Ping360 firmware update functionality

.gitmodules

@@ -10,3 +10,6 @@
 [submodule "lib/fmt/fmt"]
 	path = lib/fmt/fmt
 	url = https://github.com/fmtlib/fmt
+[submodule "lib/libcintelhex"]
+	path = lib/libcintelhex
+	url = https://github.com/jaxxzer/libcintelhex

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.12)
-project(ping-viewer LANGUAGES CXX)
+project(ping-viewer LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CXX_STANDARD_REQUIRED ON)
@@ -50,11 +50,12 @@ message(STATUS "Qt Version: ${Qt5_VERSION}")
 # global include directories
 include_directories(
     lib/fmt/fmt/include/
-    lib/ping-cpp/ping-cpp/src/message/
+    lib/libcintelhex/include
     lib/maddy/maddy/include/
     lib/mavlink/c_library_v2/
     lib/mavlink/c_library_v2/minimal
     lib/mavlink/c_library_v2/common
+    lib/ping-cpp/ping-cpp/src/message/
 )
 
 add_subdirectory(lib/fmt/fmt)

qml/DeviceManagerViewer.qml

@@ -21,7 +21,14 @@ PingPopup {
 
     closePolicy: Popup.NoAutoClose
     onVisibleChanged: {
-        visible ? DeviceManager.startDetecting() : DeviceManager.stopDetecting();
+        print(stack.depth);
+        if (visible) {
+            if (stack.depth == 1)
+                DeviceManager.startDetecting();
+
+        } else {
+            DeviceManager.stopDetecting();
+        }
     }
     Component.onCompleted: {
         if (!DeviceManager.primarySensor)
@@ -57,10 +64,13 @@ PingPopup {
                 Layout.fillWidth: true
                 onClicked: {
                     print(stack.depth);
-                    if (stack.depth == 1)
+                    if (stack.depth == 1) {
+                        DeviceManager.stopDetecting();
                         stack.push(connectionMenu);
-                    else
+                    } else {
+                        DeviceManager.startDetecting();
                         stack.pop();
+                    }
                 }
             }
 

qml/FirmwareUpdate.qml

@@ -70,8 +70,7 @@ RowLayout {
                 PingComboBox {
                     id: baudComboBox
 
-                    // This should use the same values in Flasher::_validBaudRates
-                    model: [57600, 115200, 230400]
+                    model: ping.flasher.validBaudRates
                     Layout.fillWidth: true
                     visible: SettingsManager.debugMode
                 }
@@ -159,7 +158,7 @@ RowLayout {
                 Layout.fillWidth: true
                 enabled: !running && ((fwCombo.currentText != "" && !browseBt.visible) || (fileDialog.fileName != "" && browseBt.visible))
                 onClicked: {
-                    var baud = SettingsManager.debugMode ? baudComboBox.model[baudComboBox.currentIndex] : 57600;
+                    var baud = SettingsManager.debugMode ? baudComboBox.model[baudComboBox.currentIndex] : 115200;
                     var verify = SettingsManager.debugMode ? verifyCB.checked : true;
                     var path = automaticUpdateCB.currentIndex ? fileDialog.fileUrl : ping.firmwaresAvailable[fwCombo.currentText];
                     running = true;

qml/MainPage.qml

@@ -148,7 +148,6 @@ Item {
                 PingItem {
                     id: firmwareUpdateItem
 
-                    visible: ping ? ping.link.configuration.deviceType() == PingEnumNamespace.PingDeviceType.PING1D : false
                     isSubItem: true
                     icon: StyleManager.firmwareUpdateIcon()
                     onHideItemChanged: {

qml/Ping360Visualizer.qml

@@ -246,6 +246,22 @@ Item {
                 visible: false
             }
 
+            Text {
+                id: bootloaderWarning
+
+                visible: ping.isBootloader
+                anchors.fill: waterfall
+                anchors.margins: 5
+                font.bold: true
+                font.family: "Arial"
+                font.pointSize: 15
+                text: "Ping360 is in Bootloader Mode. Please flash firmware."
+                color: "red"
+                z: 100
+                horizontalAlignment: Text.AlignHCenter
+                verticalAlignment: Text.AlignVCenter
+            }
+
             Text {
                 id: mouseReadout
 

qml/PingStatus.qml

@@ -25,7 +25,7 @@ Item {
             if (!ping)
                 return ;
 
-            baseModel.model = ["FW: " + ping.firmware_version_major + "." + ping.firmware_version_minor, "SRC: " + ping.srcId + " DST: " + ping.dstId, "Device type: " + ping.device_type, "Device Revision: " + ping.device_revision, "Connection: " + ping.link.configuration.string, "RX Packets (#): " + ping.parsed_msgs, "RX Errors (#): " + ping.parser_errors, "TX speed (Bytes/s): " + ping.link.upSpeed, "RX speed (Bytes/s): " + ping.link.downSpeed, "Lost messages (#): " + ping.lost_messages, "Ascii text:\\n" + ping.ascii_text, "Error message:\\n" + ping.nack_message];
+            baseModel.model = ["FW: " + ping.firmware_version_major + "." + ping.firmware_version_minor + "." + ping.firmware_version_patch, "SRC: " + ping.srcId + " DST: " + ping.dstId, "Device type: " + ping.device_type, "Device Revision: " + ping.device_revision, "Connection: " + ping.link.configuration.string, "RX Packets (#): " + ping.parsed_msgs, "RX Errors (#): " + ping.parser_errors, "TX speed (Bytes/s): " + ping.link.upSpeed, "RX speed (Bytes/s): " + ping.link.downSpeed, "Lost messages (#): " + ping.lost_messages, "Ascii text:\\n" + ping.ascii_text, "Error message:\\n" + ping.nack_message];
         }
     }
 

src/flash/CMakeLists.txt

@@ -1,7 +1,17 @@
+file(GLOB LIBCINTELHEXFILES
+    ${PROJECT_SOURCE_DIR}/lib/libcintelhex/src/ihex_parse.c
+    ${PROJECT_SOURCE_DIR}/lib/libcintelhex/src/ihex_record.c
+)
+
 add_library(
     flash
 STATIC
     flasher.cpp
+    pic-hex.cpp
+    ping360bootloaderpacket.cpp
+    ping360flasher.cpp
+    ping360flashworker.cpp
+    ${LIBCINTELHEXFILES}
 )
 
 target_link_libraries(

src/flash/flasher.cpp

@@ -12,8 +12,9 @@
 
 PING_LOGGING_CATEGORY(FLASH, "ping.flash")
 
-Flasher::Flasher(QObject* parent)
+Flasher::Flasher(QObject* parent, const QList<QVariant> validBaudRates)
     : QObject(parent)
+    , _validBaudRates(validBaudRates)
 {
     _binRelativePath =
 #ifdef Q_OS_OSX

src/flash/flasher.h

@@ -18,8 +18,9 @@ class Flasher : public QObject {
      * @brief Construct a new Flasher object
      *
      * @param parent
+     * @param validBaudRates
      */
-    Flasher(QObject* parent = nullptr);
+    Flasher(QObject* parent = nullptr, const QList<QVariant> validBaudRates = {57600, 115200, 230400});
 
     /**
      * @brief Destroy the Flasher object
@@ -72,11 +73,17 @@ class Flasher : public QObject {
     Flasher::States state() const { return _state; };
     Q_PROPERTY(Flasher::States state READ state NOTIFY stateChanged)
 
+    /**
+     * @brief Return the valid baud rates for device communication
+     */
+    const QVariantList& validBaudRates() const { return _validBaudRates; };
+    Q_PROPERTY(QVariant validBaudRates READ validBaudRates CONSTANT);
+
     /**
      * @brief Start the flash procedure
      *
      */
-    void flash();
+    virtual void flash();
 
     /**
      * @brief Set the flash baud rate
@@ -111,17 +118,21 @@ class Flasher : public QObject {
     void flashProgress(float progress);
     void stateChanged(Flasher::States state);
 
+protected:
+    int _baudRate = 57600;
+    QString _firmwareFilePath;
+    LinkConfiguration _link;
+    const QList<QVariant> _validBaudRates;
+    bool _verify = true;
+
 private:
     void firmwareUpdatePercentage(const QString& output);
     static QString stm32flashPath();
 
-    int _baudRate = 57600;
     QString _binRelativePath;
-    QString _firmwareFilePath;
     QSharedPointer<QProcess> _firmwareProcess;
-    LinkConfiguration _link;
     QString _message;
     States _state = Idle;
-    const QList<int> _validBaudRates = {57600, 115200, 230400};
-    bool _verify = true;
 };
+
+Q_DECLARE_METATYPE(Flasher::States);

src/flash/pic-hex.cpp

@@ -0,0 +1,138 @@
+#include "pic-hex.h"
+
+#include <stdio.h>
+#include <string.h>
+
+bool PicHex::pic_hex_read_file(const char* filename)
+{
+    printf("extracting pic hex application data\n");
+    if (!pic_hex_extract_application(filename)) {
+        return false;
+    }
+    printf("extracting pic hex configuration data\n");
+    if (!pic_hex_extract_configuration(filename)) {
+        return false;
+    }
+    return true;
+}
+
+bool PicHex::pic_hex_extract_application(const char* filename)
+{
+    ihex_recordset_t* record_set = ihex_rs_from_file(filename);
+
+    if (record_set == 0) {
+        printf("failed to read recordset from file %s\n", filename);
+        return false;
+    }
+
+    bool ret = pic_hex_mem_cpy(
+        record_set, pic_hex_application_data, sizeof(pic_hex_application_data), PROGRAM_MEMORY_OFFSET);
+    ihex_rs_free(record_set);
+    return ret;
+}
+
+bool PicHex::pic_hex_extract_configuration(const char* filename)
+{
+    ihex_recordset_t* record_set = ihex_rs_from_file(filename);
+
+    if (record_set == 0) {
+        printf("failed to read recordset from file %s\n", filename);
+        return false;
+    }
+
+    bool ret = pic_hex_mem_cpy(
+        record_set, pic_hex_configuration_data, sizeof(pic_hex_configuration_data), CONFIGURATION_MEMORY_OFFSET);
+    ihex_rs_free(record_set);
+    return ret;
+}
+
+/*
+ * Address equations for your convenience:
+ *
+ * |   ihex   |    pic    |    data   |
+ * | 0x000000 | 0x000000  | 0x000000  |
+ * | 0x000800 | 0x000400  | 0x000600  |
+ * | 0x001000 | 0x000800  | 0x000c00  |
+ * | 0x001800 | 0x000c00  | 0x001200  |
+ * | 0x002000 | 0x001000  | 0x001800  |
+ */
+bool PicHex::pic_hex_mem_cpy(ihex_recordset_t* record_set, uint8_t* destination, uint32_t length, uint32_t offset)
+{
+    uint_t i = 0; // current record #
+    uint32_t record_offset, record_address = 0x00;
+
+    // record iterator
+    ihex_record_t* record;
+
+    // zero-initialize destination data
+    memset(destination, 0, length);
+
+    do {
+        int r = ihex_rs_iterate_data(record_set, &i, &record, &record_offset);
+
+        // check error code
+        if (r) {
+            return false;
+            // check record is valid
+        } else if (record == 0) {
+            // we reached the end of the list
+            break;
+        }
+
+        ////////////////////////////
+        // hex contains 16 bit words, addressed to 16 bit memory
+        ////////////////////////////
+
+        // get the record address
+        record_address = (record_offset + record->ihr_address);
+
+        ///////////////////////////////////////////
+        // memory contains 24 bit words, addressed to 32 bit memory (address/2)
+        ///////////////////////////////////////////
+
+        record_address = record_address / 2;
+
+        // record out of range low
+        if (record_address < offset) {
+            // printf("warn, record %d address %08x below offset %08x\r\n", i, record_address, offset);
+            continue;
+        }
+
+        // record out of range high
+        if (record_address >= offset + length) {
+            // printf("warn, record %d address %08x beyond range %08x + %08x\r\n", i, record_address, offset, length);
+            continue;
+        }
+
+        //////////////////////////////////////////////////
+        // transmit data array contains 24 bit words *(3/2)
+        //////////////////////////////////////////////////
+
+        uint32_t destination_address = (3 * (record_address - offset)) / 2;
+
+        // record out of range high
+        if (destination_address >= length) {
+            // printf("warn, destination address %08x beyond range %08x + %08x\r\n", destination_address, offset,
+            // length);
+            continue;
+        }
+
+        for (int j = 0; j < record->ihr_length; j += 4) {
+            uint32_t destination_offset = destination_address + j - (j / 4);
+            if (destination_offset > length) {
+                // printf("warn, destination offset %08x beyond destination length %d", destination_offset, length);
+                continue;
+            }
+            // pointer to destination byte
+            uint8_t* target = (uint8_t*)(destination + destination_offset);
+
+            // copy a 24 bit word
+            for (int l = 0; (l < 3); l++) {
+
+                *(target++) = record->ihr_data[j + l];
+            }
+        }
+    } while (i > 0);
+
+    return true;
+}

src/flash/pic-hex.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include <cintelhex.h>
+
+/**
+ * @brief facilities to convert an intel hex to PIC microcontroller memory space
+ */
+class PicHex {
+public:
+    // 86 pages * 512 words * 3 bytes
+    static const uint32_t PROGRAM_MEMORY_SIZE = 0x20400;
+    static const uint32_t PROGRAM_MEMORY_OFFSET = 0x0;
+
+    // 24 bytes configuration in separate memory region
+    static const uint32_t CONFIGURATION_MEMORY_SIZE = 24;
+    static const uint32_t CONFIGURATION_MEMORY_OFFSET = 0x00F80000;
+
+    /**
+     * @brief read a hex file and extract the firmware application and configuration data
+     * @param filename
+     * @return true if application and configuration data were successfully extracted
+     */
+    bool pic_hex_read_file(const char* filename);
+
+    /**
+     * @brief The hex file data for the application memory region
+     * this data is valid if pic_hex_read_file returns true
+     */
+    uint8_t pic_hex_application_data[PROGRAM_MEMORY_SIZE];
+
+    /**
+     * @brief The hex file data for the configuration memory region
+     * The configuration memory region is located at CONFIGURATION_MEMORY_OFFSET
+     * and is CONFIGURATION_MEMORY_SIZE bytes wide
+     * this data is valid if pic_hex_read_file returns true
+     */
+    uint8_t pic_hex_configuration_data[CONFIGURATION_MEMORY_SIZE];
+
+private:
+    bool pic_hex_mem_cpy(ihex_recordset_t* record_set, uint8_t* destination, uint32_t length, uint32_t offset);
+    bool pic_hex_extract_application(const char* filename);
+    bool pic_hex_extract_configuration(const char* filename);
+};