def stop_user_code(port, ctx=proscli.utils.State()):
click.echo('Stopping user code... ', nl=False)
stopbits = [0x0f, 0x0f, 0x21, 0xde, 0x08, 0x00, 0x00, 0x00, 0x08, 0xf1, 0x04]
debug(bytes_to_str(stopbits), ctx)
if not port.is_open:
port.open()
port.flush()
port.read(port.in_waiting)
for stopbit in stopbits:
port.write([stopbit])
port.flush()
response = port.read_all()
debug(bytes_to_str(response), ctx)
port.parity = serial.PARITY_NONE
click.echo('complete')
def stop_user_code(port, ctx=proscli.utils.State()):
click.echo('Stopping user code... ', nl=False)
stopbits = [0x0f, 0x0f, 0x21, 0xde, 0x08, 0x00, 0x00, 0x00, 0x08, 0xf1, 0x04]
debug(bytes_to_str(stopbits), ctx)
if not port.is_open:
port.open()
port.flush()
port.read(port.in_waiting)
for stopbit in stopbits:
port.write([stopbit])
port.flush()
response = port.read_all()
debug(bytes_to_str(response), ctx)
port.parity = serial.PARITY_NONE
click.echo('complete')
def send_to_download_channel(port, ctx=proscli.utils.State()):
click.echo('Sending to download channel... ', nl=False)
download_ch_bits = [0xc9, 0x36, 0xb8, 0x47, 0x35]
configure_port(port, serial.PARITY_EVEN)
debug('DL CH BITS: {} PORT CFG: {}'.format(bytes_to_str(download_ch_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 5):
port.read(port.in_waiting)
port.write(download_ch_bits)
port.flush()
time.sleep(0.25)
response = port.read_all()
debug('DB CH RESPONSE: {}'.format(bytes_to_str(response)), ctx)
response = response[-1:]
if response is not None and len(response) > 0 and response[0] == ACK:
click.echo('complete')
return True
click.echo('failed')
return False
def send_to_download_channel(port, ctx=proscli.utils.State()):
click.echo('Sending to download channel... ', nl=False)
download_ch_bits = [0xc9, 0x36, 0xb8, 0x47, 0x35]
configure_port(port, serial.PARITY_EVEN)
debug('DL CH BITS: {} PORT CFG: {}'.format(bytes_to_str(download_ch_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 5):
port.read(port.in_waiting)
port.write(download_ch_bits)
port.flush()
time.sleep(0.25)
response = port.read_all()
debug('DB CH RESPONSE: {}'.format(bytes_to_str(response)), ctx)
response = response[-1:]
if response is not None and len(response) > 0 and response[0] == ACK:
click.echo('complete')
return True
click.echo('failed')
return False
def send_to_download_channel(port, ctx=proscli.utils.State()):
click.echo('Sending to download channel (this may take a while)... ', nl=False)
download_ch_bits = [0xc9, 0x36, 0xb8, 0x47, 0x35]
debug('DL CH BITS: {} PORT CFG: {}'.format(bytes_to_str(download_ch_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 5):
port.read_all()
time.sleep(0.1)
port.write(download_ch_bits)
port.flush()
time.sleep(3)
response = port.read_all()
debug('DB CH RESPONSE: {}'.format(bytes_to_str(response)), ctx)
response = response[-1:]
sys_info = ask_sys_info(port, ctx, silent=True)
if (sys_info is not None and sys_info.connection_type == ConnectionType.serial_vexnet2_dl) or (response is not None and len(response) > 0 and response[0] == ACK):
click.echo('complete')
return True
click.echo('failed')
return False
def ask_sys_info(port, ctx=proscli.utils.State(), silent=False):
if not silent:
click.echo('Asking for system information... ', nl=False)
sys_info_bits = [0xc9, 0x36, 0xb8, 0x47, 0x21]
if not port.is_open:
port.open()
debug('SYS INFO BITS: {} PORT CFG: {}'.format(bytes_to_str(sys_info_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 10):
port.read_all()
port.write(sys_info_bits)
port.flush()
time.sleep(0.1)
response = port.read_all()
debug('SYS INFO RESPONSE: {}'.format(bytes_to_str(response)), ctx)
if len(response) > 14:
response = response[:14]
if len(response) == 14 and response[0] == 0xaa and response[1] == 0x55\
and response[2] == 0x21 and response[3] == 0xa: # synchronization matched
sys_info = SystemInfo()
sys_info.device = port.name
sys_info.joystick_firmware = '{}.{}'.format(response[4], response[5])
sys_info.cortex_firmware = '{}.{}'.format(response[6], response[7])
if response[8] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.joystick_battery = response[8] * 0.059
if response[9] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.cortex_battery = response[9] * 0.059
if response[10] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.backup_battery = response[10] * 0.059
try:
# Mask FCS bits out of response[11]
sys_info.connection_type = ConnectionType(response[11] & 0b00110111)
except ValueError:
sys_info.connection_type = ConnectionType.unknown
sys_info.previous_polls = response[13]
sys_info.byte_representation = response
if not silent:
click.echo('complete')
return sys_info
time.sleep(0.15)
return None
def expose_bootloader(port, ctx=proscli.utils.State()):
click.echo('Exposing bootloader... ', nl=False)
bootloader_bits = [0xc9, 0x36, 0xb8, 0x47, 0x25]
port.flush()
debug('EXPOSE BL BITS: {} PORT CFG: {}'.format(bytes_to_str(bootloader_bits), repr(port)), ctx)
port.read_all()
time.sleep(0.1)
for _ in itertools.repeat(None, 5):
port.write(bootloader_bits)
time.sleep(0.1)
time.sleep(0.3) # time delay to allow shift to download mode
click.echo('complete')
return True
def ask_sys_info(port, ctx=proscli.utils.State()):
click.echo('Asking for system information... ', nl=False)
sys_info_bits = [0xc9, 0x36, 0xb8, 0x47, 0x21]
if not port.is_open:
port.open()
configure_port(port, serial.PARITY_NONE)
debug('SYS INFO BITS: {} PORT CFG: {}'.format(bytes_to_str(sys_info_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 10):
port.read(port.in_waiting)
port.write(sys_info_bits)
port.flush()
time.sleep(0.1)
response = port.read_all()
debug('SYS INFO RESPONSE: {}'.format(bytes_to_str(response)), ctx)
if len(response) > 14:
response = response[:14]
if len(response) == 14 and response[0] == 0xaa and response[1] == 0x55\
and response[2] == 0x21 and response[3] == 0xa: # synchronization matched
sys_info = SystemInfo()
sys_info.device = port.name
sys_info.joystick_firmware = '{}.{}'.format(response[4], response[5])
sys_info.cortex_firmware = '{}.{}'.format(response[6], response[7])
if response[8] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.joystick_battery = response[8] * 0.059
if response[9] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.cortex_battery = response[9] * 0.059
if response[10] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.backup_battery = response[10] * 0.059
try:
sys_info.connection_type = ConnectionType(response[11])
except ValueError:
sys_info.connection_type = ConnectionType.unknown
sys_info.previous_polls = response[13]
sys_info.byte_representation = response
click.echo('complete')
return sys_info
time.sleep(0.15)
return None
def expose_bootloader(port, ctx=proscli.utils.State()):
click.echo('Exposing bootloader... ', nl=False)
bootloader_bits = [0xc9, 0x36, 0xb8, 0x47, 0x25]
configure_port(port, serial.PARITY_NONE)
port.flush()
debug('EXPOSE BL BITS: {} PORT CFG: {}'.format(bytes_to_str(bootloader_bits), repr(port)), ctx)
port.read(port.in_waiting)
for _ in itertools.repeat(None, 5):
port.write(bootloader_bits)
port.flush()
configure_port(port, serial.PARITY_NONE)
time.sleep(0.3) # time delay to allow shift to download mode
click.echo('complete')
return True
def debug_response(command, response, fmt="STM BL RESPONSE TO 0x{}: {}"):
if not isinstance(command, str):
command = bytes_to_str(command)
if not isinstance(response, str):
response = bytes_to_str(response)
debug(fmt.format(command, response))
def debug_response(command, response, fmt='STM BL RESPONSE TO 0x{}: {}'):
if not isinstance(command, str):
command = bytes_to_str(command)
if not isinstance(response, str):
response = bytes_to_str(response)
debug(fmt.format(command, response))
