def erase_firmware(device, mcu_id):
'''erase a firmware'''
cmd = GDB
logger.info("Erasing firmware for '%s'" % mcu_id)
try:
util.kill_processes([GDB])
gdb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
gdb.expect("(gdb)")
gdb.send("target extended %s\n" % device)
gdb.expect("Remote debugging using")
gdb.expect("(gdb)")
gdb.send("monitor swdp_scan\n")
ids = CPUID_IO + CPUID_FMU
cpu = gdb.expect(ids)
if ids[cpu] not in mcu_id:
util.failure("Incorrect CPU ID '%s' - expected '%s'" % (ids[cpu], mcu_id))
gdb.expect("(gdb)")
gdb.send("attach 1\n")
gdb.expect("(gdb)")
gdb.send("set mem inaccessible-by-default off\n")
gdb.expect("(gdb)")
gdb.send("monitor erase\n")
gdb.expect("(gdb)", timeout=20)
gdb.send('quit\n')
gdb.expect('Quit anyway')
gdb.send('y\n')
gdb.expect("Detached from remote")
gdb.close()
logger.info("closed")
except Exception as ex:
util.show_error('Erasing firmware', ex)
logger.info("Erase done")
def erase_firmware(device, mcu_id):
'''erase a firmware'''
cmd = GDB
logger.info("Erasing firmware for '%s'" % mcu_id)
try:
util.kill_processes([GDB])
gdb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
gdb.expect("(gdb)")
gdb.send("target extended %s\n" % device)
gdb.expect("Remote debugging using")
gdb.expect("(gdb)")
gdb.send("monitor swdp_scan\n")
cpu = gdb.expect([CPUID_IO, CPUID_FMU])
if cpu == 0:
if mcu_id != CPUID_IO:
util.failure("Incorrect CPU ID '%s' - expected '%s'" % (CPUID_IO, mcu_id))
else:
if mcu_id != CPUID_FMU:
util.failure("Incorrect CPU ID '%s' - expected '%s'" % (CPUID_FMU, mcu_id))
gdb.expect("(gdb)")
gdb.send("attach 1\n")
gdb.expect("(gdb)")
gdb.send("set mem inaccessible-by-default off\n")
gdb.expect("(gdb)")
gdb.send("monitor erase\n")
gdb.expect("(gdb)", timeout=20)
gdb.send('quit\n')
gdb.expect('Quit anyway')
gdb.send('y\n')
gdb.expect("Detached from remote")
gdb.close()
logger.info("closed")
except Exception as ex:
util.show_error('Erasing firmware', ex)
logger.info("Erase done")
def run_chrome():
# закрываем хром, если запущен, и открываем заного с нужным настройками
pid = get_processes('chrome.exe')
kill_processes(pid)
chrome_dir = r"C:\Program Files (x86)\Google\Chrome\Application\chrome.exe"
chrome = Application(backend='uia')
chrome.start(
chrome_dir +
' --remote-debugging-port=9222 --force-renderer-accessibility --start-maximized'
)
time.sleep(2)
def __init__(self, ref_only=False):
util.kill_processes(['mavproxy.py', GDB])
self.reflog = StringIO()
self.testlog = StringIO()
self.ref = None
self.test = None
self.nsh = None
self.refmav = None
self.testmav = None
try:
if not ref_only:
self.nsh = nsh_console.nsh_console()
except Exception as ex:
self.close()
util.show_error('Connecting to nsh console', ex, self.testlog)
try:
self.ref = mav_reference.mav_reference(self.reflog)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board1', ex, self.reflog)
try:
if not ref_only:
self.test = mav_test.mav_test(self.testlog)
except Exception as ex:
self.close()
util.show_error('Connecting to test board1', ex, self.testlog)
try:
logger.info("CONNECTING MAVLINK TO REFERENCE BOARD")
self.refmav = mavutil.mavlink_connection('127.0.0.1:14550')
util.wait_heartbeat(self.refmav, timeout=30)
util.wait_mode(self.refmav, IDLE_MODES)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board2', ex, self.reflog)
try:
if not ref_only:
logger.info("CONNECTING MAVLINK TO TEST BOARD at %s" % time.ctime())
self.testmav = mavutil.mavlink_connection('127.0.0.1:14551')
util.wait_heartbeat(self.testmav, timeout=30)
logger.info("got heartbeat at %s" % time.ctime())
util.wait_mode(self.testmav, IDLE_MODES)
logger.info("Waiting for 'Ready to FLY'")
self.test.expect('Ready to FLY', timeout=20)
except Exception as ex:
self.close()
util.show_error('Connecting to test board2 at %s' % time.ctime(), ex, self.testlog)
if self.nsh is not None:
# log any extra nsh data
logger.debug("Draining nsh")
try:
self.nsh.read_nonblocking(4096, 1)
except Exception as ex:
pass
try:
if not ref_only and not ref_gyro_offset_ok(self.refmav):
self.close()
util.failure("Bad reference gyro - FAILED")
except Exception as ex:
self.close()
util.show_error('testing reference gyros', ex)
logger.info("Setting rotation level")
try:
rotate.set_rotation(self, 'level', wait=False)
except Exception as ex:
self.close()
util.show_error("unable to set safety off", ex)
def __init__(self, ref_only=False):
util.kill_processes(['mavproxy.py', GDB])
self.reflog = StringIO()
self.testlog = StringIO()
self.ref = None
self.test = None
self.nsh = None
self.refmav = None
self.testmav = None
try:
if not ref_only:
self.nsh = nsh_console.nsh_console()
except Exception as ex:
self.close()
util.show_error('Connecting to nsh console', ex, self.testlog)
try:
self.ref = mav_reference.mav_reference(self.reflog)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board1', ex, self.reflog)
try:
if not ref_only:
self.test = mav_test.mav_test(self.testlog)
except Exception as ex:
self.close()
util.show_error('Connecting to test board1', ex, self.testlog)
try:
logger.info("CONNECTING MAVLINK TO REFERENCE BOARD")
self.refmav = mavutil.mavlink_connection('127.0.0.1:14550')
util.wait_heartbeat(self.refmav, timeout=30)
util.wait_mode(self.refmav, IDLE_MODES)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board2', ex, self.reflog)
try:
if not ref_only:
logger.info("CONNECTING MAVLINK TO TEST BOARD")
self.testmav = mavutil.mavlink_connection('127.0.0.1:14551')
util.wait_heartbeat(self.testmav, timeout=30)
logger.info("got heartbeat")
util.wait_mode(self.testmav, IDLE_MODES)
logger.info("Waiting for 'Ready to FLY'")
self.fw_version = None
self.px4_version = None
self.nuttx_version = None
self.stm32_serial = None
ready = False
self.test.send("param fetch\n")
# log version information for later reference
while (self.fw_version is None or self.px4_version is None
or self.nuttx_version is None
or self.stm32_serial is None or not ready):
i = self.test.expect([
'APM: ([^\r\n]*Copter[^\r\n]*)\r\n',
'APM: PX4: ([0-9a-f]+) NuttX: ([0-9a-f]+)\r\n',
'APM: PX4v2 ([0-9A-F]+ [0-9A-F]+ [0-9A-F]+)\r\n',
'(Ready to FLY)'
],
timeout=20)
if i == 3:
ready = True
elif i == 0:
self.fw_version = self.test.match.group(1)
elif i == 1:
self.px4_version = self.test.match.group(1)
self.nuttx_version = self.test.match.group(2)
elif i == 2:
self.stm32_serial = self.test.match.group(1)
except Exception as ex:
self.close()
util.show_error('Connecting to test board2', ex, self.testlog)
if self.nsh is not None:
# log any extra nsh data
logger.debug("Draining nsh")
try:
self.nsh.read_nonblocking(4096, 1)
except Exception as ex:
pass
try:
if not ref_only and not ref_gyro_offset_ok(self.refmav):
self.close()
util.failure("Bad reference gyro - FAILED")
except Exception as ex:
self.close()
util.show_error('testing reference gyros', ex)
logger.info("Setting rotation level")
try:
rotate.set_rotation(self, 'level', wait=False)
except Exception as ex:
self.close()
util.show_error("unable to set safety off", ex)
def __init__(self, ref_only=False):
util.kill_processes(['mavproxy.py', GDB])
self.reflog = StringIO()
self.testlog = StringIO()
self.ref = None
self.test = None
self.nsh = None
self.refmav = None
self.testmav = None
try:
if not ref_only:
self.nsh = nsh_console.nsh_console()
except Exception as ex:
self.close()
util.show_error('Connecting to nsh console', ex, self.testlog)
try:
self.ref = mav_reference.mav_reference(self.reflog)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board1', ex, self.reflog)
try:
if not ref_only:
self.test = mav_test.mav_test(self.testlog)
except Exception as ex:
self.close()
util.show_error('Connecting to test board1', ex, self.testlog)
try:
logger.info("CONNECTING MAVLINK TO REFERENCE BOARD")
self.refmav = mavutil.mavlink_connection('127.0.0.1:14550')
util.wait_heartbeat(self.refmav, timeout=30)
util.wait_mode(self.refmav, IDLE_MODES)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board2', ex, self.reflog)
try:
if not ref_only:
logger.info("CONNECTING MAVLINK TO TEST BOARD")
self.testmav = mavutil.mavlink_connection('127.0.0.1:14551')
util.wait_heartbeat(self.testmav, timeout=30)
logger.info("got heartbeat")
util.wait_mode(self.testmav, IDLE_MODES)
logger.info("Waiting for 'Ready to FLY'")
self.fw_version = None
self.px4_version = None
self.nuttx_version = None
self.stm32_serial = None
ready = False
self.test.send("param fetch\n")
# log version information for later reference
while (self.fw_version is None or
self.px4_version is None or
self.nuttx_version is None or
self.stm32_serial is None or
not ready):
i = self.test.expect(['APM: ([^\r\n]*Copter[^\r\n]*)\r\n',
'APM: PX4: ([0-9a-f]+) NuttX: ([0-9a-f]+)\r\n',
'APM: PX4v2 ([0-9A-F]+ [0-9A-F]+ [0-9A-F]+)\r\n',
'(Ready to FLY)'],
timeout=20)
if i == 3:
ready = True
elif i == 0:
self.fw_version = self.test.match.group(1)
elif i == 1:
self.px4_version = self.test.match.group(1)
self.nuttx_version = self.test.match.group(2)
elif i == 2:
self.stm32_serial = self.test.match.group(1)
except Exception as ex:
self.close()
util.show_error('Connecting to test board2', ex, self.testlog)
if self.nsh is not None:
# log any extra nsh data
logger.debug("Draining nsh")
try:
self.nsh.read_nonblocking(4096, 1)
except Exception as ex:
pass
try:
if not ref_only and not ref_gyro_offset_ok(self.refmav):
self.close()
util.failure("Bad reference gyro - FAILED")
except Exception as ex:
self.close()
util.show_error('testing reference gyros', ex)
logger.info("Setting rotation level")
try:
rotate.set_rotation(self, 'level', wait=False)
except Exception as ex:
self.close()
util.show_error("unable to set safety off", ex)
import rotate
import barcode
import savedstate
import otp_program_mod
from pymavlink import mavutil
logger.info("Setting Pixhawk into Factory Mode %s" % time.ctime())
power_control.power_cycle(down_time=4)
# disable stdout buffering
sys.stdout = os.fdopen(sys.stdout.fileno(), 'w', 0)
# wait for the power to come on again
while not util.wait_devices([FMU_JTAG, IO_JTAG, FMU_DEBUG]):
logger.info("waiting for power up....")
util.kill_processes(['mavproxy.py', GDB])
time.sleep(2)
while not util.wait_devices([USB_DEV_TEST, USB_DEV_REFERENCE]):
logger.error("FAILED to find USB test and reference devices")
power_control.power_cycle(down_time=4)
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")
================================================
''' % (device_barcode, (time.time() - start_time)))
logger.info("Factory install complete (%u seconds)" % (time.time() - start_time))
return True
# load the jig state file
savedstate.init()
savedstate.reset('current_cycles')
while True:
logger.get_ftdi()
jigstate = savedstate.get()
logger.info("jigstate: total_cycles = %i" % jigstate['total_cycles'])
logger.info("jigstate: current_cycles = %i" % jigstate['current_cycles'])
util.kill_processes(['mavproxy.py', GDB])
if args.test:
# power cycle each time, simulating new board put in
power_control.power_cycle()
else:
# wait for the power to be switched off, disable serial logging
logger.info("waiting for power off")
util.wait_no_device([FMU_JTAG, IO_JTAG], timeout=600)
device_barcode = args.barcode
if not args.test and device_barcode is None:
colour_text.print_blue('''
==========================================
| PLEASE SWIPE DEVICE BARCODE
==========================================
