def test_jump_to_app(self):
""" Test that we can jump to the application after programming. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
if self.verbose: print "--- test_jump_to_app ---"
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
if self.verbose: print "Handshaking with bootloader"
piksi_bootloader.handshake()
if self.verbose: print "Jumping to application"
piksi_bootloader.jump_to_app()
# If we succesfully jump to the application, we should receive
# Heartbeat messages.
with Timeout(TIMEOUT_BOOT) as timeout:
heartbeat = Heartbeat()
handler.add_callback(heartbeat, SBP_MSG_HEARTBEAT)
if self.verbose: print "Waiting to receive heartbeat"
while not heartbeat.received:
time.sleep(0.1)
if self.verbose: print "Received hearbeat"
handler.remove_callback(heartbeat, SBP_MSG_HEARTBEAT)
def test_flash_nap_firmware(self):
""" Test flashing NAP hexfile. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
if self.verbose: print "--- test_flash_nap_firmware ---"
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print "Waiting for bootloader handshake"
piksi_bootloader.handshake()
if self.verbose: print "Received bootloader handshake"
with Flash(handler,
flash_type='M25',
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
with Timeout(TIMEOUT_WRITE_NAP) as timeout:
if self.verbose:
print "Writing firmware to NAP flash"
piksi_flash.write_ihx(self.nap_fw,
sys.stdout,
mod_print=0x10)
else:
piksi_flash.write_ihx(self.nap_fw)
def set_app_mode(handler, verbose=False):
from piksi_tools.bootload import Bootloader
"""
Set Piksi into the application firmware, regardless of whether it is
currently in the application firmware or the bootloader. Will raise a
piksi_tools.timeout.TimeoutError if Piksi responses appear to have hung.
Parameters
==========
handler : sbp.client.handler.Handler
handler to send/receive messages from/to Piksi.
verbose : bool
Print more verbose output.
"""
if verbose: print("Setting device into application mode")
# Wait until we receive a heartbeat or bootloader handshake so we
# know what state Piksi is in.
with Bootloader(handler) as piksi_bootloader:
heartbeat = Heartbeat()
handler.add_callback(heartbeat, SBP_MSG_HEARTBEAT)
if verbose:
print("Waiting for bootloader handshake or heartbeat from device")
with Timeout(TIMEOUT_BOOT) as timeout:
while not heartbeat.received and not piksi_bootloader.handshake_received:
time.sleep(0.1)
handler.remove_callback(heartbeat, SBP_MSG_HEARTBEAT)
# If Piksi is in the application, simply return.
if heartbeat.received:
if verbose: print("Received heartbeat")
return
# Piksi is in the bootloader, tell Piksi to jump into the application.
with Timeout(TIMEOUT_BOOT) as timeout:
if verbose: print("Waiting for bootloader handshake from device")
piksi_bootloader.handshake()
piksi_bootloader.jump_to_app()
if verbose: print("Received handshake")
if verbose: print("Telling device to jump to application")
# Wait for Heartbeat to ensure we're in the application firmware.
heartbeat = Heartbeat()
handler.add_callback(heartbeat, SBP_MSG_HEARTBEAT)
if verbose: print("Waiting for heartbeat")
with Timeout(TIMEOUT_BOOT) as timeout:
while not heartbeat.received:
time.sleep(0.1)
if verbose: print("Received heartbeat")
handler.remove_callback(heartbeat, SBP_MSG_HEARTBEAT)
def test_btldr_handshake_wrong_sender_id(self):
"""
Test setting Piksi into bootloader mode with an incorrect sender ID
(should fail).
"""
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
if self.verbose: print("--- test_btldr_handshake_wrong_sender_id ---")
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
# Make sure device is in the application firmware.
set_app_mode(handler, self.verbose)
# Reset Piksi, and attempt to handshake into bootloader mode with an
# incorrect sender ID.
if self.verbose: print("Sending reset")
handler.send(SBP_MSG_RESET, "")
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print(
"Waiting for bootloader handshake from device")
while not piksi_bootloader.handshake_received:
time.sleep(0.1)
if self.verbose: print("Received handshake")
if self.verbose:
print("Sending handshake with incorrect sender ID")
handler.send(SBP_MSG_BOOTLOADER_HANDSHAKE_REQ,
'\x00',
sender=0x41)
# We should receive a heartbeat if the handshake was unsuccessful.
with Timeout(TIMEOUT_BOOT) as timeout:
heartbeat = Heartbeat()
handler.add_callback(heartbeat, SBP_MSG_HEARTBEAT)
if self.verbose: print("Waiting to receive heartbeat")
while not heartbeat.received:
time.sleep(0.1)
if self.verbose: print("Received hearbeat")
handler.remove_callback(heartbeat, SBP_MSG_HEARTBEAT)
def test_program_btldr(self):
""" Test programming the bootloader once its sector is locked. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
SECTOR = 0
ADDRESS = 0x08003FFF
if self.verbose: print "--- test_program_btldr ---"
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print "Waiting for bootloader handshake"
piksi_bootloader.handshake()
with Flash(handler,
flash_type='STM',
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
# Make sure the bootloader sector is locked.
with Timeout(TIMEOUT_LOCK_SECTOR) as timeout:
if self.verbose:
print "Locking STM sector:", SECTOR
piksi_flash.lock_sector(SECTOR)
# Make sure the address to test isn't already programmed.
with Timeout(TIMEOUT_READ_STM) as timeout:
byte_read = piksi_flash.read(ADDRESS,
1,
block=True)
self.assertEqual(
'\xFF', byte_read,
"Address to program is already programmed")
# Attempt to write 0x00 to last address of the sector.
if self.verbose:
print "Attempting to lock STM sector:", SECTOR
piksi_flash.program(0x08003FFF, '\x00')
with Timeout(TIMEOUT_READ_STM) as timeout:
byte_read = piksi_flash.read(0x08003FFF,
1,
block=True)
self.assertEqual('\xFF', byte_read,
"Bootloader sector was programmed")
def main():
"""
Get configuration, get driver, build handler, and unlock sectors.
"""
args = get_args()
port = args.port[0]
baud = args.baud[0]
# Driver with context
with serial_link.get_driver(use_ftdi=False, port=port,
baud=baud) as driver:
# Handler with context
with Handler(driver.read, driver.write) as link:
with Bootloader(link) as piksi_bootloader:
print(
"Waiting for bootloader handshake message from Piksi ...",
end=' ')
sys.stdout.flush()
try:
piksi_bootloader.handshake()
except KeyboardInterrupt:
return
print("received.")
print("Piksi Onboard Bootloader Version:",
piksi_bootloader.version)
if piksi_bootloader.sbp_version > (0, 0):
print("Piksi Onboard SBP Protocol Version:",
piksi_bootloader.sbp_version)
# Catch all other errors and exit cleanly.
try:
with Flash(link,
flash_type="STM",
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
for s in range(0, 12):
print("\rUnlocking STM Sector", s, end=' ')
sys.stdout.flush()
piksi_flash.unlock_sector(s)
print()
except:
import traceback
traceback.print_exc()
def test_btldr_handshake(self):
""" Test setting Piksi into bootloader mode. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
if self.verbose: print "--- test_btldr_handshake ---"
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
# If the Piksi bootloader successfully received our handshake, we
# should be able to receive handshakes from it indefinitely. Test
# this a few times.
if self.verbose: print "Setting Piksi into bootloader mode"
with Timeout(TIMEOUT_BOOT) as timeout:
piksi_bootloader.handshake()
if self.verbose:
print "Testing bootloader handshake replies"
for i in range(10):
time.sleep(1)
with Timeout(TIMEOUT_BOOT) as timeout:
piksi_bootloader.handshake()
def test_flash_stm_firmware(self):
""" Test flashing STM hexfile. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
if self.verbose: print "--- test_flash_stm_firmware ---"
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
# Wait until we receive a heartbeat or bootloader handshake so we
# know what state Piksi is in.
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print "Waiting for bootloader handshake"
piksi_bootloader.handshake()
if self.verbose: print "Received bootloader handshake"
with Flash(handler,
flash_type="STM",
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
# Erase entire STM flash (except bootloader).
if self.verbose: print "Erasing STM"
with Timeout(TIMEOUT_ERASE_STM) as timeout:
for s in range(1, 12):
piksi_flash.erase_sector(s)
# Write STM firmware.
with Timeout(TIMEOUT_PROGRAM_STM) as timeout:
if self.verbose:
if self.verbose: print "Programming STM"
piksi_flash.write_ihx(self.stm_fw,
sys.stdout,
0x10,
erase=False)
else:
piksi_flash.write_ihx(self.stm_fw, erase=False)
def test_flashing_wrong_sender_id(self):
""" Test flashing using an incorrect sender ID (should fail). """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
SECTOR = 1
SENDER_ID = 0x41
if self.verbose: print("--- test_flashing_wrong_sender_id ---")
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
# Verify that flash erase times out when using incorrect sender ID.
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
print("Handshaking with bootloader")
piksi_bootloader.handshake()
with Flash(handler,
flash_type='STM',
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
try:
with Timeout(TIMEOUT_ERASE_SECTOR) as timeout:
if self.verbose:
print(
"Attempting to erase sector with incorrect sender ID"
)
msg_buf = struct.pack(
"BB", piksi_flash.flash_type_byte, SECTOR)
handler.send(SBP_MSG_FLASH_ERASE,
msg_buf,
sender=SENDER_ID)
handler.wait(SBP_MSG_FLASH_DONE,
TIMEOUT_ERASE_SECTOR + 1)
raise Exception(
"Should have timed out but didn't")
except TimeoutError:
if self.verbose: print("Timed out as expected")
def test_erase_btldr(self):
""" Test erasing the bootloader once its sector is locked. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
SECTOR = 0
if self.verbose: print("--- test_erase_btldr ---")
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print("Waiting for bootloader handshake")
piksi_bootloader.handshake()
with Flash(handler,
flash_type='STM',
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
# Make sure the bootloader sector is locked.
with Timeout(TIMEOUT_LOCK_SECTOR) as timeout:
if self.verbose:
print("Locking STM sector:", SECTOR)
piksi_flash.lock_sector(SECTOR)
# Attempt to erase the sector.
with Timeout(TIMEOUT_ERASE_SECTOR) as timeout:
if self.verbose:
print("Attempting to erase STM sector:",
SECTOR)
piksi_flash.erase_sector(SECTOR, warn=False)
# If the sector was successfully erased, we should timeout here
# as the bootloader will stop sending handshakes.
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print("Waiting for bootloader handshake")
piksi_bootloader.handshake()
def test_get_versions(self):
""" Get Piksi bootloader/firmware/NAP version from device. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
if self.verbose: print("--- test_get_versions ---")
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
# Get bootloader version, print, and jump to application firmware.
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print("Waiting for bootloader handshake")
piksi_bootloader.handshake()
piksi_bootloader.jump_to_app()
print("Piksi Bootloader Version:",
piksi_bootloader.version)
# Wait for heartbeat, get settings, print firmware/NAP versions.
heartbeat = Heartbeat()
handler.add_callback(heartbeat, SBP_MSG_HEARTBEAT)
if self.verbose: print("Waiting to receive heartbeat")
while not heartbeat.received:
time.sleep(0.1)
if self.verbose: print("Received hearbeat")
handler.remove_callback(heartbeat, SBP_MSG_HEARTBEAT)
if self.verbose: print("Getting Piksi settings")
settings = self.get_piksi_settings(handler)
if self.verbose: print("Piksi Firmware Version:", \
settings['system_info']['firmware_version'])
if self.verbose: print("Piksi NAP Version:", \
settings['system_info']['nap_version'])
def setup_piksi(handler, stm_fw, nap_fw, verbose=False):
"""
Set Piksi into a known state (STM / NAP firmware). Erases entire STM flash
(except for bootloader sector). Requires Piksi have a valid STM firmware
sending heartbeat messages and with the reset callback registered. Will raise
a timeout.TimeoutError if Piksi responses appear to have hung.
Parameters
==========
handler : sbp.client.handler.Handler
handler to send/receive SBP messages to/from Piksi through.
stm_fw : intelhex.IntelHex
firmware to program Piksi STM with.
nap_fw : intelhex.IntelHex
firmware to program Piksi NAP with.
verbose : bool
Print more verbose output.
"""
# Wait until we receive a heartbeat or bootloader handshake so we
# know what state Piksi is in.
with Bootloader(handler) as piksi_bootloader:
heartbeat = Heartbeat()
handler.add_callback(heartbeat, SBP_MSG_HEARTBEAT)
# Throw an exception if a heartbeat or handshake
# is not received for 5 seconds.
with Timeout(TIMEOUT_BOOT) as timeout:
if verbose: print "Waiting for Heartbeat or Bootloader Handshake"
while not heartbeat.received and not piksi_bootloader.handshake_received:
time.sleep(0.1)
# If Piksi is in the application, reset it into the bootloader.
if heartbeat.received:
if verbose: print "Received Heartbeat, resetting Piksi"
handler.send(SBP_MSG_RESET, "")
handler.remove_callback(heartbeat, SBP_MSG_HEARTBEAT)
with Timeout(TIMEOUT_BOOT) as timeout:
piksi_bootloader.handshake()
bootloader_version = piksi_bootloader.version
if verbose: print "Received bootloader handshake"
with Flash(handler,
flash_type="STM",
sbp_version=piksi_bootloader.sbp_version) as piksi_flash:
# Erase entire STM flash (except bootloader).
if verbose: print "Erasing STM"
with Timeout(TIMEOUT_ERASE_STM) as timeout:
for s in range(1, 12):
piksi_flash.erase_sector(s)
# Write STM firmware.
with Timeout(TIMEOUT_PROGRAM_STM) as timeout:
if verbose:
if verbose: print "Programming STM"
piksi_flash.write_ihx(stm_fw,
sys.stdout,
0x10,
erase=False)
else:
piksi_flash.write_ihx(stm_fw, erase=False)
with Flash(handler,
flash_type="M25",
sbp_version=piksi_bootloader.sbp_version) as piksi_flash:
# Write NAP hexfile.
with Timeout(TIMEOUT_WRITE_NAP) as timeout:
if verbose:
if verbose: print "Programming NAP"
piksi_flash.write_ihx(nap_fw, sys.stdout, 0x10)
else:
piksi_flash.write_ihx(nap_fw)
# Jump to the application firmware.
if verbose: print "Jumping to application"
piksi_bootloader.jump_to_app()
def test_sector_lock_unlock(self):
""" Test if we can lock / unlock sectors. """
unittest.skipIf(self.skip_single, 'Skipping single Piksi tests')
SECTOR = 1
ADDRESS = 0x08004000
if self.verbose: print "--- test_sector_lock_unlock ---"
with serial_link.get_driver(use_ftdi=False, port=self.port1) as driver:
with Handler(driver.read, driver.write) as handler:
with Bootloader(handler) as piksi_bootloader:
with Timeout(TIMEOUT_BOOT) as timeout:
if self.verbose:
print "Waiting for bootloader handshake"
piksi_bootloader.handshake()
if self.verbose: print "Handshaked with bootloader"
with Flash(handler,
flash_type='STM',
sbp_version=piksi_bootloader.sbp_version
) as piksi_flash:
try:
# Erase the sector, lock it, and attempt to write to it.
with Timeout(TIMEOUT_ERASE_SECTOR) as timeout:
if self.verbose:
print "Erasing STM sector:", SECTOR
piksi_flash.erase_sector(SECTOR)
with Timeout(TIMEOUT_LOCK_SECTOR) as timeout:
if self.verbose:
print "Locking STM sector:", SECTOR
piksi_flash.lock_sector(SECTOR)
if self.verbose:
print "Attempting to program address:", hex(
ADDRESS)
piksi_flash.program(ADDRESS, '\x00')
with Timeout(TIMEOUT_READ_STM) as timeout:
byte_read = piksi_flash.read(ADDRESS,
1,
block=True)
self.assertEqual('\xFF', byte_read, \
"Address was programmed")
if self.verbose: print "Program failed as expected"
# Unlock the sector, and attempt to write to it.
with Timeout(TIMEOUT_LOCK_SECTOR) as timeout:
if self.verbose:
print "Unlocking STM sector:", SECTOR
piksi_flash.unlock_sector(SECTOR)
if self.verbose:
print "Attempting to program address:", hex(
ADDRESS)
piksi_flash.program(ADDRESS, '\x00')
with Timeout(TIMEOUT_READ_STM) as timeout:
byte_read = piksi_flash.read(ADDRESS,
1,
block=True)
self.assertEqual('\x00', byte_read, \
"Address was not programmed")
if self.verbose:
print "Program was successful as expected"
except Exception:
# If all else fails, make sure we unlock
# the sector before leaving this test.
with Timeout(TIMEOUT_LOCK_SECTOR) as timeout:
if self.verbose:
print "Had exception, unlocking STM sector:", SECTOR
piksi_flash.unlock_sector(SECTOR)
raise
# Clean up - write valid STM firmware over sector that was erased.
with Timeout(TIMEOUT_WRITE_STM) as timeout:
if self.verbose:
print "Cleaning up, writing firmware to STM flash"
piksi_flash.write_ihx(self.stm_fw,
sys.stdout,
mod_print=0x10)
else:
piksi_flash.write_ihx(self.stm_fw)
