def accel_calibrate_retries(retries=4):
'''run full accel calibration with retries
return True on success, False on failure
'''
while retries > 0:
retries -= 1
if 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)
continue
try:
time.sleep(2)
accel_calibrate()
except Exception as ex:
logger.error("accel cal failed: %s" % ex)
if retries > 0:
logger.info("RETRYING ACCEL CAL")
power_control.power_cycle(down_time=4)
continue
logger.info("PASSED ACCEL CAL")
return True
logger.error("accelcal: no more retries")
return False
def accel_calibrate_retries(retries=4):
'''run full accel calibration with retries
return True on success, False on failure
'''
while retries > 0:
retries -= 1
if 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)
continue
try:
time.sleep(2)
accel_calibrate()
except Exception as ex:
logger.error("accel cal failed: %s" % ex)
if retries > 0:
logger.info("RETRYING ACCEL CAL")
#sys.exit(1)
power_control.power_cycle(down_time=4)
continue
logger.info("PASSED ACCEL CAL")
return True
logger.error("accelcal: no more retries")
return False
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
import jtag
import power_control
import time
import util
import sys, os, fcntl
import logger
import colour_text
import connection
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()
# 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
==========================================
''')
device_barcode = barcode.barcode_read()
if device_barcode is None:
colour_text.print_fail('''
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
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'])
# Set ETE speeds
if ETE == 1:
ete = PixETE()
ete.yawspeed(5000)
ete.rollspeed(10000)
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:
ete.command_bytes('test_wait')
colour_text.print_blue('''
==========================================
| PLEASE SWIPE DEVICE BARCODE
==========================================
''')
device_barcode = barcode.barcode_read()
if device_barcode is None:
import jtag
import power_control
import time
import util
import sys, os, fcntl
import logger
import colour_text
import connection
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()
