from select import select
import cmd
#import pylab
-from matplotlib import pylab
+from matplotlib import pylab
from math import *
-import numpy
+import struct
+import numpy
import shlex
import time
import math
MICROB_PATH=os.path.dirname(sys.argv[0])
SPM_PAGE_SIZE = 256
+METADATA_ADDR = 256
def crc_ccitt_update (crc, data):
"""crc argument is the previous value of 16 bits crc (the initial
data ^= (crc & 0xff)
data ^= (data << 4)
data &= 0xff
-
+
ret = (data << 8) & 0xffff
ret |= ((crc >> 8) & 0xff)
ret ^= ((data >> 4) & 0xff)
def prog_page(ser, addr, buf):
"""program a page from buf at addr"""
-
- # switch in program mode
+
+ # switch in program mode
ser.flushInput()
ser.write('p')
while i < SPM_PAGE_SIZE and i < len(buf):
page[i] = buf[i]
i += 1
-
+
# send data
i = 0
while i < SPM_PAGE_SIZE:
return -1
return 0
+def prog_metadata(ser, addr, buf):
+ length = len(buf)
+ crc = do_crc(buf)
+ page = struct.pack(">LL", length, crc)
+ filename = os.path.join(MICROB_PATH, "binaries/%x_%x.bin"%(length, crc))
+ print "saving in %s"%(filename)
+ f = open(filename, "w")
+ f.write(buf)
+ f.close()
+ return prog_page(ser, addr, page)
+
+def get_same_bin_file(ser):
+ l = read32(ser, METADATA_ADDR)
+ c = read32(ser, METADATA_ADDR + 4)
+ filename = os.path.join(MICROB_PATH,
+ "binaries/%x_%x.bin"%(l, c))
+ print filename
+ try:
+ f = open(filename, "r")
+ except:
+ return None
+ buf = f.read()
+ f.close()
+ print "found old bin matching <%s>"%(filename)
+ return buf
+
def read32(ser, addr):
"""read a 32 bits value at addr"""
-
- # switch in program mode
+
+ ser.write('\n')
+ ser.write('\n')
+ ser.write('\n')
+ time.sleep(0.2)
ser.flushInput()
+
+ # switch in program mode
ser.write('d')
# send address
+ time.sleep(0.1)
+
s = ser.readline()
+ print repr(s)
if not s.endswith("addr?\r\n"):
print "failed (don't match addr)"
return -1
+ print addr
ser.write("%x\n"%addr)
s = ser.readline()
- return int(s)
+ print repr(s)
+ return int(s, 16)
def check_crc(ser, buf, offset, size):
"""Process the crc of buf, ask for a crc of the flash, and check
self.fout.write(s)
self.ser.write(s)
-
-
-
-
-"""
-fig = figure()
-
-ax = subplot(111)
-
-
-X = 45.
-Y = -10.
-l1 = 9.
-l2 = 21.13
-l3 = 47.14
-
-l_mirror = 249.
-h_mirror = 13.
-
-
-def ang2_a_mirror(b):
- x2 = X+l1*math.cos(b)
- y2 = Y+l1*math.sin(b)
-
- A = (l3**2+x2**2+y2**2-l2**2)/(2*l3)
-
- DELTA = -(A**2-x2**2-y2**2)
- B = +math.sqrt(DELTA)
-
- D = x2**2+y2**2
-
- c_a = (x2*A+y2*B)/D
- s_a = -(x2*B-y2*A)/D
-
- a = math.atan2(s_a, c_a)
- return x2, y2, c_a, s_a, a
-
-
-def ang2_H_L(l_telemetre, c_a, s_a, a):
- d = h_mirror*c_a/s_a
- H = (l_telemetre - l_mirror - d)*math.sin(2*a)
- L = l_mirror + d + H/math.tan(2*a)
- return H, L
-
-all_p = []
-for b in xrange(0, 360, 20):
- b = b*2*math.pi / 360.
-
- x2, y2, c_a, s_a, a = ang2_a_mirror(b)
- x1 = l3*c_a
- y1 = l3*s_a
-
- px = [0, x1, x2, X]
- py = [0, y1, y2, Y]
-
- all_p+=[px, py]
-
- print math.sqrt((x2-x1)**2+(y2-y1)**2)
-
- H, L = ang2_H_L(400., c_a, s_a, a)
- print H, L
-
-ax.plot(*all_p)
-
-show()
-
-"""
-
-
-
-
class Interp(cmd.Cmd):
prompt = "Microb> "
def __init__(self, tty, baudrate=57600):
log logs to /tmp/microb.log or the last used file"""
if self.serial_logging:
- log.error("Already logging to %s and %s" % (self.ser.filein,
+ log.error("Already logging to %s and %s" % (self.ser.filein,
self.ser.fileout))
else:
self.serial_logging = True
print "Can't parse arguments"
self.ser = SerialLogger(self.ser, *files)
- log.info("Starting serial logging to %s and %s" % (self.ser.filein,
+ log.info("Starting serial logging to %s and %s" % (self.ser.filein,
self.ser.fileout))
def do_unlog(self, args):
if self.serial_logging:
- log.info("Stopping serial logging to %s and %s" % (self.ser.filein,
+ log.info("Stopping serial logging to %s and %s" % (self.ser.filein,
self.ser.fileout))
self.ser = self.ser.ser
self.serial_logging = False
else:
log.error("No log to stop")
-
+
def do_raw(self, args):
"Switch to RAW mode"
stdin_termios = termios.tcgetattr(stdin)
raw_termios = stdin_termios[:]
-
+
try:
log.info("Switching to RAW mode")
# iflag
- raw_termios[0] &= ~(termios.IGNBRK | termios.BRKINT |
- termios.PARMRK | termios.ISTRIP |
- termios.INLCR | termios.IGNCR |
+ raw_termios[0] &= ~(termios.IGNBRK | termios.BRKINT |
+ termios.PARMRK | termios.ISTRIP |
+ termios.INLCR | termios.IGNCR |
termios.ICRNL | termios.IXON)
# oflag
raw_termios[1] &= ~termios.OPOST;
raw_termios[2] &= ~(termios.CSIZE | termios.PARENB);
raw_termios[2] |= termios.CS8;
# lflag
- raw_termios[3] &= ~(termios.ECHO | termios.ECHONL |
- termios.ICANON | termios.ISIG |
+ raw_termios[3] &= ~(termios.ECHO | termios.ECHONL |
+ termios.ICANON | termios.ISIG |
termios.IEXTEN);
termios.tcsetattr(stdin, termios.TCSADRAIN, raw_termios)
finally:
termios.tcsetattr(stdin, termios.TCSADRAIN, stdin_termios)
log.info("Back to normal mode")
-
-
- def do_arm_x(self, args):
- fsdf
- my_h = 100
- my_r = 220
- my_ang = 90
-
- self.ser.write("armxy %d %d %d\n"%(my_h, -my_r, my_ang))
- time.sleep(1)
-
- for i in xrange(-my_r, my_r, 25):
- self.ser.write("armxy %d %d %d\n"%(my_h, i, my_ang))
- self.ser.flushInput()
-
- time.sleep(0.03)
-
- def do_arm_y(self, args):
- my_x = 80
- my_r = 145
- my_ang = 0
- self.ser.write("armxy %d %d %d\n"%(-my_r, my_x, my_ang))
- time.sleep(1)
-
- for i in xrange(-my_r, my_r, 25):
- self.ser.write("armxy %d %d %d\n"%(i, my_x, my_ang))
- self.ser.flushInput()
-
- time.sleep(0.03)
-
- def do_arm_circ(self, args):
- add_h = 120
- add_d = 120
- l = 70
- for i in xrange(0, 360, 10):
- x = l*math.cos(i*math.pi/180)
- y = l*math.sin(i*math.pi/180)
-
-
- self.ser.write("armxy %d %d 90\n"%(x+add_h, y+add_d))
- self.ser.flushInput()
-
- time.sleep(0.05)
-
- def do_arm_init(self, args):
- self.arm_h = 130
- self.arm_v = 130
- self.mov_max = 20
-
- self.ser.write("armxy %d %d\n"%(self.arm_h, self.arm_v))
-
- def arm_py_goto(self, h, v, a):
- """
- dh, dv = h-self.arm_h, v-self.arm_v
- d = math.sqrt(dh**2 + dv**2)
-
- old_h = self.arm_h
- old_v = self.arm_v
-
- mov_todo = int(d/self.mov_max)
- for i in xrange(1, mov_todo):
- p_h = dh*i/mov_todo
- p_v = dv*i/mov_todo
-
- new_h = old_h+p_h
- new_v = old_v+p_v
-
- self.ser.write("armxy %d %d %d\n"%(new_h, new_v, a))
- self.ser.flushInput()
- self.arm_h = new_h
- self.arm_v = new_v
-
- time.sleep(0.04)
-
- self.ser.write("armxy %d %d %d\n"%(h, v, a))
- self.ser.flushInput()
- """
-
- self.ser.write("armxy %d %d %d\n"%(h, v, a))
- self.ser.flushInput()
-
- time.sleep(0.2)
-
-
-
- def do_arm_tt(self, args):
- for i in xrange(2):
- self.arm_py_goto(80, 80, 200)
- self.arm_py_goto(80, 200, 200)
- self.arm_py_goto(200, 200, 200)
- self.arm_py_goto(200, 80, 200)
-
- def do_arm_harve(self, args):
- angl1 = 1
- angl2 = 100
- my_time = 0.03
- self.arm_py_goto(130,130,angl1)
- self.arm_py_goto(-150,60,angl1)
- time.sleep(0.1)
-
- self.ser.write("pwm 1B -3000\n")
- self.ser.flushInput()
- time.sleep(0.2)
-
- self.arm_py_goto(-120,60,angl1)
- time.sleep(2)
- self.arm_py_goto(-120,60,angl2)
- time.sleep(2)
- self.arm_py_goto(-150,60,angl2)
- self.ser.write("pwm 3C -3000\n")
- self.ser.flushInput()
- time.sleep(0.2)
- self.arm_py_goto(-130,60,angl2)
- self.arm_py_goto(0,160,angl2)
-
- #middle point
- self.arm_py_goto(-40,200,angl2)
-
- h = -150
- d = 210
-
- self.arm_py_goto(h,d,angl2)
- time.sleep(.3)
- self.ser.write("pwm 3C 3000\n")
- time.sleep(0.1)
- self.arm_py_goto(h+60,d,angl2)
- time.sleep(0.1)
-
- self.arm_py_goto(h+60,d,angl1)
- time.sleep(0.3)
- self.arm_py_goto(h+40,d,angl1)
- time.sleep(0.3)
- self.arm_py_goto(h+30,d,angl1)
- time.sleep(0.3)
- self.ser.write("pwm 1B 3000\n")
- time.sleep(0.1)
- self.arm_py_goto(h+70,d,angl1)
-
- self.ser.write("pwm 1B 0\n")
- self.ser.write("pwm 3C 0\n")
-
- self.arm_py_goto(130,130,angl2)
-
-
-
- def update_graph(self, val):
- freq = self.sfreq.val
- self.theta_max = freq*math.pi*2.0
- self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
- self.theta = self.theta[:len(self.r)]
-
- self.myplot.set_xdata(self.theta)
- draw()
- """
- def do_graph(self, args):
- self.ser.write("pwm 1A 2000\n")
- time.sleep(0.5)
- print "sampling..."
- self.ser.write("sample start\n")
- while True:
- l = self.ser.readline()
- if "dump end" in l:
- break
- #time.sleep(2)
- self.ser.write("pwm 1A 0\n")
- l = self.ser.readline()
- l = self.ser.readline()
-
- print "dumping..."
- self.ser.write("sample dump\n")
- vals = []
- while True:
- l = self.ser.readline()
- if l[0] in ['s', 'c', 'a']:
- continue
- if l[0] in ['e']:
- break
- tokens = [x for x in shlex.shlex(l)]
- v = int(tokens[0])
- #v = min(v, 150)
- vals.append(v)
- vals.reverse()
- print "total vals:", len(vals)
-
- pylab.subplot(111, polar = True)
- self.r = vals
- valinit = 5.38
- #theta_max = 4.8*2.3*pi
- self.theta_max =valinit*pylab.pi
- self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-
- self.myplot, = pylab.plot(self.theta, self.r)
-
- #slide bar
- axfreq = pylab.axes([0.25, 0.1, 0.65, 0.03])
- self.sfreq = pylab.Slider(axfreq, "Freq", 1, 20, valinit = valinit)
- self.sfreq.on_changed(self.update_graph)
-
- pylab.show()
- """
-
-
- def do_dump(self, args):
-
- t = [x for x in shlex.shlex(args)]
-
- t.reverse()
- do_img = False
-
- #send speed,debug=off
- #self.ser.write("scan_params 500 0\n")
- #send algo 1 wrkazone 1 cx 15 cy 15
- self.ser.write("scan_img 1 1 15 15\n")
-
- print t
- while len(t):
- x = t.pop()
- if x == 'img':
- do_img = True
-
- print "dumping..."
- self.ser.write("sample dump 0 0 400 0\n")
-
-
-
- while True:
- l = self.ser.readline()
-
- if "start dumping" in l:
- tokens = [x for x in shlex.shlex(l)]
- num_rows = int(tokens[-1])
- print "num row: ", num_rows
- break
- print l.strip()
- #scan_stop = time.time()
- #print "total time:", scan_stop-scan_start
-
-
- vals = []
- while True:
- l = self.ser.readline()
-
- if l[0] in ['s', 'c', 'a']:
- continue
- if l[0] in ['e']:
- break
- tokens = [x for x in shlex.shlex(l)]
- v = int(tokens[0])
- #v = min(v, 150)
- vals.append(v)
-
-
- #vals.reverse()
- print "total vals:", len(vals)
- valinit = 5
-
- #num_rows = int(600/valinit)
- #num_cols = int(valinit)
- num_rows_orig = num_rows
- num_rows *= 1
- num_cols = len(vals)/num_rows
-
- data = []
- pt_num = 0
- my_min = None
- my_max = None
-
- print "dim", num_rows, num_cols
- print "sav img to pgm"
- fimg = open("dump.pgm", "wb")
- fimg.write("P5\n#toto\n%d %d\n255\n"%(num_rows, num_cols))
- for i in xrange(num_cols):
- data.append([])
- #data[-1].append(0.0)
-
- for j in xrange(num_rows):
- if vals[pt_num]>0x10:
- p = 0
- else:
- p=vals[pt_num] * 0x20
- if (p>0xFF):
- p = 0xFF
-
- fimg.write(chr(p))
- if my_min == None or my_min>p:
- my_min = p
- if p!=255 and (my_max == None or my_max<p):
- my_max = p
- if p >= 205:
- p = 0
- p/=1.
-
-
-
- data[-1].append(p)
- pt_num+=1
- #data[-1].append(1.)
- fimg.close()
- print my_min, my_max
- #print data
- data = numpy.array(data)
-
- if do_img:
- ax = pylab.subplot(111)
- ax.imshow(data)
-
-
- #pylab.subplot(111, polar = True)
- self.r = vals
- #theta_max = 4.8*2.3*pi
- self.theta_max =valinit*pylab.pi
- self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-
- """
- tmp = []
- for x in data:
- tmp+=list(x)
- self.myplot, = pylab.plot(tmp)
-
-
- """
- if not do_img :
- tmpx = []
- tmpy = []
- for x in data:
- tmpy+=list(x)
- tmpx+=range(len(x))
- self.myplot, = pylab.plot(tmpx, tmpy)
-
-
- #slide bar
- #axfreq = pylab.axes([0.25, 0.1, 0.65, 0.03])
- #self.sfreq = pylab.Slider(axfreq, "Freq", 1, 20, valinit = valinit)
- #self.sfreq.on_changed(self.update_graph)
-
- pylab.show()
-
-
- def do_scan_params(self, args):
- t = [x for x in shlex.shlex(args)]
-
- if len(t)!=2:
- return
- t = [int(x) for x in t]
- self.ser.write("scan_params %d %d\n"%tuple(t))
-
- def do_graph(self, args):
- t = [x for x in shlex.shlex(args)]
-
- t.reverse()
- do_img = False
-
- #send speed,debug=off
- #self.ser.write("scan_params 500 0\n")
- #send algo 1 wrkazone 1 cx 15 cy 15
- self.ser.write("scan_img 1 1 15 15\n")
-
- print t
- while len(t):
- x = t.pop()
- if x == 'img':
- do_img = True
-
-
- scan_start = time.time()
- print "sampling..."
-
- self.ser.write("scan_do\n")
-
- flog = open('log.txt', 'w')
-
- while True:
- l = self.ser.readline()
- flog.write(l)
-
- if "dump end" in l:
- break
- flog.close()
-
- #time.sleep(2)
- #self.ser.write("pwm 1A 0\n")
- #l = self.ser.readline()
- #l = self.ser.readline()
-
- print "dumping..."
- self.ser.write("sample dump 0 0 400 0\n")
-
-
-
- while True:
- l = self.ser.readline()
-
- if "start dumping" in l:
- tokens = [x for x in shlex.shlex(l)]
- num_rows = int(tokens[-1])
- print "num row: ", num_rows
- break
- print l.strip()
- scan_stop = time.time()
- print "total time:", scan_stop-scan_start
-
-
- vals = []
- while True:
- l = self.ser.readline()
-
- if l[0] in ['s', 'c', 'a']:
- continue
- if l[0] in ['e']:
- break
- tokens = [x for x in shlex.shlex(l)]
- v = int(tokens[0])
- #v = min(v, 150)
- vals.append(v)
-
-
- #vals.reverse()
- print "total vals:", len(vals)
- valinit = 5
-
- #num_rows = int(600/valinit)
- #num_cols = int(valinit)
- num_rows_orig = num_rows
- num_rows *= 1
- num_cols = len(vals)/num_rows
-
- data = []
- pt_num = 0
- my_min = None
- my_max = None
-
- print "dim", num_rows, num_cols
- print "sav img to pgm"
- fimg = open("dump.pgm", "wb")
- fimg.write("P5\n#toto\n%d %d\n255\n"%(num_rows, num_cols))
- for i in xrange(num_cols):
- data.append([])
- #data[-1].append(0.0)
-
- for j in xrange(num_rows):
- if vals[pt_num]>0x10:
- p = 0
- else:
- p=vals[pt_num] * 0x20
- if (p>0xFF):
- p = 0xFF
-
- fimg.write(chr(p))
- if my_min == None or my_min>p:
- my_min = p
- if p!=255 and (my_max == None or my_max<p):
- my_max = p
- if p >= 205:
- p = 0
- p/=1.
-
-
-
- data[-1].append(p)
- pt_num+=1
- #data[-1].append(1.)
- fimg.close()
- print my_min, my_max
- #print data
- data = numpy.array(data)
-
- if do_img:
- ax = pylab.subplot(111)
- ax.imshow(data)
-
-
- #pylab.subplot(111, polar = True)
- self.r = vals
- #theta_max = 4.8*2.3*pi
- self.theta_max =valinit*pylab.pi
- self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-
- """
- tmp = []
- for x in data:
- tmp+=list(x)
- self.myplot, = pylab.plot(tmp)
-
-
- """
- if not do_img :
- tmpx = []
- tmpy = []
- for x in data:
- tmpy+=list(x)
- tmpx+=range(len(x))
- self.myplot, = pylab.plot(tmpx, tmpy)
-
-
- #slide bar
- #axfreq = pylab.axes([0.25, 0.1, 0.65, 0.03])
- #self.sfreq = pylab.Slider(axfreq, "Freq", 1, 20, valinit = valinit)
- #self.sfreq.on_changed(self.update_graph)
-
- pylab.show()
-
-
def bootloader(self, filename, boardnum):
- self.ser.write("\n")
+ self.ser.write("\ 3")
time.sleep(0.4)
self.ser.write("bootloader\n")
time.sleep(0.4)
self.ser.flushInput()
f = open(filename)
buf = f.read()
+ f.close()
+
addr = 0
+
+ old_buf = get_same_bin_file(self.ser)
+ #old_buf = None
+
while addr < len(buf):
- #time.sleep(0.1)
+ if addr > METADATA_ADDR and old_buf != None and \
+ old_buf[addr:addr+SPM_PAGE_SIZE] == buf[addr:addr+SPM_PAGE_SIZE]:
+ sys.stdout.write("-")
+ sys.stdout.flush()
+ addr += SPM_PAGE_SIZE
+ continue
+ time.sleep(0.1)
if check_crc(self.ser, buf, addr, SPM_PAGE_SIZE) == 0:
sys.stdout.write("*")
sys.stdout.flush()
- elif prog_page(self.ser, addr,
+ elif prog_page(self.ser, addr,
buf[addr:addr+SPM_PAGE_SIZE]) != 0:
return
addr += SPM_PAGE_SIZE
if check_crc(self.ser, buf, 0, len(buf)):
print "crc failed"
return
+ print
+ if prog_metadata(self.ser, METADATA_ADDR, buf) != 0:
+ print "metadata failed"
+ return
print "Done."
self.ser.write("x")
self.do_raw("")
-
+
def do_bootloader(self, args):
self.bootloader(args, 0)
filename = os.path.join(MICROB_PATH, "../mainboard/main.bin")
self.bootloader(filename, 1)
- def do_mechboard(self, args):
- filename = os.path.join(MICROB_PATH, "../mechboard/main.bin")
+ def do_cobboard(self, args):
+ filename = os.path.join(MICROB_PATH, "../cobboard/main.bin")
self.bootloader(filename, 2)
- def do_sensorboard(self, args):
- filename = os.path.join(MICROB_PATH, "../sensorboard/main.bin")
+ def do_ballboard(self, args):
+ filename = os.path.join(MICROB_PATH, "../ballboard/main.bin")
self.bootloader(filename, 3)
def do_toto(self, args):
git.droids-corp.org / aversive.git / blobdiff