def accel_calibrate():
'''run full accel calibration'''
logger.info("Starting accel cal at %s" % time.ctime())
conn = connection.Connection()
logger.info("FW version: %s" % conn.fw_version)
logger.info("PX4 version: %s" % conn.px4_version)
logger.info("NuttX version: %s" % conn.nuttx_version)
logger.info("STM32 serial: %s" % conn.stm32_serial)
# lock the two telemetry ports to prevent the COMMAND_ACK messages in accel cal
# from looping back between the two telemetry ports
logger.info("Locking telemetry ports")
util.lock_serial_port(conn.testmav,
mavutil.mavlink.SERIAL_CONTROL_DEV_TELEM1)
util.lock_serial_port(conn.testmav,
mavutil.mavlink.SERIAL_CONTROL_DEV_TELEM2)
try:
accel_calibrate_run(conn)
test_sensors.check_accel_cal(conn)
test_sensors.check_gyro_cal(conn)
except Exception as ex:
conn.close()
util.show_error('Accel calibration complete???', ex)
try:
# we run the sensor checks from here to avoid re-opening the links
test_sensors.check_all_sensors(conn)
except Exception as ex:
conn.close()
util.show_error('Test sensors failed', ex)
try:
logger.info("Loading factory parameters")
conn.test.send('param load %s\n' % FACTORY_PARM)
conn.test.expect('Loaded \d+ parameters from')
logger.info("Parameters loaded OK")
except Exception as ex:
conn.close()
util.show_error('Parameter load failed', ex)
logger.info("Resetting AHRS_ORIENTATION to 0")
util.param_set(conn.test, 'AHRS_ORIENTATION', 0)
time.sleep(1)
if ETE == 0:
rotate.center_servos(conn)
conn.close()
def accel_calibrate():
'''run full accel calibration'''
logger.info("Starting accel cal at %s" % time.ctime())
conn = connection.Connection()
logger.info("FW version: %s" % conn.fw_version)
logger.info("PX4 version: %s" % conn.px4_version)
logger.info("NuttX version: %s" % conn.nuttx_version)
logger.info("STM32 serial: %s" % conn.stm32_serial)
# lock the two telemetry ports to prevent the COMMAND_ACK messages in accel cal
# from looping back between the two telemetry ports
logger.info("Locking telemetry ports")
util.lock_serial_port(conn.testmav, mavutil.mavlink.SERIAL_CONTROL_DEV_TELEM1)
util.lock_serial_port(conn.testmav, mavutil.mavlink.SERIAL_CONTROL_DEV_TELEM2)
try:
accel_calibrate_run(conn)
test_sensors.check_accel_cal(conn)
test_sensors.check_gyro_cal(conn)
except Exception as ex:
conn.close()
util.show_error('Accel calibration complete???', ex)
try:
# we run the sensor checks from here to avoid re-opening the links
test_sensors.check_all_sensors(conn)
except Exception as ex:
conn.close()
util.show_error('Test sensors failed', ex)
try:
logger.info("Loading factory parameters")
conn.test.send('param load %s\n' % FACTORY_PARM)
conn.test.expect('Loaded \d+ parameters from')
logger.info("Parameters loaded OK")
except Exception as ex:
conn.close()
util.show_error('Parameter load failed', ex)
logger.info("Resetting AHRS_ORIENTATION to 0")
util.param_set(conn.test, 'AHRS_ORIENTATION', 0)
time.sleep(1)
if ETE == 0:
rotate.center_servos(conn)
conn.close()
def factory_install(device_barcode):
'''main factory installer'''
start_time = time.time()
script_dir = os.path.dirname(os.path.abspath(__file__))
ete.command_bytes('test_work')
if not args.test:
colour_text.clear_screen()
# start a new log directory on each run
logger.new_log_dir()
logger.reopen_logfile()
logdir = logger.get_log_dir()
logger.info("Logging to %s" % logdir)
#logger.info("Device barcode %s" % device_barcode)
colour_text.print_blue('''
==================================================
| Starting installation. Barcode is %s
==================================================
''' % device_barcode)
logger.info(time.ctime())
if args.erase:
if not jtag.erase_firmwares():
colour_text.print_fail('''
======================================
| FAILED: JTAG firmware erase failed
======================================
''')
logger.critical("JTAG firmware erase failed")
ete.command_bytes('test_fail')
ete.command_bytes('reset')
ete.accel(10000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return False
if not args.nofw and not jtag.load_all_firmwares(retries=3):
colour_text.print_fail('''
======================================
| FAILED: JTAG firmware install failed
======================================
''')
logger.critical("JTAG firmware install failed")
ete.command_bytes('test_fail')
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
try:
conn = connection.Connection(ref_only=True)
rotate.center_servos(conn)
except Exception as ex:
print("Failed to center servos: %s" % ex)
pass
return False
if args.erase:
if not connection.erase_parameters():
colour_text.print_fail('''
==========================================
| FAILED: Failed to erase parameters
==========================================
''')
logger.critical("Failed to erase parameters")
ete.command_bytes('test_fail')
ete.position(0, 0)
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return False
if not accelcal.accel_calibrate_retries(retries=4):
colour_text.print_fail('''
==========================================
| FAILED: Accelerometer calibration failed
==========================================
''')
logger.critical("Accelerometer calibration failed")
ete.command_bytes('test_fail')
ete.position(0, 0)
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return False
# all OK
logger.info("Writting OTP region in STM32")
#Add OTP HERE
script_dir = os.path.dirname(os.path.abspath(__file__))
if args.otp_show:
p1 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'--only-display',"abc"], stdin=PIPE, stdout=PIPE, stderr=PIPE)
output, err = p1.communicate()
logger.info(output)
time.sleep(1)
#conn = connection.Connection(ref_only=False)
#otp_program_mod.Display_OTP(conn)
def getMacAddress():
if sys.platform == 'win32':
for line in os.popen("ipconfig /all"):
if line.lstrip().startswith('Physical Address'):
mac = line.split(':')[1].strip().replace('-',':')
break
else:
for line in os.popen("/sbin/ifconfig"):
if line.find('Ether') > -1:
mac = line.split()[4]
break
return mac
print("Manufacturer info : Hex Technology, \xA9 ProfiCNC 2016")
print "MAC Address:",getMacAddress() #.join(['{:02x}'.format((uuid.getnode() >> i) & 0xff) for i in range(0,8*6,8)][::-1])
colour_text.print_blue('''Barcode is %s''' % device_barcode)
print("date of testing :" + time.strftime("%x"))
print("time of testing :" + time.strftime("%X"))
accel_data0 = "%f,%f,%f,%f,%f,%f" % (test_sensors.offset[0][0] ,test_sensors.offset[0][1] ,test_sensors.offset[0][2],test_sensors.scale_factor[0][0],test_sensors.scale_factor[0][1],test_sensors.scale_factor[0][2])
accel_data2 = "%f,%f,%f,%f,%f,%f" % (test_sensors.offset[2][0] ,test_sensors.offset[2][1] ,test_sensors.offset[2][2],test_sensors.scale_factor[2][0],test_sensors.scale_factor[2][1],test_sensors.scale_factor[2][2])
print "Accel :", accel_data0
print "Accel :", accel_data2
if True:#args.otp_write:
#Manufacturing Info
p2 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'Hex Technology, \xA9 ProfiCNC 2016',getMacAddress(),device_barcode,time.strftime("%x"),time.strftime("%X"),'--',str(accel_data0),str(accel_data2)], stdin=PIPE, stdout=PIPE, stderr=PIPE)
output, err = p2.communicate()
logger.info(output)
logger.info(err)
time.sleep(1)
#Display
#p3 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'--only-display',"abc"], stdin=PIPE, stdout=PIPE, stderr=PIPE)
#output, err = p3.communicate()
#logger.info(output)
colour_text.print_green('''
================================================
| Device: %s
| PASSED: Factory install complete (%u seconds)
================================================
''' % (device_barcode, (time.time() - start_time)))
logger.info("Factory install complete (%u seconds)" % (time.time() - start_time))
ete.command_bytes('test_pass')
ete.position(0, 0)
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return True
def factory_install(device_barcode):
'''main factory installer'''
start_time = time.time()
if not args.test:
colour_text.clear_screen()
# start a new log directory on each run
logger.new_log_dir()
logger.reopen_logfile()
logdir = logger.get_log_dir()
logger.info("Logging to %s" % logdir)
logger.info("Device barcode %s" % device_barcode)
colour_text.print_blue('''
==================================================
| Starting installation. Barcode is %s
==================================================
''' % device_barcode)
logger.info(time.ctime())
if args.erase:
if not jtag.erase_firmwares():
colour_text.print_fail('''
======================================
| FAILED: JTAG firmware erase failed
======================================
''')
logger.critical("JTAG firmware erase failed")
return False
if not args.nofw and not jtag.load_all_firmwares(retries=3):
colour_text.print_fail('''
======================================
| FAILED: JTAG firmware install failed
======================================
''')
logger.critical("JTAG firmware install failed")
try:
conn = connection.Connection(ref_only=True)
rotate.center_servos(conn)
except Exception as ex:
print("Failed to center servos: %s" % ex)
pass
return False
if args.erase:
if not connection.erase_parameters():
colour_text.print_fail('''
==========================================
| FAILED: Failed to erase parameters
==========================================
''')
logger.critical("Failed to erase parameters")
return False
if not accelcal.accel_calibrate_retries(retries=4):
colour_text.print_fail('''
==========================================
| FAILED: Accelerometer calibration failed
==========================================
''')
logger.critical("Accelerometer calibration failed")
return False
# all OK
colour_text.print_green('''
================================================
| Device: %s
| PASSED: Factory install complete (%u seconds)
================================================
''' % (device_barcode, (time.time() - start_time)))
logger.info("Factory install complete (%u seconds)" % (time.time() - start_time))
return True
def factory_install(device_barcode):
'''main factory installer'''
start_time = time.time()
script_dir = os.path.dirname(os.path.abspath(__file__))
ete.command_bytes('test_work')
if not args.test:
colour_text.clear_screen()
# start a new log directory on each run
logger.new_log_dir()
logger.reopen_logfile()
logdir = logger.get_log_dir()
logger.info("Logging to %s" % logdir)
#logger.info("Device barcode %s" % device_barcode)
colour_text.print_blue('''
==================================================
| Starting installation. Barcode is %s
==================================================
''' % device_barcode)
logger.info(time.ctime())
if args.erase:
if not jtag.erase_firmwares():
colour_text.print_fail('''
======================================
| FAILED: JTAG firmware erase failed
======================================
''')
logger.critical("JTAG firmware erase failed")
ete.command_bytes('test_fail')
ete.command_bytes('reset')
ete.accel(10000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return False
if not args.nofw and not jtag.load_all_firmwares(retries=3):
colour_text.print_fail('''
======================================
| FAILED: JTAG firmware install failed
======================================
''')
logger.critical("JTAG firmware install failed")
ete.command_bytes('test_fail')
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
try:
conn = connection.Connection(ref_only=True)
rotate.center_servos(conn)
except Exception as ex:
print("Failed to center servos: %s" % ex)
pass
return False
if args.erase:
if not connection.erase_parameters():
colour_text.print_fail('''
==========================================
| FAILED: Failed to erase parameters
==========================================
''')
logger.critical("Failed to erase parameters")
ete.command_bytes('test_fail')
ete.position(0, 0)
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return False
if not accelcal.accel_calibrate_retries(retries=4):
colour_text.print_fail('''
==========================================
| FAILED: Accelerometer calibration failed
==========================================
''')
logger.critical("Accelerometer calibration failed")
ete.command_bytes('test_fail')
ete.position(0, 0)
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return False
# all OK
logger.info("Writting OTP region in STM32")
#Add OTP HERE
script_dir = os.path.dirname(os.path.abspath(__file__))
if args.otp_show:
p1 = Popen([
'python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,
'--only-display', "abc"
],
stdin=PIPE,
stdout=PIPE,
stderr=PIPE)
output, err = p1.communicate()
logger.info(output)
time.sleep(1)
#conn = connection.Connection(ref_only=False)
#otp_program_mod.Display_OTP(conn)
def getMacAddress():
if sys.platform == 'win32':
for line in os.popen("ipconfig /all"):
if line.lstrip().startswith('Physical Address'):
mac = line.split(':')[1].strip().replace('-', ':')
break
else:
for line in os.popen("/sbin/ifconfig"):
if line.find('Ether') > -1:
mac = line.split()[4]
break
return mac
print("Manufacturer info : Hex Technology, \xA9 ProfiCNC 2016")
print "MAC Address:", getMacAddress(
) #.join(['{:02x}'.format((uuid.getnode() >> i) & 0xff) for i in range(0,8*6,8)][::-1])
colour_text.print_blue('''Barcode is %s''' % device_barcode)
print("date of testing :" + time.strftime("%x"))
print("time of testing :" + time.strftime("%X"))
accel_data0 = "%f,%f,%f,%f,%f,%f" % (
test_sensors.offset[0][0], test_sensors.offset[0][1],
test_sensors.offset[0][2], test_sensors.scale_factor[0][0],
test_sensors.scale_factor[0][1], test_sensors.scale_factor[0][2])
accel_data2 = "%f,%f,%f,%f,%f,%f" % (
test_sensors.offset[2][0], test_sensors.offset[2][1],
test_sensors.offset[2][2], test_sensors.scale_factor[2][0],
test_sensors.scale_factor[2][1], test_sensors.scale_factor[2][2])
print "Accel :", accel_data0
print "Accel :", accel_data2
if True: #args.otp_write:
#Manufacturing Info
p2 = Popen([
'python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,
'Hex Technology, \xA9 ProfiCNC 2016',
getMacAddress(), device_barcode,
time.strftime("%x"),
time.strftime("%X"), '--',
str(accel_data0),
str(accel_data2)
],
stdin=PIPE,
stdout=PIPE,
stderr=PIPE)
output, err = p2.communicate()
logger.info(output)
logger.info(err)
time.sleep(1)
#Display
#p3 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'--only-display',"abc"], stdin=PIPE, stdout=PIPE, stderr=PIPE)
#output, err = p3.communicate()
#logger.info(output)
colour_text.print_green('''
================================================
| Device: %s
| PASSED: Factory install complete (%u seconds)
================================================
''' % (device_barcode, (time.time() - start_time)))
logger.info("Factory install complete (%u seconds)" %
(time.time() - start_time))
ete.command_bytes('test_pass')
ete.position(0, 0)
ete.command_bytes('reset')
ete.accel(100000)
ete.yawspeed(5000)
ete.rollspeed(10000)
return True
