class CrazyloadThread(QThread):
# Input signals declaration (not sure it should be used like that...)
program = pyqtSignal(str, bool)
verify = pyqtSignal()
initiateColdBootSignal = pyqtSignal(str)
resetCopterSignal = pyqtSignal()
writeConfigSignal = pyqtSignal(int, int, float, float)
# Output signals declaration
programmed = pyqtSignal(bool)
verified = pyqtSignal()
statusChanged = pyqtSignal(str, int)
connectedSignal = pyqtSignal()
connectingSignal = pyqtSignal()
failed_signal = pyqtSignal(str)
disconnectedSignal = pyqtSignal()
updateConfigSignal = pyqtSignal(int, int, float, float)
updateCpuIdSignal = pyqtSignal(str)
radioSpeedPos = 2
def __init__(self):
super(CrazyloadThread, self).__init__()
self._bl = Bootloader()
self._bl.progress_cb = self.statusChanged.emit
# Make sure that the signals are handled by this thread event loop
self.moveToThread(self)
self.program.connect(self.programAction)
self.initiateColdBootSignal.connect(self.initiateColdBoot)
self.resetCopterSignal.connect(self.resetCopter)
def __del__(self):
self.quit()
self.wait()
def initiateColdBoot(self, linkURI):
self.connectingSignal.emit()
try:
success = self._bl.start_bootloader(warm_boot=False)
if not success:
self.failed_signal.emit("Could not connect to bootloader")
else:
self.connectedSignal.emit()
except Exception as e:
self.failed_signal.emit("{}".format(e))
def programAction(self, filename, verify):
targets = {}
if str(filename).endswith("bin"):
targets["stm32"] = ("fw", )
try:
self._bl.flash(str(filename), targets)
self.programmed.emit(True)
except Exception:
self.programmed.emit(False)
def resetCopter(self):
try:
self._bl.reset_to_firmware()
except Exception:
pass
self._bl.close()
self.disconnectedSignal.emit()
def main():
# Initialise the CRTP link driver
link = None
try:
cflib.crtp.init_drivers()
link = cflib.crtp.get_link_driver("radio://")
except Exception as e:
print("Error: {}".format(str(e)))
if link:
link.close()
sys.exit(-1)
# Set the default parameters
clink = None
action = "info"
boot = "cold"
if len(sys.argv) < 2:
print()
print("==============================")
print(" CrazyLoader Flash Utility")
print("==============================")
print()
print(" Usage:", sys.argv[0], "[CRTP options] <action> [parameters]")
print()
print("The CRTP options are described above")
print()
print("Crazyload option:")
print(" info : Print the info of the bootloader "
"and quit.")
print(" Will let the target in bootloader "
"mode")
print(" reset : Reset the device in firmware mode")
print(" flash <file> [targets] : flash the <img> binary file from "
"the first")
print(" possible page in flash and reset "
"to firmware")
print(" mode.")
if link:
link.close()
sys.exit(0)
# Analyse the command line parameters
sys.argv = sys.argv[1:]
argv = []
i = 0
while i < len(sys.argv):
if sys.argv[i] == "--cold-boot" or sys.argv[i] == "-c":
boot = "cold"
elif sys.argv[i] == "--warm-boot" or sys.argv[i] == "-w":
boot = "reset"
i += 1
clink = sys.argv[i]
else:
argv += [sys.argv[i]]
i += 1
sys.argv = argv
# Analyse the command
if len(sys.argv) < 1:
action = "info"
elif sys.argv[0] == "info":
action = "info"
elif sys.argv[0] == "reset":
action = "reset"
elif sys.argv[0] == "flash":
# print len(sys.argv)
if len(sys.argv) < 2:
print("The flash action require a file name.")
link.close()
sys.exit(-1)
action = "flash"
filename = sys.argv[1]
targetnames = {}
for t in sys.argv[2:]:
[target, type] = t.split("-")
if target in targetnames:
targetnames[target] += (type, )
else:
targetnames[target] = (type, )
else:
print("Action", sys.argv[0], "unknown!")
link.close()
sys.exit(-1)
# Currently there's two different targets available
targets = ()
try:
# Initialise the bootloader lib
bl = Bootloader(clink)
#########################################
# Get the connection with the bootloader
#########################################
# The connection is done by reseting to the bootloader (default)
if boot == "reset":
print("Reset to bootloader mode ..."),
sys.stdout.flush()
if bl.start_bootloader(warm_boot=True):
print(" done!")
else:
print("Failed to warmboot")
bl.close()
sys.exit(-1)
else: # The connection is done by a cold boot ...
print("Restart the Crazyflie you want to bootload in the next"),
print(" 10 seconds ..."),
sys.stdout.flush()
if bl.start_bootloader(warm_boot=False):
print(" done!")
else:
print("Cannot connect the bootloader!")
bl.close()
sys.exit(-1)
print("Connected to bootloader on {} (version=0x{:X})".format(
BootVersion.to_ver_string(bl.protocol_version),
bl.protocol_version))
if bl.protocol_version == BootVersion.CF2_PROTO_VER:
targets += (bl.get_target(TargetTypes.NRF51), )
targets += (bl.get_target(TargetTypes.STM32), )
######################################
# Doing something (hopefully) useful
######################################
# Print information about the targets
for target in targets:
print(target)
if action == "info":
None # Already done ...
elif action == "reset":
print
print("Reset in firmware mode ...")
bl.reset_to_firmware()
elif action == "flash":
bl.flash(filename, targetnames)
print("Reset in firmware mode ...")
bl.reset_to_firmware()
else:
None
except Exception as e:
import traceback
traceback.print_exc(file=sys.stdout)
print(e)
finally:
#########################
# Closing the connection
#########################
if bl:
bl.close()
def main():
# Initialise the CRTP link driver
link = None
try:
cflib.crtp.init_drivers()
link = cflib.crtp.get_link_driver("radio://")
except Exception as e:
print("Error: {}".format(str(e)))
if link:
link.close()
sys.exit(-1)
# Set the default parameters
clink = None
action = "info"
boot = "cold"
if len(sys.argv) < 2:
print()
print("==============================")
print(" CrazyLoader Flash Utility")
print("==============================")
print()
print(" Usage:", sys.argv[0], "[CRTP options] <action> [parameters]")
print()
print("The CRTP options are described above")
print()
print("Crazyload option:")
print(" info : Print the info of the bootloader "
"and quit.")
print(" Will let the target in bootloader "
"mode")
print(" reset : Reset the device in firmware mode")
print(" flash <file> [targets] : flash the <img> binary file from "
"the first")
print(" possible page in flash and reset "
"to firmware")
print(" mode.")
if link:
link.close()
sys.exit(0)
# Analyse the command line parameters
sys.argv = sys.argv[1:]
argv = []
i = 0
while i < len(sys.argv):
if sys.argv[i] == "--cold-boot" or sys.argv[i] == "-c":
boot = "cold"
elif sys.argv[i] == "--warm-boot" or sys.argv[i] == "-w":
boot = "reset"
i += 1
clink = sys.argv[i]
else:
argv += [sys.argv[i]]
i += 1
sys.argv = argv
# Analyse the command
if len(sys.argv) < 1:
action = "info"
elif sys.argv[0] == "info":
action = "info"
elif sys.argv[0] == "reset":
action = "reset"
elif sys.argv[0] == "flash":
# print len(sys.argv)
if len(sys.argv) < 2:
print("The flash action require a file name.")
link.close()
sys.exit(-1)
action = "flash"
filename = sys.argv[1]
targetnames = {}
for t in sys.argv[2:]:
[target, type] = t.split("-")
if target in targetnames:
targetnames[target] += (type,)
else:
targetnames[target] = (type,)
else:
print("Action", sys.argv[0], "unknown!")
link.close()
sys.exit(-1)
# Currently there's two different targets available
targets = ()
try:
# Initialise the bootloader lib
bl = Bootloader(clink)
#########################################
# Get the connection with the bootloader
#########################################
# The connection is done by reseting to the bootloader (default)
if boot == "reset":
print("Reset to bootloader mode ..."),
sys.stdout.flush()
if bl.start_bootloader(warm_boot=True):
print(" done!")
else:
print("Failed to warmboot")
bl.close()
sys.exit(-1)
else: # The connection is done by a cold boot ...
print("Restart the Crazyflie you want to bootload in the next"),
print(" 10 seconds ..."),
sys.stdout.flush()
if bl.start_bootloader(warm_boot=False):
print(" done!")
else:
print("Cannot connect the bootloader!")
bl.close()
sys.exit(-1)
print("Connected to bootloader on {} (version=0x{:X})".format(
BootVersion.to_ver_string(bl.protocol_version),
bl.protocol_version))
if bl.protocol_version == BootVersion.CF2_PROTO_VER:
targets += (bl.get_target(TargetTypes.NRF51),)
targets += (bl.get_target(TargetTypes.STM32),)
######################################
# Doing something (hopefully) useful
######################################
# Print information about the targets
for target in targets:
print(target)
if action == "info":
None # Already done ...
elif action == "reset":
print
print("Reset in firmware mode ...")
bl.reset_to_firmware()
elif action == "flash":
bl.flash(filename, targetnames)
print("Reset in firmware mode ...")
bl.reset_to_firmware()
else:
None
except Exception as e:
import traceback
traceback.print_exc(file=sys.stdout)
print(e)
finally:
#########################
# Closing the connection
#########################
if bl:
bl.close()
class CrazyloadThread(QThread):
# Input signals declaration (not sure it should be used like that...)
program = pyqtSignal(str, bool, str)
verify = pyqtSignal()
initiateColdBootSignal = pyqtSignal(str)
resetCopterSignal = pyqtSignal()
writeConfigSignal = pyqtSignal(int, int, float, float)
# Output signals declaration
programmed = pyqtSignal(bool)
verified = pyqtSignal()
statusChanged = pyqtSignal(str, int)
connectedSignal = pyqtSignal()
connectingSignal = pyqtSignal()
failed_signal = pyqtSignal(str)
disconnectedSignal = pyqtSignal()
updateConfigSignal = pyqtSignal(int, int, float, float)
updateCpuIdSignal = pyqtSignal(str)
radioSpeedPos = 2
def __init__(self):
super(CrazyloadThread, self).__init__()
self._bl = Bootloader()
self._bl.progress_cb = self.statusChanged.emit
# Make sure that the signals are handled by this thread event loop
self.moveToThread(self)
self.program.connect(self.programAction)
self.initiateColdBootSignal.connect(self.initiateColdBoot)
self.resetCopterSignal.connect(self.resetCopter)
def __del__(self):
self.quit()
self.wait()
def initiateColdBoot(self, linkURI):
self.connectingSignal.emit()
try:
success = self._bl.start_bootloader(warm_boot=False)
if not success:
self.failed_signal.emit("Could not connect to bootloader")
else:
self.connectedSignal.emit()
except Exception as e:
self.failed_signal.emit("{}".format(e))
def programAction(self, filename, verify, mcu_to_flash):
targets = {}
if mcu_to_flash:
targets[mcu_to_flash] = ("fw", )
try:
self._bl.flash(str(filename), targets)
self.programmed.emit(True)
except Exception:
self.programmed.emit(False)
def resetCopter(self):
try:
self._bl.reset_to_firmware()
except Exception:
pass
self._bl.close()
self.disconnectedSignal.emit()
class CrazyloadThread(QThread):
# Input signals declaration (not sure it should be used like that...)
program = pyqtSignal(str, str)
initiateColdBootSignal = pyqtSignal(str)
resetCopterSignal = pyqtSignal()
writeConfigSignal = pyqtSignal(int, int, float, float)
# Output signals declaration
programmed = pyqtSignal(bool)
verified = pyqtSignal()
statusChanged = pyqtSignal(str, int)
connectedSignal = pyqtSignal()
connectingSignal = pyqtSignal()
failed_signal = pyqtSignal(str)
disconnectedSignal = pyqtSignal()
updateConfigSignal = pyqtSignal(int, int, float, float)
updateCpuIdSignal = pyqtSignal(str)
radioSpeedPos = 2
WARM_BOOT = 0
COLD_BOOT = 1
def __init__(self, crazyflie: cflib.crazyflie.Crazyflie):
super(CrazyloadThread, self).__init__()
self._terminate_flashing = False
self._bl = Bootloader()
self._bl.progress_cb = self.statusChanged.emit
self._bl.terminate_flashing_cb = lambda: self._terminate_flashing
self._cf = crazyflie
self._boot_mode = self.COLD_BOOT
# Make sure that the signals are handled by this thread event loop
self.moveToThread(self)
self.program.connect(self.programAction)
self.initiateColdBootSignal.connect(self.initiateColdBoot)
self.resetCopterSignal.connect(self.resetCopter)
def __del__(self):
self.quit()
self.wait()
def set_boot_mode(self, mode):
self._boot_mode = mode
def initiateColdBoot(self, linkURI):
self.connectingSignal.emit()
try:
success = self._bl.start_bootloader(warm_boot=False)
if not success:
self.failed_signal.emit("Could not connect to bootloader")
else:
self.connectedSignal.emit()
except Exception as e:
self.failed_signal.emit("{}".format(e))
def rebootToBootloader(self):
self._bl.clink = self._cf.link_uri
self._cf.close_link()
try:
success = self._bl.start_bootloader(warm_boot=True)
if not success:
self.failed_signal.emit("Could not connect to bootloader")
else:
self.connectedSignal.emit()
except Exception as e:
self.failed_signal.emit("{}".format(e))
def programAction(self, filename, mcu_to_flash):
if self._boot_mode == self.WARM_BOOT:
self.rebootToBootloader()
targets = {}
if mcu_to_flash:
targets[mcu_to_flash] = ("fw", )
try:
self._terminate_flashing = False
self._bl.flash(str(filename), targets)
self.programmed.emit(True)
except Exception:
self.programmed.emit(False)
def terminate_flashing(self):
self._terminate_flashing = True
def resetCopter(self):
try:
self._bl.reset_to_firmware()
except Exception:
pass
self._bl.close()
self.disconnectedSignal.emit()