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")
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 load_all_firmwares(retries=3):
'''load 4 firmwares. Return True on success, False on failure'''
while retries > 0:
retries -= 1
if not util.wait_devices([IO_JTAG, FMU_JTAG, FMU_DEBUG]):
if retries == 1:
logger.info("RETRIES=1 - POWER CYCLING")
power_control.power_cycle(down_time=4)
continue
try:
load_firmware(IO_JTAG, FW_IO, CPUID_IO)
load_firmware(IO_JTAG, BL_IO, CPUID_IO)
load_firmware(FMU_JTAG, BL_FMU, CPUID_FMU)
load_firmware(FMU_JTAG, FW_FMU, CPUID_FMU)
except Exception as ex:
logger.error("error loading firmwares %s" % ex)
continue
# power cycle after loading to ensure the boards can come up cleanly
power_retries = 6
while power_retries > 0:
power_retries -= 1
power_control.power_cycle(down_time=4)
if util.wait_devices([FMU_DEBUG], timeout=5):
break
logger.info("Retrying power cycle - tries left %u" % power_retries)
if not util.wait_devices([FMU_DEBUG], timeout=10):
logger.info("Failed to find nsh console device")
continue
logger.debug("Checking nsh console")
nsh = nsh_console.nsh_console()
failure = None
i = -1
try:
i = nsh.expect([
'No MPU6000 external', 'l3gd20: driver start failed',
'Error in startup', 'ArduPilot started OK', 'format failed',
'Opening USB nsh', 'no RGB led', 'rgbled: init failed'
])
except Exception as ex:
failure = "******* Failed to get data from NSH console *******"
pass
try:
nsh.send("\nver all\n")
nsh.expect("UID:")
nsh.expect("nsh>")
nsh.close()
except Exception as ex:
if i == 3:
failure = "******* failed to get version from nsh *******"
pass
if failure is None:
if i == 0:
failure = "******* No external mpu6000 found - is IMU board connected? *****"
if i == 1:
failure = "******* No external l3gd20 found - is IMU board connected? *****"
if i == 2:
failure = "******* Failed to startup ArduPilot - is IMU board connected? *****"
if i == 4:
failure = "******* microSD card failure ********"
if i == 5:
failure = "****** ArduPilot failed to start - general failure ******"
if i == 6:
failure = "****** RGB LED not found on I2C ******"
if i == 7:
failure = "****** RGB LED initialisation failed on I2C ******"
if failure is not None:
logger.info(failure)
colour_text.print_fail(failure)
continue
if util.wait_devices([USB_DEV_TEST, USB_DEV_REFERENCE]):
break
logger.info("Failed to find USB devices")
if retries > 0:
logger.info("RETRIES %u - TRYING AGAIN" % retries)
if retries == 0:
logger.error("FAILED TO LOAD FIRMWARES")
return False
logger.info("All firmwares loaded OK")
return True
# 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
==========================================
''')
device_barcode = barcode.barcode_read()
if device_barcode is None:
colour_text.print_fail('''
==========================================
| FAILED: Barcode not detected
==========================================
''')
logger.critical("Barcode not detected")
time.sleep(2)
continue
# log the barcode
logger.info("Barcode detected: %s" % device_barcode)
# 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....")
ret = factory_install(device_barcode)
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 load_all_firmwares(retries=3):
'''load 4 firmwares. Return True on success, False on failure'''
while retries > 0:
retries -= 1
if not util.wait_devices([IO_JTAG, FMU_JTAG, FMU_DEBUG]):
if retries == 1:
logger.info("RETRIES=1 - POWER CYCLING")
power_control.power_cycle(down_time=4)
continue
try:
load_firmware(IO_JTAG, FW_IO, CPUID_IO)
load_firmware(IO_JTAG, BL_IO, CPUID_IO)
load_firmware(FMU_JTAG, BL_FMU, CPUID_FMU)
load_firmware(FMU_JTAG, FW_FMU, CPUID_FMU)
except Exception as ex:
logger.error("error loading firmwares %s" % ex)
continue
# power cycle after loading to ensure the boards can come up cleanly
power_retries = 6
while power_retries > 0:
power_retries -= 1
power_control.power_cycle(down_time=4)
if util.wait_devices([FMU_DEBUG], timeout=5):
break
logger.info("Retrying power cycle - tries left %u" % power_retries)
if not util.wait_devices([FMU_DEBUG], timeout=10):
logger.info("Failed to find nsh console device")
continue
logger.debug("Checking nsh console")
nsh = nsh_console.nsh_console()
failure = None
i = -1
try:
i = nsh.expect(['No MPU6000 external',
'l3gd20: driver start failed',
'Error in startup',
'ArduPilot started OK',
'format failed',
'Opening USB nsh',
'no RGB led',
'rgbled: init failed'])
except Exception as ex:
failure = "******* Failed to get data from NSH console *******"
pass
try:
nsh.send("\nver all\n")
nsh.expect("UID:")
nsh.expect("nsh>")
nsh.close()
except Exception as ex:
if i == 3:
failure = "******* failed to get version from nsh *******"
pass
if failure is None:
if i == 0:
failure = "******* No external mpu6000 found - is IMU board connected? *****"
if i == 1:
failure = "******* No external l3gd20 found - is IMU board connected? *****"
if i == 2:
failure = "******* Failed to startup ArduPilot - is IMU board connected? *****"
if i == 4:
failure = "******* microSD card failure ********"
if i == 5:
failure = "****** ArduPilot failed to start - general failure ******"
if i == 6:
failure = "****** RGB LED not found on I2C ******"
if i == 7:
failure = "****** RGB LED initialisation failed on I2C ******"
if failure is not None:
logger.info(failure)
colour_text.print_fail(failure)
continue
if util.wait_devices([USB_DEV_TEST, USB_DEV_REFERENCE]):
break
logger.info("Failed to find USB devices")
if retries > 0:
logger.info("RETRIES %u - TRYING AGAIN" % retries)
if retries == 0:
logger.error("FAILED TO LOAD FIRMWARES")
return False
logger.info("All firmwares loaded OK")
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
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:
ete.command_bytes('test_wait')
colour_text.print_blue('''
==========================================
| PLEASE SWIPE DEVICE BARCODE
==========================================
''')
device_barcode = barcode.barcode_read()
if device_barcode is None:
colour_text.print_fail('''
==========================================
| FAILED: Barcode not detected
==========================================
''')
logger.critical("Barcode not detected")
time.sleep(2)
continue
# we don't use logger for the barcode here as we are still on the previous
# boards log
print("Got barcode: %s" % device_barcode)
logger.info("Barcode detected")
# 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....")
