max80_fw/tools/flashmax.pl

#!/usr/bin/perl

use strict;
use integer;
use IO::Handle;
use PerlIO::gzip;
use File::Temp;
use File::Spec;
use File::HomeDir;
use Time::HiRes qw(usleep tv_interval);
use Digest::CRC qw(crc32);
use v5.10;			# For "state"

my $esp_retries = 10;

my @FW_MAGIC = (undef, 0x7a07fbd6, 0xa924ed0b);

my %datatypes = (
    'end'       => 0,		# End of data
    'data'      => 1,		# FPGA flash data
    'target'    => 2,		# Firmware target string
    'note'      => 3,		# Informative string
    'espota'    => 4,		# ESP32 OTA image
    'fpgainit'  => 5,		# FPGA bypass (transient) image during update
    'esppart'   => 6,		# ESP32 partition table
    'espsys'    => 7,		# ESP32 boot loader, OTA control partition...
    'esptool'   => 8,		# esptool options for flashing
    'boardinfo' => 9		# board_info base address
    );
my @type;
foreach my $t (keys(%datatypes)) {
    $type[$datatypes{$t}] = $t;
}

my $FDF_OPTIONAL  = 0x0001;
my $FDF_PRETARGET = 0x0002;

my $STRING_MAX_LEN = 4095;

my $boardinfo_addr = 0;
my $boardinfo_len  = 4096;

# For debug; DC1-4 replaced with functional names
my @ascii = qw(NUL SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR SO SI
	       DLE XON WRST XOFF WGO NAK SYN ETB CAN EM SUB ESC FS GS RS US);
foreach my $i (9, 10, 13, 32..126) {
    $ascii[$i] = chr($i);
}
$ascii[127] = 'DEL';
for (my $i = 128; $i < 256; $i++) {
    $ascii[$i] = sprintf("%02X", $i);
}
my @a = map { length($_) == 1 ? $_ : '<'.$_.'>' } @ascii;

# Simple base64 encode using 3F-7E, bytewise bigendian
sub mybaseencode {
    my $nbits  = 0;
    my $bitbuf = 0;
    my $out    = '';

    foreach my $s (@_) {
	foreach my $c (unpack('C*', $s)) {
	    $nbits += 8;
	    $bitbuf = ($bitbuf << 8) + $c;
	    while ($nbits >= 6) {
		$nbits -= 6;
		$out .= pack('C', 63 + (($bitbuf >> $nbits) & 63));
	    }
	}
    }

    if ($nbits) {
	$out .= pack('C', 63 + ($bitbuf & ((1 << $nbits) - 1)));
    }

    return $out;
}

sub getint($) {
    my($s) = @_;

    return undef
	unless ($s =~ /^(([1-9][0-9]+)|(0(x[0-9a-f]+|[0-7]*)))([kmgtpe]?)$/i);

    my $o = oct($3) + $2;
    my $p = lc($5);

    if ($p eq 'k') {
	$o <<= 10;
    } elsif ($p eq 'm') {
	$o <<= 20;
    } elsif ($p eq 'g') {
	$o <<= 30;
    } elsif ($p eq 't') {
	$o <<= 40;
    } elsif ($p eq 'p') {
	$o <<= 50;
    } elsif ($p eq 'e') {
	$o <<= 60;
    }
    return $o;
}

sub match_version($$) {
    my($ver,$pattern) = @_;

    return 1;			# FIX THIS
}

sub filelen($) {
    my($f) = @_;
    my @s = stat($f);

    return $s[7];
}

sub unquote_cmd($) {
    my($s) = @_;
    my @a;

    $s =~ s/[\r\n]+/ /g;
    while ($s =~ /^\s*(?:\"((?:[^\"]+|\"\")*)\"|([^\"]\S*))(\s.*)?$/) {
	my $a = $1;
	$a =~ s/\"\"/\"/g;
	push(@a, $a.$2);
	$s = $3;
    }

    return @a;
}

# Similar to grep, but for a hash; also filters out
sub hgrep(&%) {
    my($mfunc, %hash) = @_;

    return map { $_ => $hash{$_} } grep(&$mfunc, keys %hash);
}

# Wrapper for running esptool, returns a hash with info output
# or dies on failure
sub hash2opt($)
{
    my($h) = @_;

    return () unless (defined($h));
    return map { $h->{$_} ne '' ? ('--'.$_, $h->{$_}) : () } sort keys %{$h};
}

my $esptool;

# Try running esptool --help and look for a version string
sub try_esptool($) {
    my($cmd) = @_;

    return undef if ($cmd eq '');

    my @espcmd = unquote_cmd($cmd);

    # Make sure stderr is unbuffered
    STDERR->autoflush(1);

    open(my $old_stderr, '>&', \*STDERR) or die;
    $old_stderr->autoflush(1);

    open(STDERR, '>', File::Spec->devnull()) or return undef;
    STDERR->autoflush(1);

    my $ver;
    my $espok = open(my $esp, '-|', @espcmd, '--help');
    if ($espok) {
	while (defined(my $l = <$esp>)) {
	    if (!defined($ver) &&
		$l =~ /\besptool\S*\s+(v\S+)/) {
		$ver = $1;
	    }
	}
	close($esp);
    }

    open(STDERR, '>&', $old_stderr) or die;
    close($old_stderr);

    if ($ver) {
	$esptool = $cmd;
    }
    return $ver;
}

sub updir($) {
    my($dir) = @_;
    return File::Spec->catdir($dir, File::Spec->updir());
}

sub find_esptool() {
    my $ver;
    my $python = '"' . ($ENV{'PYTHON'} || 'python') . '"';

    # The easy variants
    foreach my $et ($ENV{'ESPTOOL'}, 'esptool', 'esptool.py') {
	next unless ($et ne '');
	$ver = try_esptool($et);
	return $ver if ($ver);
    }

    # More complicated
    foreach my $p ($ENV{'ESPTOOL'}, File::Spec->path()) {
	next unless ($p ne '');
	next unless ( -d $p );
	my $et = File::Spec->catfile($p, 'esptool.py');
	if ( -f $et ) {
	    $ver = try_esptool("${python} \"${et}\"");
	    return $ver if ($ver);
	}
    }

    # Try to find it in an Arduino directory
    foreach my $dp (File::HomeDir->my_data,
		    File::HomeDir->my_documents,
		    updir(File::HomeDir->my_data),
		    File::HomeDir->my_home) {
	next unless ( -d $dp );
	foreach my $dn ('.arduino15', 'Arduino15', 'ArduinoData') {
	    my $etr = File::Spec->catdir($dp, $dn,
					 qw(packages esp32 tools esptool_py));
	    opendir(my $dh, $etr) or next;
	    while (defined(my $sd = readdir($dh))) {
		next if ($sd eq File::Spec->curdir);
		next if ($sd eq File::Spec->updir);
		my $etd = File::Spec->catdir($etr, $sd);
		next unless ( -d $etd );

		my $esppath = File::Spec->catfile($etd, 'esptool');
		if ( ! -d $esppath ) {
		    $ver = try_esptool("\"$esppath\"");
		    last if ($ver);
		}

		$esppath .= '.py';
		if ( -f $esppath ) {
		    $ver = try_esptool("${python} \"$esppath\"");
		    last if ($ver);
		}
	    }
	    closedir($dh);

	    return $ver if ($ver);
	}
    }

    return $ver;
}

sub run_esptool($$$$@)
{
    my($port,$common_options,$cmd,$cmd_options,@args) = @_;

    my @espcmd = unquote_cmd($esptool);
    push(@espcmd, '--port', $port);
    push(@espcmd, hash2opt($common_options));
    push(@espcmd, unquote_cmd($cmd));
    push(@espcmd, hash2opt($cmd_options));
    push(@espcmd, @args);

    my $retries = $esp_retries;
    my $ok = 0;
    my %outinfo;
    my @output;

    while (!$ok && $retries--) {
	%outinfo = ();
	@output  = ();

	print STDERR 'Command: ', join(' ', @espcmd), "\n";
	print STDERR "Running $espcmd[0] $cmd... ";

	my $esp;
	if (!open($esp, '-|', @espcmd)) {
	    print STDERR $!, "\n";
	    exit 1 if (defined($port));
	    return undef;
	}

	while (defined(my $l = <$esp>)) {
	    if ($l =~ /^Chip is (\S+)/) {
		$outinfo{'chip'} = $1;
	    } elsif ($l =~ /^MAC: ([0-9a-f:]+)/) {
		$outinfo{'mac'} = $1;
	    }
	    push(@output, $l);
	}

	$ok = close($esp);
	if ($ok) {
	    print STDERR "ok\n";
	    last;
	} elsif ($retries) {
	    @output = ();
	    print STDERR "failed, retrying\n";
	    usleep(1000000);
	} else {
	    print STDERR "failed, giving up\n";
	}
    }

    print STDERR @output;

    if (!$ok) {
	if (defined($port)) {
	    die "$0: $espcmd[0] $cmd failed\n";
	}
	return undef;
    }
    return %outinfo;
}

sub target_string_valid($)
{
    my($v) = @_;

    return $v =~ /^(\S+) v((?:0|[1-9][0-9]*)(?:\.0|\.[1-9][0-9]*)*)(?: ([a-zA-Z0-9]*))?$/;
}

sub match_version($$)
{
    my($version,$pattern) = @_;

    my @vv = target_string_valid($version);

    return 0 unless (defined($vv[0]));

    my $v_board = $vv[0];
    my @v_ver   = split(/\./, $vv[1]);
    my $v_flags = $vv[2];

    return 1 if ($pattern eq $v_board); # Board only matchall pattern

    if ($pattern !~ /^(\S+) v((?:0|[1-9][0-9]*)(?:\.\.0|\.[1-9][0-9]*)*)(?:(\-)((?:0|[1-9][0-9]*)(?:\.\.0|\.[1-9][0-9]*)*))?(?: ([\+\-a-zA-Z0-9]*))?$/) {
	return 0;
    }

    return 0 if ($1 ne $v_board);

    my @p_min = split(/\./, $2);
    my @p_max = split(/\./, $3 eq '' ? $2 : $4);
    my $p_flags = $5;

    while (scalar(@p_min) || scalar(@p_max)) {
	my $mi = shift(@p_min);
	my $ma = shift(@p_max);
	my $ve = shift(@v_ver) || 0;

	return 0 if (defined($mi) && $ve < $mi);
	return 0 if (defined($ma) && $ve > $ma);
    }

    my $flag_pol = 1;

    foreach my $c (split(//, $p_flags)) {
	if ($c eq '-') {
	    $flag_pol = 0;
	} elsif ($c eq '+') {
	    $flag_pol = 1;
	} else {
	    return 0 if ((index($v_flags, $c) != -1) != $flag_pol);
	}
    }

    return 1;
}

my %espopt = ('before' => 'default_reset', 'after' => 'hard_reset',
	      'connect-attempts' => 8);

my $tmpdir;
# Get a filename in $tmpdir
sub tmpfilename($) {
    my($filename) = @_;

    if (!defined($tmpdir)) {
	die "$0: tmpfilename() called before tmpdir exists\n";
    }

    return File::Spec->catfile($tmpdir, $filename);
}

sub get_target_board($)
{
    my($port) = @_;

    my $boardinfo = tmpfilename('boardinfo.bin');

    my %myespopt = (%espopt);
    $myespopt{'after'} = 'no_reset';
    run_esptool($port, { hgrep {!/^flash_/} \%myespopt },
		'read_flash', { },
		sprintf('0x%x', $boardinfo_addr),
		$boardinfo_len, $boardinfo);

    open(my $bi, '<:raw', $boardinfo) or return undef;
    my $bid;
    read($bi, $bid, $boardinfo_len);
    close($bi);
    unlink($boardinfo);
    return undef if (length($bid) != $boardinfo_len);

    my @bh = unpack('VVVVZ[256]', $bid);
    if ($bh[0] == 0x6682df97 && $bh[1] == 0xe2a0d506) {
	# Standard format board_info structure
	substr($bid, 12, 4) = "\0\0\0\0"; # Clear the CRC field
	if ($bh[2] >= 16 && $bh[2] <= $boardinfo_len &&
	    crc32(substr($bid, 0, $bh[2])) == $bh[3]) {
	    return $bh[4];
	}
    } elsif ($bid =~ /^([[:print:]]+)\0/) {
	# Preliminary board_info (only version string)
	return $1;
    }

    return undef;
}

sub read_fwfile($$) {
    my($file, $target_board) = @_;

    return undef if (!defined($file));

    open(my $fw, '<:gzip', $file)
	or die "$0: $file: $!\n";

    my @chunks = ();
    my $version_match = undef;

    my $err = 0;

    my $hdr;
    while (read($fw, $hdr, 16) == 16) {
	# magic type flags data_len addr
	my @h = unpack('VvvVV', $hdr);
	my $c = { 'hdr' => $hdr, 'magic' => $h[0], 'type' => $h[1],
		      'flags' => $h[2], 'len' => $h[3], 'addr' => $h[4],
		      'vmatch' => 0, 'vmask' => 0, 'vmin' => 0, 'vmax' => 0xffff };
	if ($c->{'magic'} == $FW_MAGIC[2]) {
	    if (read($fw, $hdr, 16) != 16) {
		print STDERR "$0: $file: short header read\n";
		$err = 1;
		last;
	    }
	    my @h = unpack('VVvvV', $hdr);
	    $c->{'hdr'}   .= $hdr;
	    $c->{'vmatch'} = $h[0];
	    $c->{'vmask'}  = $h[1];
	    $c->{'vmin'}   = $h[2];
	    $c->{'vmax'}   = $h[3];
	} elsif ($c->{'magic'} != $FW_MAGIC[1]) {
	    print STDERR "$0: $file: bad chunk magic\n";
	    $err = 1;
	    last;
	}

	my $t = $type[$c->{'type'}];

	my $d;
	if (read($fw, $d, $c->{'len'}) != $c->{'len'}) {
	    print STDERR "$0: $file: short chunk read\n";
	    $err = 1;
	    last;
	}
	$c->{'data'} = $d;

	if ($t eq 'target') {
	    my $is_match = match_version($target_board, $d);
	    if ($c->{'magic'} == $FW_MAGIC[1] || $is_match) {
		$version_match = $c;
	    }
	    print STDERR "$0: $file: supports hardware: $d",
		($is_match ? ' (match)' : ''), "\n";
	} elsif ($t eq 'end' || $t eq 'note' || ($c->{'flags'} & $FDF_PRETARGET)) {
	    # Not filtered
	} else {
	    if (!defined($version_match)) {
		print STDERR "$0: $file: hardware version $target_board not supported\n";
		$err = 1;
		last;
	    }

	    if ($c->{'vmin'} > $version_match->{'vmax'} ||
		$c->{'vmax'} < $version_match->{'vmin'} ||
		(($c->{'vmatch'} ^ $version_match->{'vmatch'}) & $c->{'vmask'})) {
		# Not applicable to this board
		next;
	    }
	}

	push(@chunks, $c);

	last if ($t eq 'end'); # End of stream
    }

    close($fw);

    exit 1 if ($err);

    # Sort out the ESP chunks as files for esptool versus the ones
    # that should be uploaded once the ESP software is running
    my @espfiles;
    my $raw_fpgadata;

    my $nc = 0;
    foreach my $c ( @chunks ) {
	my $t = $type[$c->{'type'}];
	if ($t eq 'esptool') {
	    my $s = $c->{'data'};
	    $s =~ s/[\r\n]+/ /g;
	    while ($s =~ /^\s*(\S+)\s+(\S+)(.*)/) {
		$espopt{$1} = $2;
		$s = $3;
	    }
	} elsif ($t =~ /^esp/ && $c->{'addr'}) {
	    my $addr = sprintf('%x', $c->{'addr'});
	    my $tff = tmpfilename($t.$nc.'_'.$addr.'.bin');
	    open(my $tf, '>', $tff) or die "$0: $tff: $!\n";
	    print $tf $c->{'data'};
	    close($tf);
	    push(@espfiles, [$c->{'addr'}, $tff]);
	} elsif ($t eq 'note' || ($t eq 'target' && $c != $version_match)) {
	    # Skip
	} else {
	    $raw_fpgadata .= $c->{'hdr'};
	    $raw_fpgadata .= $c->{'data'};
	}
	$nc++;
    }

    my $fpgadata;
    if (defined($raw_fpgadata)) {
	open(my $fpgafh, '>:gzip', \$fpgadata) or die;
	print $fpgafh $raw_fpgadata;
	close($fpgafh);
    }

    return ([@espfiles], $fpgadata);
}

sub tty_read($$$;$) {
    state %old_timeout;
    my($tty,$bufref,$timeout,$count) = @_;

    $count = 1 unless (defined($count));

    if ($$bufref eq '' || !$count) {
	if (!defined($old_timeout{$tty}) || $timeout != $old_timeout{$tty}) {
	    $tty->read_const_time($timeout);
	    $old_timeout{$tty} = $timeout;
	}
	my($c,$d) = $tty->read(256);
	$$bufref .= $d;
    }

    my $r = substr($$bufref,0,$count);
    $$bufref = substr($$bufref,$count);

    return $r;
}

sub tty_write($$$) {
    my($tty,$bufref,$data) = @_;
    my $bytes = length($data);
    my $offs  = 0;

    while ($bytes) {
	my $cnt = $tty->write(substr($data,$offs,$bytes));
	tty_read($tty, $bufref, 100, 0) unless ($cnt);
	$offs  += $cnt;
	$bytes -= $cnt;
    }

    return $offs;
}

sub upload_fpgadata($$) {
    use bytes;

    my($port, $fpgadata) = @_;

    my $SOH  = 001;
    my $STX  = 002;
    my $ETX  = 003;
    my $EOT  = 004;
    my $ENQ  = 005;
    my $ACK  = 006;
    my $XON  = 021;		# A.k.a. DC1
    my $WRST = 022;		# DC2: window = 0
    my $XOFF = 023;		# A.k.a. DC3
    my $WGO  = 024;		# DC4: window += 256 bytes
    my $NAK  = 025;
    my $SYN  = 026;
    my $ETB  = 027;
    my $CAN  = 030;
    my $EM   = 031;		# Packet offset too high
    my $FS   = 034;
    my $GS   = 035;
    my $RS   = 036;
    my $US   = 037;

    my $WGO_CHUNK = 256;	# Each WGO = 256 bytes

    my $SerialPort = eval {
	require Device::SerialPort;
	Device::SerialPort->import(qw(:PARAM));
	'Device::SerialPort';
    } || eval {
	require Win32::SerialPort;
	Win32::SerialPort->import(qw(:STAT));
	'Win32::SerialPort';
    } || die "$0: need Device::SerialPort (Unix/MacOS) or Win32::SerialPort (Win32)\n";

    print STDERR "Waiting for reinit...\n";
    usleep(4000000);

    my $tty = $SerialPort->new($port);
    die "$0: $port: $!\n" if (!$tty);

    $tty->buffers($tty->buffer_max);
    $tty->reset_error;

    $tty->user_msg(1);
    $tty->error_msg(1);

    $tty->handshake('none');
    $tty->databits(8);
    $tty->baudrate(115200);
    $tty->stopbits(1);
    $tty->parity('none');
    $tty->stty_istrip(0);
    $tty->stty_inpck(0);
    $tty->datatype('raw');
    $tty->stty_icanon(0);
    $tty->stty_opost(0);
    $tty->stty_ignbrk(0);
    $tty->stty_inlcr(0);
    $tty->stty_igncr(0);
    $tty->stty_icrnl(0);
    $tty->stty_echo(0);
    $tty->stty_echonl(0);
    $tty->stty_isig(0);
    $tty->read_char_time(0);
    $tty->write_settings;

    # In case DTR and/or RTS was asserted on the physical serial port.
    # Note that DTR needs to be deasserted before RTS!
    # However, deasserting DTR on the ACM port prevents it from working,
    # so only do this if we don't see CTS (which is always enabled on ACM)...
    if ($tty->can_modemlines && !($tty->modemlines & $tty->MS_CTS_ON)) {
	usleep(100000);
	$tty->dtr_active(0);
	usleep(100000);
	$tty->rts_active(0);
	usleep(100000);
    }

    my $ttybuf = '';


    my $found = 0;
    my $tt = time();
    my $start_enq = $tt;
    tty_write($tty, \$ttybuf, "\005");	# ENQ
    while (($tt = time()) - $start_enq < 30) {
	my $d = tty_read($tty, \$ttybuf, 1000);
	if ($d eq '') {
	    tty_write($tty, \$ttybuf, chr($ENQ));
	} else {
	    my $ix = index("\026\004\027", $d); # SYN EOT ETB
	    if ($ix < 0) {
		print STDERR $d;
		next;
	    }
	    $found = $found == $ix ? $found+1 : 0;
	    last if ($found == 3);
	}
    }

    if ($found < 3) {
	die "$0: $port: no MAX80 ESP32 detected\n";
    }

    $start_enq = $tt;
    my $last_req;
    my $winspc;
    while (!defined($winspc)) {
	$tt = time();
	if ($tt - $start_enq >= 10) {
	    die "$0: $port: failed to start FPGA firmware upload\n";
	}
	if ($tt != $last_req) {
	    # FS SOH <string> GS
	    tty_write($tty, \$ttybuf,
		      "\034\001: /// MAX80 FW UPLOAD \~\@\~ \$\r\n\035");
	    $last_req = $tt;
	}
	my $d;
	while (1) {
	    $d = tty_read($tty, \$ttybuf, 100);
	    last if ($d eq '');
	    my $dc = unpack('C', $d);
	    print STDERR $a[$dc];
	    if ($dc == $RS) {
		$winspc = 0;
		last;
	    }
	}
    }

    my $bytes  = length($fpgadata);
    my $offset = 0;
    my $maxchunk = 64;
    my $maxahead = 256;
    my $last_ack = 0;
    my @pktends  = ();
    my $last_enq = 0;
    my $last_ack_time = 0;

    print STDERR "\nStarting packet transmit...\n";

    while ($last_ack < $bytes) {
	my $chunk;
	my $now;

	while (1) {
	    $chunk = $bytes - $offset;
	    $chunk = $winspc if ($chunk > $winspc);
	    if ($offset + $chunk > $last_ack + $maxahead) {
		$chunk = $last_ack + $maxahead - $offset;
	    }
	    $chunk = 0 if ($chunk <= 0);
	    $chunk = $maxchunk if ($chunk > $maxchunk);

	    my $d = tty_read($tty, \$ttybuf, $chunk ? 0 : $maxchunk/10);
	    $now = time();
	    last if ($d eq '');

	    my $dc = unpack('C', $d);
	    if ($dc == $WRST) {
		$winspc = 0;
	    } elsif ($dc == $WGO) {
		if (defined($winspc)) {
		    $winspc += $WGO_CHUNK;
		}
	    } elsif ($dc == $ACK) {
		$last_ack = shift(@pktends) || $last_ack;
		if ($now != $last_ack_time) {
		    printf STDERR "%s: %s: %d/%d (%d%%) uploaded\n",
			$0, $port, $last_ack, $bytes, $last_ack*100/$bytes;
		    $last_ack_time = $now;
		}
	    } else {
		print STDERR $a[$dc];
		if ($dc == $NAK || $dc == $EM || $dc == $US) {
		    $offset = $last_ack;
		    @pktends = ();
		    undef $winspc;	# Wait for WRST before resuming
		} elsif ($dc == $CAN) {
		    print STDERR "\n";
		    die "$0: $port: upload aborted by target system\n";
		}
	    }
	}

	if (!$chunk) {
	    if ($bytes > $offset) {
		if ($now != $last_enq) {
		    # SYN: request window resync
		    tty_write($tty, \$ttybuf, chr($SYN));
		    $last_enq = $now;
		}
	    }
	    next;
	}

	my $data = substr($fpgadata, $offset, $chunk);
	my $hdr = pack("CvVV", $chunk-1, 0, $offset, crc32($data));

	tty_write($tty, \$ttybuf, chr($STX).mybaseencode($hdr, $data));

	push(@pktends, $offset + $chunk);
	$offset += $chunk;
	$winspc -= $chunk;
    }

    tty_write($tty, \$ttybuf, chr($EOT));

    # Final messages out
    while (1) {
	my $d = tty_read($tty, \$ttybuf, 1000);
	last if ($d eq '');
	print STDERR $d;
    }
    $tty->close;

    return 0;
}

my @args = @ARGV;
my $esponly = 0;
my $fpgaonly = 0;
my $file;
my $target_board = undef;
my $setver = 0;
my $getver = 0;
my $port = undef;
my $which = 0;

while (1) {
    $file = shift(@args);
    last if ($file !~ /^\-/);

    if ($file eq '--esponly') {
	$esponly = 1;
    } elsif ($file eq '--fpgaonly') {
	$fpgaonly = 1;
    } elsif ($file eq '--which') {
	$which = 1;
    } elsif ($file eq '--setver') {
	$target_board = shift(@args);
	$setver = defined($target_board);
    } elsif ($file eq '--getver') {
	$getver = 1;
    } elsif ($file eq '--port') {
	$port = shift(@args);
    } elsif ($file eq '--') {
	$file = shift(@args);
	last;
    } else {
	undef $file;		# Invalid argument, print usage
	last;
    }
}

%espopt = (%espopt,
	   'baud' => 115200, 'port' => undef, 'chip' => undef,
	   'flash_mode' => undef, 'flash_freq' => undef,
	   'flash_size' => undef);

foreach my $e (keys %espopt) {
    my $ev = $ENV{"ESP\U$e"};
    if (defined($ev)) {
	$espopt{$e} = $ev;
    }
}

while (defined(my $eo = shift(@args))) {
    if ($eo =~ /^([^=]+)=(.*)$/) {
	$espopt{$1} = $2;
    } elsif ($args[0] !~ /^-/) {
	$espopt{$eo} = shift(@args);
    } else {
	$espopt{$eo} = '';
    }
}

if (defined($espopt{'port'})) {
    $port = $espopt{'port'} unless (defined($port));
    delete $espopt{'port'};
}

# Legacy command line support: if no --port, specify port after firmware file
if (defined($file) && !defined($port) && $args[0] ne '--esptool') {
    $port = shift(@args);
}

$tmpdir = File::Temp->newdir(CLEANUP => 1);
if (!defined($tmpdir)) {
    die "$0: failed to create temporary directory: $!\n"
}

my $espver = find_esptool();
if (!$espver) {
    die "$0: cannot find esptool, please set ESPTOOL in the environment\n";
}

if ($which) {
    print "esptool ${espver}\n";
    print $esptool, "\n";
    exit 0;
}

print STDERR "esptool ${espver} found\n\n";

if (!defined($port)) {
    die "Usage: $0 [options] [file.fw] [--esptool esptool_options...]\n".
	"  Options:\n".
	"    --which            print the esptool command discovered, if any\n".
	"    --setver <version> set the board version string\n".
	"    --getver           get the board version string, then exit\n".
	"    --esponly          flash ESP32 only\n".
	"    --fpgaonly         flash the FPGA only\n".
	"    --port             serial port to use\n";
}

if (! -c $port && !File::Spec->file_name_is_absolute($port)) {
    if (-c "/dev/$port") {
	$port = "/dev/$port";
    } elsif (-c "/dev/tty$port") {
	$port = "/dev/tty$port";
    } elsif ($^O eq 'MSWin32') {
	$port = "\\\\.\\$port";
    } else {
	die "$0: no such serial port: $port\n";
    }
}
print STDERR "$0: using serial port device $port\n";

my @espfiles = ();

if (defined($target_board)) {
    # Forcibly write target board version
    if (!target_string_valid($target_board)) {
	die "$0: $port: invalid firmware target string: $target_board\n";
    }

    my $boardinfo = tmpfilename('boardinfo.bin');
    open(my $bi, '>:raw', $boardinfo)
	or die "$0: $port: $boardinfo: $!\n";
    my $bid = $target_board . "\0";
    $bid .= "\xff" x ($boardinfo_len - length($bid));
    print $bi $bid;
    close($bi);
    push(@espfiles, [$boardinfo_addr, $boardinfo]);
} else {
    # Get the board version from target flash

    $target_board = get_target_board($port);
    if (!defined($target_board) || !target_string_valid($target_board)) {
	die "$0: $port: board version not programmed, specify with --setver\n";
    }
}

if ($getver) {
    print "$0: $port: board version: $target_board\n";
    exit 0;
}

my $fpgadata;
if (defined($file)) {
    my $fwfiles;
    ($fwfiles, $fpgadata) = read_fwfile($file, $target_board);
    push(@espfiles, @$fwfiles) if (defined($fwfiles));
}

if (!$fpgaonly && scalar(@espfiles)) {
    run_esptool($port, { hgrep {!/^flash_/} %espopt },
		'write_flash', { hgrep {/^flash_/} %espopt },
		'-z', map { (sprintf('0x%x', $_->[0]), $_->[1]) } @espfiles);
}

if (!$esponly && defined($fpgadata)) {
    upload_fpgadata($port, $fpgadata);
}

print STDERR "\n$0: $port: update complete\n";

exit 0;