def __init__(self):
super(CrazyloadThread, self).__init__()
# Make sure that the signals are handled by this thread event loop
self.moveToThread(self)
self._bl = Bootloader()
self._bl.progress_cb = self.statusChanged.emit
self.writeConfigSignal.connect(self.writeConfigAction)
self.initiateColdBootSignal.connect(self.initiateColdBoot)
self.resetCopterSignal.connect(self.resetCopter)
def test_boot_to_bootloader(self):
self.assertTrue(self.is_stm_connected())
bl = Bootloader(self.radioUri)
started = bl.start_bootloader(warm_boot=True)
self.assertTrue(started)
# t = bl.get_target(TargetTypes.NRF51)
# print(t)
bl.reset_to_firmware()
bl.close()
time.sleep(1)
self.assertTrue(self.is_stm_connected())
self.assertTrue(BootVersion.is_cf2(bl.protocol_version))
def __init__(self):
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
# 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 __init__(self, crazyflie: cflib.crazyflie.Crazyflie):
super(CrazyloadThread, self).__init__()
self._terminate_flashing = False
self._bl = Bootloader()
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)
filename = sys.argv[1]
targets = [] # Dict[Target]
for t in sys.argv[2:]:
if t.startswith("deck-"):
[deck, target, type] = t.split("-")
targets.append(Target("deck", target, type))
else:
[target, type] = t.split("-")
targets.append(Target("cf2", target, type))
else:
print("Action", sys.argv[0], "unknown!")
sys.exit(-1)
try:
# Initialise the bootloader lib
bl = Bootloader(clink)
warm_boot = (boot == "reset")
if warm_boot:
print("Reset to bootloader mode ...")
sys.stdout.flush()
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()
######################################
# Doing something (hopefully) useful
######################################
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"
filename = None # type: Optional[str]
targets = None # type: Optional[List[Target]]
bl = None # type: Optional[Bootloader]
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":
if len(sys.argv) < 2:
print("The flash action require a file name.")
link.close()
sys.exit(-1)
action = "flash"
filename = sys.argv[1]
targets = [] # Dict[Target]
for t in sys.argv[2:]:
if t.startswith("deck-"):
[deck, target, type] = t.split("-")
targets.append(Target("deck", target, type))
else:
[target, type] = t.split("-")
targets.append(Target("cf2", target, type))
else:
print("Action", sys.argv[0], "unknown!")
link.close()
sys.exit(-1)
try:
# Initialise the bootloader lib
bl = Bootloader(clink)
warm_boot = (boot == "reset")
if warm_boot:
print("Reset to bootloader mode ...")
sys.stdout.flush()
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()
######################################
# Doing something (hopefully) useful
######################################
if action == "info":
def print_info(version: int, connected_targets: [Target]):
print("Connected to bootloader on {} (version=0x{:X})".format(
BootVersion.to_ver_string(version), version))
for target in connected_targets:
print(target)
# flash_full called with no filename will not flash, just call
# our info callback
bl.flash_full(None, warm_boot, None, print_info)
elif action == "flash" and filename and targets:
try:
bl.flash_full(filename, warm_boot, targets)
except Exception as e:
print("Failed to flash: {}".format(e))
elif action == "reset":
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()
