--- /dev/null
+#! /usr/bin/env python
+
+import os,sys,termios,atexit
+import serial
+from select import select
+import cmd
+#import pylab
+from matplotlib import pylab
+from math import *
+
+import struct
+import numpy
+import shlex
+import time
+import math
+import warnings
+warnings.filterwarnings("ignore","tempnam",RuntimeWarning, __name__)
+
+import logging
+log = logging.getLogger("MicrobShell")
+_handler = logging.StreamHandler()
+_handler.setFormatter(logging.Formatter("%(levelname)s: %(message)s"))
+log.addHandler(_handler)
+log.setLevel(1)
+
+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
+ value is 0xffff). 'data' is the 8 bits value added to crc. The
+ function returns the new crc value."""
+
+ data ^= (crc & 0xff)
+ data ^= (data << 4)
+ data &= 0xff
+
+ ret = (data << 8) & 0xffff
+ ret |= ((crc >> 8) & 0xff)
+ ret ^= ((data >> 4) & 0xff)
+ ret ^= ((data << 3) & 0xffff)
+ return ret
+
+def do_crc(buf):
+ i = 0
+ crc = 0xffff
+ sum = 0
+ while i < len(buf):
+ crc = crc_ccitt_update(crc, ord(buf[i]))
+ sum += ord(buf[i])
+ i += 1
+ return (crc << 16) + (sum & 0xffff)
+
+def prog_page(ser, addr, buf):
+ """program a page from buf at addr"""
+
+ # switch in program mode
+ ser.flushInput()
+ ser.write('p')
+
+ # send address
+ s = ser.readline()
+ if not s.endswith("addr?\r\n"):
+ print "failed (don't match addr)"
+ return -1
+ ser.write("%x\n"%addr)
+ s = ser.readline()
+ if not s.startswith("ok"):
+ print "failed"
+ return -1
+
+ # fill page with buf data
+ page = [ '\xff' ] * SPM_PAGE_SIZE
+ i = 0
+ while i < SPM_PAGE_SIZE and i < len(buf):
+ page[i] = buf[i]
+ i += 1
+
+ # send data
+ i = 0
+ while i < SPM_PAGE_SIZE:
+ c = page[i]
+ ser.write(c)
+ i += 1
+
+ sys.stdout.write(".")
+ sys.stdout.flush()
+
+ # compare crc
+ avr_crc = int(ser.readline()[0:8], 16)
+
+ crc = do_crc(page)
+ if crc != avr_crc:
+ print "failed: bad crc %x %x"%(crc, avr_crc)
+ ser.write('n')
+ return -1
+
+ ser.write('y')
+ s = ser.readline()
+ if not s.startswith("OK"):
+ print "failed"
+ 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"""
+
+ 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()
+ 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
+ that value is correct"""
+ if size <= 0:
+ return 0
+
+ # go in CRC mode
+ ser.flushInput()
+ ser.write('c')
+
+ # send addr
+ s = ser.readline()
+ if not s.endswith("addr?\r\n"):
+ print "failed <%s>"%s
+ return -1
+ ser.write("%x\n"%offset)
+
+ # send size
+ s = ser.readline()
+ if not s.startswith("size?"):
+ print "failed"
+ return -1
+ ser.write("%x\n"%size)
+
+ # compare CRC
+ crc = do_crc(buf[offset:offset+size])
+ avr_crc = int(ser.readline()[0:8], 16)
+ if crc != avr_crc:
+ return -1
+ return 0
+
+class SerialLogger:
+ def __init__(self, ser, filein, fileout=None):
+ self.ser = ser
+ self.filein = filein
+ self.fin = open(filein, "a", 0)
+ if fileout:
+ self.fileout = fileout
+ self.fout = open(fileout, "a", 0)
+ else:
+ self.fileout = filein
+ self.fout = self.fin
+ def fileno(self):
+ return self.ser.fileno()
+ def read(self, *args):
+ res = self.ser.read(*args)
+ self.fin.write(res)
+ return res
+ def write(self, s):
+ self.fout.write(s)
+ self.ser.write(s)
+
+class Interp(cmd.Cmd):
+ prompt = "Microb> "
+ def __init__(self, tty, baudrate=57600):
+ cmd.Cmd.__init__(self)
+ self.ser = serial.Serial(tty,baudrate=baudrate)
+ self.escape = "\x01" # C-a
+ self.quitraw = "\x02" # C-b
+ self.serial_logging = False
+ self.default_in_log_file = "/tmp/microb.in.log"
+ self.default_out_log_file = "/tmp/microb.out.log"
+
+ def do_quit(self, args):
+ return True
+
+ def do_log(self, args):
+ """Activate serial logs.
+ log <filename> logs input and output to <filename>
+ log <filein> <fileout> logs input to <filein> and output to <fileout>
+ 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,
+ self.ser.fileout))
+ else:
+ self.serial_logging = True
+ files = [os.path.expanduser(x) for x in args.split()]
+ if len(files) == 0:
+ files = [self.default_in_log_file, self.default_out_log_file]
+ elif len(files) == 1:
+ self.default_in_log_file = files[0]
+ self.default_out_log_file = None
+ elif len(files) == 2:
+ self.default_in_log_file = files[0]
+ self.default_out_log_file = files[1]
+ else:
+ print "Can't parse arguments"
+
+ self.ser = SerialLogger(self.ser, *files)
+ 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,
+ 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 = os.open("/dev/stdin",os.O_RDONLY)
+ stdout = os.open("/dev/stdout",os.O_WRONLY)
+
+ 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 |
+ termios.ICRNL | termios.IXON)
+ # oflag
+ raw_termios[1] &= ~termios.OPOST;
+ # cflag
+ raw_termios[2] &= ~(termios.CSIZE | termios.PARENB);
+ raw_termios[2] |= termios.CS8;
+ # lflag
+ raw_termios[3] &= ~(termios.ECHO | termios.ECHONL |
+ termios.ICANON | termios.ISIG |
+ termios.IEXTEN);
+
+ termios.tcsetattr(stdin, termios.TCSADRAIN, raw_termios)
+
+ mode = "normal"
+ while True:
+ ins,outs,errs=select([stdin,self.ser],[],[])
+ for x in ins:
+ if x == stdin:
+ c = os.read(stdin,1)
+ if mode == "escape":
+ mode =="normal"
+ if c == self.escape:
+ self.ser.write(self.escape)
+ elif c == self.quitraw:
+ return
+ else:
+ self.ser.write(self.escape)
+ self.ser.write(c)
+ else:
+ if c == self.escape:
+ mode = "escape"
+ else:
+ self.ser.write(c)
+ elif x == self.ser:
+ os.write(stdout,self.ser.read())
+ finally:
+ termios.tcsetattr(stdin, termios.TCSADRAIN, stdin_termios)
+ log.info("Back to normal mode")
+
+ def bootloader(self, filename, boardnum):
+ self.ser.write("\ 3")
+ time.sleep(0.4)
+ self.ser.write("bootloader\n")
+ time.sleep(0.4)
+ self.ser.write("\n")
+
+ print "start programming"
+ 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):
+ 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,
+ 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)
+
+
+if __name__ == "__main__":
+ try:
+ import readline,atexit
+ except ImportError:
+ pass
+ else:
+ histfile = os.path.join(os.environ["HOME"], ".microb_history")
+ atexit.register(readline.write_history_file, histfile)
+ try:
+ readline.read_history_file(histfile)
+ except IOError:
+ pass
+
+ device = "/dev/ttyS0"
+ if len(sys.argv) > 1:
+ device = sys.argv[1]
+ interp = Interp(device)
+ while 1:
+ try:
+ interp.cmdloop()
+ except KeyboardInterrupt:
+ print
+ except Exception,e:
+ l = str(e).strip()
+ if l:
+ log.exception("%s" % l.splitlines()[-1])
+ continue
+ break
git.droids-corp.org / fpv.git / commitdiff