) {
+                       fprintf(stderr, "query reply failed\n");
+                       exit(1);
+               }
+
+#define i8(o)  query_reply[(o)-1]
+#define i32(o) ((i8(o) << 24) | (i8(o+1) << 16) | (i8(o+2) << 8) | (i8(o+3)))
+               software_type = i8(2);
+               kernel_version = i32(3);
+               odm_version = i32(7);
+               revision = i32(11);
+               skytraq_dbg_printf(0, "\n");
+               printf ("Software Type %d. Kernel Version %d.%d.%d. ODM Version %d.%d.%d. Revision %d.%d.%d.\n",
+                       software_type,
+                       kernel_version >> 16 & 0xff,
+                       kernel_version >> 8 & 0xff,
+                       kernel_version >> 0 & 0xff,
+                       odm_version >> 16 & 0xff,
+                       odm_version >> 8 & 0xff,
+                       odm_version >> 0 & 0xff,
+                       revision >> 16 & 0xff,
+                       revision >> 8 & 0xff,
+                       revision >> 0 & 0xff);
+               exit(0);
+       }
+
+       if (!file)
+               usage(argv[0]);
+
+       ret = skytraq_send_srec(fd, "srec_115200.bin");
+       skytraq_dbg_printf (0, "srec ret %d\n", ret);
+       if (ret < 0)
+               exit(1);
+
+       sleep(2);
+
+//     ret = skytraq_send_bin(fd, "STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin");
+       ret = skytraq_send_bin(fd, "STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin");
+
+       printf ("bin ret %d\n", ret);
+       if (ret < 0)
+               exit(1);
+
+       return 0;
+}

diff --git a/ao-tools/ao-sky-flash/sky_flash.h b/ao-tools/ao-sky-flash/sky_flash.h
new file mode 100644 (file)
index 0000000..77f4c74
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_flash.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/* sky_serial.c */
+
+extern int     skytraq_open_time;
+extern int     skytraq_verbose;
+
+int
+skytraq_open(const char *path);
+
+int
+skytraq_setspeed(int fd, int baud);
+
+int
+skytraq_setcomm(int fd, int baudrate);
+
+int
+skytraq_write(int fd, const char *data, int len);
+
+int
+skytraq_waitchar(int fd, int timeout);
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout);
+
+void
+skytraq_flush(int fd);
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout);
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len);
+
+/* sky_debug.c */
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...);
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len);
+
+void
+skytraq_dbg_char(int input, char c);
+
+/* sky_srec.c */
+int
+skytraq_send_srec(int fd, const char *file);
+
+/* sky_bin.c */
+int
+skytraq_send_bin(int fd, const char *filename);

diff --git a/ao-tools/ao-sky-flash/sky_serial.c b/ao-tools/ao-sky-flash/sky_serial.c
new file mode 100644 (file)
index 0000000..4aeb145
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_serial.c
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define _BSD_SOURCE
+#include <termios.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <poll.h>
+#include "sky_flash.h"
+#include <stdio.h>
+#include <sys/time.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+
+int    skytraq_verbose = 1;
+
+int
+skytraq_setspeed(int fd, int baud)
+{
+       int     b;
+       int     ret;
+       struct termios  term;
+
+       switch (baud) {
+       case 9600:
+               b = B9600;
+               break;
+       case 38400:
+               b = B38400;
+               break;
+       case 115200:
+               b = B115200;
+               break;
+       default:
+               fprintf (stderr, "Invalid baudrate %d\n", baud);
+               return -1;
+       }
+       ret = tcgetattr(fd, &term);
+       cfmakeraw(&term);
+#ifdef USE_POLL
+       term.c_cc[VMIN] = 1;
+       term.c_cc[VTIME] = 0;
+#else
+       term.c_cc[VMIN] = 0;
+       term.c_cc[VTIME] = 1;
+#endif
+
+       cfsetspeed(&term, b);
+
+       ret = tcsetattr(fd, TCSAFLUSH, &term);
+       return ret;
+}
+
+int    skytraq_open_time;
+
+int
+skytraq_open(const char *path)
+{
+       int             fd;
+       int             ret;
+
+       fd = open(path, O_RDWR | O_NOCTTY);
+       if (fd < 0) {
+               perror (path);
+               return -1;
+       }
+
+       ret = skytraq_setspeed(fd, 9600);
+       if (ret < 0) {
+               close (fd);
+               return -1;
+       }
+       skytraq_open_time = skytraq_millis();
+       return fd;
+}
+
+
+#define BAUD           57600
+#define BPS            (BAUD/10 * 9/10)
+#define US_PER_CHAR    (1000000 / BPS)
+
+int
+skytraq_write(int fd, const char *data, int len)
+{
+       const char *d = data;
+       int             r;
+       int             us;
+
+       while (len) {
+               int     this_time = len;
+               if (this_time > 128)
+                       this_time = 128;
+               if (this_time < 70) {
+                       skytraq_dbg_printf (0, "%4d: ", this_time);
+                       skytraq_dbg_buf(0, data, this_time);
+               } else {
+                       skytraq_dbg_printf (0, "%d bytes (%d remain)", this_time, len);
+               }
+               fflush(stdout);
+               r = write(fd, data, this_time);
+               if (r <= 0)
+                       return r;
+               us = r * US_PER_CHAR;
+               usleep(r * US_PER_CHAR);
+               data += r;
+               len -= r;
+       }
+       skytraq_dbg_newline();
+       return 1;
+}
+
+int
+skytraq_setcomm(int fd, int baudrate)
+{
+       uint8_t msg[11];
+       int     i;
+       uint8_t cksum;
+
+       int target_baudrate;
+       switch(baudrate)
+       {
+       case 4800:
+               target_baudrate=0;
+               break;
+       case 9600:
+               target_baudrate=1;
+               break;
+       case 19200:
+               target_baudrate=2;
+               break;
+       case 38400:
+               target_baudrate=3;
+               break;
+       case 57600:
+               target_baudrate=4;
+               break;
+       case 115200:
+               target_baudrate=5;
+               break;
+       case 230400:
+               target_baudrate=6;
+               break;
+       }
+       msg[0] = 0xa0;  /* header */
+       msg[1] = 0xa1;
+       msg[2] = 0x00;  /* length */
+       msg[3] = 0x04;
+       msg[4] = 0x05;  /* configure serial port */
+       msg[5] = 0x00;  /* COM 1 */
+       msg[6] = target_baudrate;
+       msg[7] = 0x00;  /* update to SRAM only */
+
+       cksum = 0;
+       for (i = 4; i < 8; i++)
+               cksum ^= msg[i];
+       msg[8] = cksum;
+       msg[9] = 0x0d;
+       msg[10] = 0x0a;
+       return skytraq_write(fd, msg, 11);
+}
+
+int
+skytraq_waitchar(int fd, int timeout)
+{
+       struct pollfd   fds[1];
+       int             ret;
+       unsigned char   c;
+
+       for (;;) {
+               fds[0].fd = fd;
+               fds[0].events = POLLIN;
+               ret = poll(fds, 1, timeout);
+               if (ret >= 1) {
+                       if (fds[0].revents & POLLIN) {
+                               ret = read(fd, &c, 1);
+                               if (ret == 1) {
+                                       skytraq_dbg_char(1, c);
+                                       return c;
+                               }
+                       }
+               } else if (ret == 0)
+                       return -2;
+               else {
+                       perror("poll");
+                       return -1;
+               }
+       }
+}
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout)
+{
+       const char      *s;
+       int             c;
+
+       for (;;) {
+               c = skytraq_waitchar(fd, timeout);
+               if (c < 0) {
+                       skytraq_dbg_newline();
+                       return c;
+               }
+               if ((char) c == *status) {
+                       s = status + 1;
+                       for (;;) {
+                               c = skytraq_waitchar(fd, timeout);
+                               if (c < 0) {
+                                       skytraq_dbg_newline();
+                                       return c;
+                               }
+                               if ((char) c != *s)
+                                       break;
+                               if (!*s) {
+                                       skytraq_dbg_newline();
+                                       return 0;
+                               }
+                               s++;
+                       }
+               }
+       }
+}
+
+void
+skytraq_flush(int fd)
+{
+       while (skytraq_waitchar(fd, 1) >= 0)
+               ;
+}
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout)
+{
+       skytraq_flush(fd);
+       skytraq_write(fd, message, len);
+       return skytraq_waitstatus(fd, status, timeout);
+}
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len)
+{
+       skytraq_flush(fd);
+       return skytraq_write(fd, message, len);
+}

diff --git a/ao-tools/ao-sky-flash/sky_srec.c b/ao-tools/ao-sky-flash/sky_srec.c
new file mode 100644 (file)
index 0000000..6d00f58
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_srec.c
@@ -0,0 +1,60 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+static const char loader_start[] = "$LOADER DOWNLOAD";
+
+int
+skytraq_send_srec(int fd, const char *filename)
+{
+       FILE    *file;
+       int     ret;
+       char    line[1024];
+
+       file = fopen(filename, "r");
+       if (!file) {
+               perror(filename);
+               return -1;
+       }
+
+       ret = skytraq_cmd_wait(fd, loader_start, strlen(loader_start) + 1, "OK", 1000);
+       if (ret)
+               return ret;
+
+       for (;;) {
+               char    *s;
+               int     len;
+
+               s = fgets(line, sizeof(line), file);
+               if (!s)
+                       break;
+               len = strlen(s);
+               if (len < 3)            /* Terminated with \r\n */
+                       break;
+               s[len-2] = '\n';        /* Smash \r */
+               s[len-1] = '\0';        /* Smash \n */
+               skytraq_cmd_nowait(fd, s, len);
+       }
+       fclose(file);
+
+       ret = skytraq_waitstatus(fd, "END", 10000);
+       skytraq_dbg_newline();
+       return ret;
+}

diff --git a/ao-tools/ao-sky-flash/srec_115200.bin b/ao-tools/ao-sky-flash/srec_115200.bin
new file mode 100644 (file)
index 0000000..8ea8e7c
--- /dev/null
+++ b/ao-tools/ao-sky-flash/srec_115200.bin
@@ -0,0 +1,346 @@
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diff --git a/ao-tools/ao-sky-flash/srec_9600.bin b/ao-tools/ao-sky-flash/srec_9600.bin
new file mode 100644 (file)
index 0000000..9a29ab1
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diff --git a/configure.ac b/configure.ac
index bee9480d798c35e21c6aa7f3f217d2d60bad324b..0fcd97e27bac6349850b06cc8b8d7e7a509eef1e 100644 (file)
--- a/configure.ac
+++ b/configure.ac
@@ -163,6 +163,7 @@ ao-tools/ao-load/Makefile
 ao-tools/ao-telem/Makefile
 ao-tools/ao-stmload/Makefile
 ao-tools/ao-send-telem/Makefile
 ao-tools/ao-telem/Makefile
 ao-tools/ao-stmload/Makefile
 ao-tools/ao-send-telem/Makefile

+ao-tools/ao-sky-flash/Makefile

 ao-utils/Makefile
 src/Version
 ])
 ao-utils/Makefile
 src/Version
 ])