def reset_cortex(port, ctx=proscli.utils.State()):
click.echo('Resetting cortex...', nl=False)
configure_port(port, serial.PARITY_NONE)
debug('RESET CORTEX. PORT CFG: {}'.format(repr(port)), ctx)
port.flush()
port.read(port.in_waiting)
port.write([20])
port.flush()
click.echo('complete')
time.sleep(0.01)
def reset_cortex(port, ctx=proscli.utils.State()):
click.echo('Resetting cortex...', nl=False)
configure_port(port, serial.PARITY_NONE)
debug('RESET CORTEX. PORT CFG: {}'.format(repr(port)), ctx)
port.flush()
port.read(port.in_waiting)
port.write([20])
port.flush()
click.echo('complete')
time.sleep(0.01)
def reset_cortex(port, ctx=proscli.utils.State()):
click.echo('Resetting cortex... ', nl=False)
debug('RESET CORTEX. PORT CFG: {}'.format(repr(port)), ctx)
port.parity = serial.PARITY_NONE
port.flush()
port.read_all()
time.sleep(0.1)
port.write([0xc9, 0x36, 0xb8, 0x47, 0x20])
port.flush()
port.write([0x14])
click.echo('complete')
time.sleep(0.01)
def send_go_command(port, address):
click.echo('Executing binary...', nl=False)
address = compute_address_commandable(address)
debug('Executing binary at {}'.format(adr_to_str(address)))
response = send_bootloader_command(port, 0x21, 1)
if response is None or response[0] != ACK:
click.echo('failed (execute command not accepted)')
return False
port.write(address)
port.flush()
click.echo('complete')
return True
def expose_bootloader(port, ctx=proscli.utils.State()):
click.echo('Exposing bootloader... ', nl=False)
bootloader_bits = [0xc9, 0x36, 0xb8, 0x47, 0x25]
port.flush()
debug('EXPOSE BL BITS: {} PORT CFG: {}'.format(bytes_to_str(bootloader_bits), repr(port)), ctx)
port.read_all()
time.sleep(0.1)
for _ in itertools.repeat(None, 5):
port.write(bootloader_bits)
time.sleep(0.1)
time.sleep(0.3) # time delay to allow shift to download mode
click.echo('complete')
return True
def send_go_command(port, address):
click.echo("Executing binary...", nl=False)
address = compute_address_commandable(address)
debug("Executing binary at {}".format(adr_to_str(address)))
response = send_bootloader_command(port, 0x21, 1)
if response is None or response[0] != ACK:
click.echo("failed (execute command not accepted)")
return False
port.write(address)
port.flush()
click.echo("complete")
return True
def expose_bootloader(port, ctx=proscli.utils.State()):
click.echo('Exposing bootloader... ', nl=False)
bootloader_bits = [0xc9, 0x36, 0xb8, 0x47, 0x25]
configure_port(port, serial.PARITY_NONE)
port.flush()
debug('EXPOSE BL BITS: {} PORT CFG: {}'.format(bytes_to_str(bootloader_bits), repr(port)), ctx)
port.read(port.in_waiting)
for _ in itertools.repeat(None, 5):
port.write(bootloader_bits)
port.flush()
configure_port(port, serial.PARITY_NONE)
time.sleep(0.3) # time delay to allow shift to download mode
click.echo('complete')
return True
def write_flash(port, start_address, data, retry=2, is_wireless=False):
data = bytearray(data)
if len(data) > 256:
click.echo('Tried writing too much data at once! ({} bytes)'.format(
len(data)))
return False
port.read_all()
c_addr = compute_address_commandable(start_address)
debug('Writing {} bytes to {}'.format(len(data), adr_to_str(c_addr)))
response = send_bootloader_command(port, 0x31)
if response is None or len(response) < 1 or response[0] != ACK:
if retry > 0:
debug('RETRYING PACKET AT COMMAND')
return write_flash(port, start_address, data, retry=retry - 1)
else:
click.echo('failed (write command not accepted)')
return False
port.write(c_addr)
port.flush()
time.sleep(0.005 if is_wireless else 0.002)
response = port.read(1)
debug_response(adr_to_str(c_addr), response)
if response is None or len(response) < 1 or response[0] != ACK:
if retry > 0:
debug('RETRYING PACKET AT ADDRESS')
return write_flash(port, start_address, data, retry=retry - 1)
else:
click.echo('failed (address not accepted)')
return False
checksum = len(data) - 1
for x in data:
checksum ^= x
send_data = data[:]
send_data.insert(0, len(send_data) - 1)
send_data.append(checksum)
port.write(send_data)
port.flush()
time.sleep(0.007 if is_wireless else 0.002)
response = port.read(1)
debug('STM BL RESPONSE TO WRITE: {}'.format(response))
if response is None or len(response) < 1 or response[0] != ACK:
if retry > 0:
debug('RETRYING PACKET AT WRITE')
return write_flash(port, start_address, data, retry=retry - 1)
else:
click.echo('failed (could not complete upload)')
return False
port.flush()
port.reset_input_buffer()
return True
def reader(self):
try:
while self.alive and self._reader_alive:
data = self.serial.read(self.serial.in_waiting or 1)
if data:
if self.output_raw:
self.console.write_bytes(data)
else:
text = data.decode('utf-8', 'ignore')
for transformation in self.transformations:
text = transformation(text)
self.console.write(text)
except serial.SerialException as e:
debug(e)
self.alive = False
def stop_user_code(port, ctx=proscli.utils.State()):
click.echo('Stopping user code... ', nl=False)
stopbits = [0x0f, 0x0f, 0x21, 0xde, 0x08, 0x00, 0x00, 0x00, 0x08, 0xf1, 0x04]
debug(bytes_to_str(stopbits), ctx)
if not port.is_open:
port.open()
port.flush()
port.read(port.in_waiting)
for stopbit in stopbits:
port.write([stopbit])
port.flush()
response = port.read_all()
debug(bytes_to_str(response), ctx)
port.parity = serial.PARITY_NONE
click.echo('complete')
def stop_user_code(port, ctx=proscli.utils.State()):
click.echo('Stopping user code... ', nl=False)
stopbits = [0x0f, 0x0f, 0x21, 0xde, 0x08, 0x00, 0x00, 0x00, 0x08, 0xf1, 0x04]
debug(bytes_to_str(stopbits), ctx)
if not port.is_open:
port.open()
port.flush()
port.read(port.in_waiting)
for stopbit in stopbits:
port.write([stopbit])
port.flush()
response = port.read_all()
debug(bytes_to_str(response), ctx)
port.parity = serial.PARITY_NONE
click.echo('complete')
def reader(self):
start_time = time.clock
try:
while self.alive and self._reader_alive:
data = self.serial.read(self.serial.in_waiting or 1)
if data:
if self.output_raw:
self.console.write_bytes(data)
else:
text = data.decode('utf-8', 'ignore')
for transformation in self.transformations:
text = transformation(text)
self.console.write(text)
except serial.SerialException as e:
debug(e)
self.alive = False
def transmitter(self):
try:
while self.alive and self._transmitter_alive:
try:
c = self.console.getkey()
except KeyboardInterrupt:
c = '\x03'
if not self.alive:
break
if c == '\x03' or not self.no_sigint:
self.stop()
break
else:
self.serial.write(c.encode('utf-8'))
self.console.write(c)
except Exception as e:
debug(e)
self.alive = False
def send_to_download_channel(port, ctx=proscli.utils.State()):
click.echo('Sending to download channel... ', nl=False)
download_ch_bits = [0xc9, 0x36, 0xb8, 0x47, 0x35]
configure_port(port, serial.PARITY_EVEN)
debug('DL CH BITS: {} PORT CFG: {}'.format(bytes_to_str(download_ch_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 5):
port.read(port.in_waiting)
port.write(download_ch_bits)
port.flush()
time.sleep(0.25)
response = port.read_all()
debug('DB CH RESPONSE: {}'.format(bytes_to_str(response)), ctx)
response = response[-1:]
if response is not None and len(response) > 0 and response[0] == ACK:
click.echo('complete')
return True
click.echo('failed')
return False
def transmitter(self):
try:
while self.alive and self._transmitter_alive:
try:
c = self.console.getkey()
except KeyboardInterrupt:
c = '\x03'
if not self.alive:
break
if c == '\x03' or not self.no_sigint:
self.stop()
break
else:
self.serial.write(c.encode('utf-8'))
self.console.write(c)
except Exception as e:
debug(e)
self.alive = False
def send_to_download_channel(port, ctx=proscli.utils.State()):
click.echo('Sending to download channel... ', nl=False)
download_ch_bits = [0xc9, 0x36, 0xb8, 0x47, 0x35]
configure_port(port, serial.PARITY_EVEN)
debug('DL CH BITS: {} PORT CFG: {}'.format(bytes_to_str(download_ch_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 5):
port.read(port.in_waiting)
port.write(download_ch_bits)
port.flush()
time.sleep(0.25)
response = port.read_all()
debug('DB CH RESPONSE: {}'.format(bytes_to_str(response)), ctx)
response = response[-1:]
if response is not None and len(response) > 0 and response[0] == ACK:
click.echo('complete')
return True
click.echo('failed')
return False
def send_to_download_channel(port, ctx=proscli.utils.State()):
click.echo('Sending to download channel (this may take a while)... ', nl=False)
download_ch_bits = [0xc9, 0x36, 0xb8, 0x47, 0x35]
debug('DL CH BITS: {} PORT CFG: {}'.format(bytes_to_str(download_ch_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 5):
port.read_all()
time.sleep(0.1)
port.write(download_ch_bits)
port.flush()
time.sleep(3)
response = port.read_all()
debug('DB CH RESPONSE: {}'.format(bytes_to_str(response)), ctx)
response = response[-1:]
sys_info = ask_sys_info(port, ctx, silent=True)
if (sys_info is not None and sys_info.connection_type == ConnectionType.serial_vexnet2_dl) or (response is not None and len(response) > 0 and response[0] == ACK):
click.echo('complete')
return True
click.echo('failed')
return False
def ask_sys_info(port, ctx=proscli.utils.State(), silent=False):
if not silent:
click.echo('Asking for system information... ', nl=False)
sys_info_bits = [0xc9, 0x36, 0xb8, 0x47, 0x21]
if not port.is_open:
port.open()
debug('SYS INFO BITS: {} PORT CFG: {}'.format(bytes_to_str(sys_info_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 10):
port.read_all()
port.write(sys_info_bits)
port.flush()
time.sleep(0.1)
response = port.read_all()
debug('SYS INFO RESPONSE: {}'.format(bytes_to_str(response)), ctx)
if len(response) > 14:
response = response[:14]
if len(response) == 14 and response[0] == 0xaa and response[1] == 0x55\
and response[2] == 0x21 and response[3] == 0xa: # synchronization matched
sys_info = SystemInfo()
sys_info.device = port.name
sys_info.joystick_firmware = '{}.{}'.format(response[4], response[5])
sys_info.cortex_firmware = '{}.{}'.format(response[6], response[7])
if response[8] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.joystick_battery = response[8] * 0.059
if response[9] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.cortex_battery = response[9] * 0.059
if response[10] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.backup_battery = response[10] * 0.059
try:
# Mask FCS bits out of response[11]
sys_info.connection_type = ConnectionType(response[11] & 0b00110111)
except ValueError:
sys_info.connection_type = ConnectionType.unknown
sys_info.previous_polls = response[13]
sys_info.byte_representation = response
if not silent:
click.echo('complete')
return sys_info
time.sleep(0.15)
return None
def send_go_command(port, address, retry=3):
click.echo('Executing user code... ', nl=False)
c_addr = compute_address_commandable(address)
debug('Executing binary at {}'.format(adr_to_str(c_addr)))
response = send_bootloader_command(port, 0x21, 1)
debug_response(0x21, response)
if response is None or len(response) < 1 or response[0] != ACK:
click.echo('failed (execute command not accepted)')
return False
time.sleep(0.01)
port.write(c_addr)
time.sleep(0.01)
response = port.read(1)
debug_response(adr_to_str(c_addr), response)
if response is None or len(response) < 1 or response[0] != ACK:
click.echo(
'user code might not have started properly. May need to restart Cortex'
)
else:
click.echo('complete')
return True
def write_flash(port, start_address, data):
data = bytearray(data)
if len(data) > 256:
click.echo('Tried writing too much data at once! ({} bytes)'.format(
len(data)))
return False
port.read_all()
start_address = compute_address_commandable(start_address)
debug('Writing {} bytes to {}'.format(len(data),
adr_to_str(start_address)))
response = send_bootloader_command(port, 0x31)
if response is None or response[0] != ACK:
click.echo('failed (write command not accepted)')
return False
port.write(start_address)
port.flush()
response = port.read(1)
debug_response(adr_to_str(start_address), response)
if response is None or response[0] != ACK:
click.echo('failed (address not accepted)')
return False
checksum = len(data) - 1
for x in data:
checksum ^= x
data.insert(0, len(data) - 1)
data.append(checksum)
port.write(data)
time.sleep(0.005)
response = port.read(1)
if response is None or response[0] != ACK:
port.write(data)
time.sleep(20)
response = port.read(1)
if response is None or response[0] != ACK:
click.echo('failed (could not complete upload)')
return False
port.flush()
port.reset_input_buffer()
return True
def ask_sys_info(port, ctx=proscli.utils.State()):
click.echo('Asking for system information... ', nl=False)
sys_info_bits = [0xc9, 0x36, 0xb8, 0x47, 0x21]
if not port.is_open:
port.open()
configure_port(port, serial.PARITY_NONE)
debug('SYS INFO BITS: {} PORT CFG: {}'.format(bytes_to_str(sys_info_bits), repr(port)), ctx)
for _ in itertools.repeat(None, 10):
port.read(port.in_waiting)
port.write(sys_info_bits)
port.flush()
time.sleep(0.1)
response = port.read_all()
debug('SYS INFO RESPONSE: {}'.format(bytes_to_str(response)), ctx)
if len(response) > 14:
response = response[:14]
if len(response) == 14 and response[0] == 0xaa and response[1] == 0x55\
and response[2] == 0x21 and response[3] == 0xa: # synchronization matched
sys_info = SystemInfo()
sys_info.device = port.name
sys_info.joystick_firmware = '{}.{}'.format(response[4], response[5])
sys_info.cortex_firmware = '{}.{}'.format(response[6], response[7])
if response[8] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.joystick_battery = response[8] * 0.059
if response[9] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.cortex_battery = response[9] * 0.059
if response[10] > 5: # anything smaller than 5 is probably garbage from ADC
sys_info.backup_battery = response[10] * 0.059
try:
sys_info.connection_type = ConnectionType(response[11])
except ValueError:
sys_info.connection_type = ConnectionType.unknown
sys_info.previous_polls = response[13]
sys_info.byte_representation = response
click.echo('complete')
return sys_info
time.sleep(0.15)
return None
def write_flash(port, start_address, data):
data = bytearray(data)
if len(data) > 256:
click.echo("Tried writing too much data at once! ({} bytes)".format(len(data)))
return False
port.read_all()
start_address = compute_address_commandable(start_address)
debug("Writing {} bytes to {}".format(len(data), adr_to_str(start_address)))
response = send_bootloader_command(port, 0x31)
if response is None or response[0] != ACK:
click.echo("failed (write command not accepted)")
return False
port.write(start_address)
port.flush()
response = port.read(1)
debug_response(adr_to_str(start_address), response)
if response is None or response[0] != ACK:
click.echo("failed (address not accepted)")
return False
checksum = len(data) - 1
for x in data:
checksum ^= x
data.insert(0, len(data) - 1)
data.append(checksum)
port.write(data)
time.sleep(0.005)
response = port.read(1)
if response is None or response[0] != ACK:
port.write(data)
time.sleep(20)
response = port.read(1)
if response is None or response[0] != ACK:
click.echo("failed (could not complete upload)")
return False
port.flush()
port.reset_input_buffer()
return True
def debug_response(command, response, fmt="STM BL RESPONSE TO 0x{}: {}"):
if not isinstance(command, str):
command = bytes_to_str(command)
if not isinstance(response, str):
response = bytes_to_str(response)
debug(fmt.format(command, response))
def debug_response(command, response, fmt='STM BL RESPONSE TO 0x{}: {}'):
if not isinstance(command, str):
command = bytes_to_str(command)
if not isinstance(response, str):
response = bytes_to_str(response)
debug(fmt.format(command, response))