--- /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 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
+
+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 read32(ser, addr):
+ """read a 32 bits value at addr"""
+
+ # switch in program mode
+ ser.flushInput()
+ ser.write('d')
+
+ # 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()
+ return int(s)
+
+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)
+
+
+
+
+
+"""
+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):
+ 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 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")
+ 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()
+ addr = 0
+ while addr < len(buf):
+ 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 "Done."
+ self.ser.write("x")
+ self.do_raw("")
+
+ def do_bootloader(self, args):
+ self.bootloader(args, 0)
+
+ def do_mainboard(self, args):
+ 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")
+ self.bootloader(filename, 2)
+
+ def do_sensorboard(self, args):
+ filename = os.path.join(MICROB_PATH, "../sensorboard/main.bin")
+ self.bootloader(filename, 3)
+
+ def do_toto(self, args):
+ for i in range(10):
+ time.sleep(1)
+ self.ser.write("pwm s3(3C) 200\n")
+ time.sleep(1)
+ self.ser.write("pwm s3(3C) 250\n")
+
+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 / aversive.git / blobdiff