def update_mbfw(cls):
cls.reset_mainboard()
sleep(1.0)
storage = Storage("update_fw")
tty = cls.get_mainboard_port()
if not storage.exists("mainboard.bin"):
raise RuntimeWarning("mainboard.bin not found")
if os.system("stty -F %s 1200" % tty) != 0:
raise RuntimeWarning("stty exec failed")
sleep(2.0)
fw_path = storage.get_path("mainboard.bin")
if os.system("bossac -p %s -e -w -v -b %s" %
(tty.split("/")[-1], fw_path)) != 0:
raise RuntimeWarning("bossac exec failed")
os.rename(fw_path, fw_path + ".updated")
os.system("sync")
sleep(0.75)
cls.reset_mainboard()
sleep(0.75)
def update_hbfw(self, stage_cb=lambda m: None):
raspi_uart = Serial(port="/dev/ttyAMA0",
baudrate=115200,
stopbits=1,
xonxoff=0,
rtscts=0,
timeout=0)
def wait_ack(stage):
t = time()
while time() - t < 5.0:
rl = select((raspi_uart, ), (), (), 5.0)[0]
if rl:
ret = raspi_uart.read(1)
if ret == 'y':
return
elif ret == '\x1f':
raise RuntimeError(SUBSYSTEM_ERROR, "HEAD RETURN 0x1f")
else:
raise RuntimeError(UNKNOWN_ERROR,
"HEAD RETURN %s" % repr(ret))
raise RuntimeError(NO_RESPONSE, stage)
def send_cmd(cmd, stage):
raspi_uart.write(chr(cmd))
raspi_uart.write(chr(cmd ^ 0xFF))
wait_ack(stage)
sleep(0.1)
def crc8(msg, init=0):
crc = init
for c in msg:
crc = crc ^ ord(c)
return chr(crc)
def bootloader_hello():
raspi_uart.write('\x7f')
wait_ack("HELLO")
logger.debug("Update head fw")
storage = Storage("update_fw")
if not storage.exists("head.bin"):
raise RuntimeError(NOT_FOUND)
with storage.open("head.bin", "rb") as f:
fw = f.read()
size = len(fw)
pages = size // 2048
if size % 2048 > 0:
pages += 1
logger.debug("Fw size=%i, use page=%i", size, pages)
try:
# Bootstrap
stage_cb(b"B")
raspi_uart.parity = PARITY_EVEN
GPIO.output(self.TOOLHEAD_POWER, self.TOOLHEAD_POWER_OFF)
GPIO.output(self.TOOLHEAD_BOOT, GPIO.HIGH)
sleep(0.5)
GPIO.output(self.TOOLHEAD_POWER, self.TOOLHEAD_POWER_ON)
sleep(0.5)
raspi_uart.setRTS(0)
raspi_uart.setDTR(0)
sleep(0.1)
raspi_uart.setDTR(1)
sleep(0.5)
# Hello
stage_cb(b"H")
try:
bootloader_hello()
except Exception:
sleep(0.5)
bootloader_hello()
send_cmd(0x00, "G_VR")
l = ord(raspi_uart.read())
version = raspi_uart.read(1)
a = raspi_uart.read(l)
logger.debug("VER %s", repr(a))
wait_ack("G_VRL")
logger.debug("Update head: bootloader ver=%s", version)
if version != '1':
raise RuntimeError(NOT_SUPPORT)
# Earse
stage_cb(b"E")
send_cmd(0x44, "G_ERASE")
cmd = struct.pack(">H", pages - 1)
cmd += "".join([struct.pack(">H", i) for i in xrange(pages)])
raspi_uart.write(cmd)
raspi_uart.write(crc8(cmd))
wait_ack("G_E")
# Write
stage_cb(b"W")
offset = 0
while offset < size:
stage_cb(("%07x" % (size - offset)).encode())
l = min(size - offset, 128)
send_cmd(0x31, "G_WINIT")
addr = struct.pack(">I", 0x08000000 + offset)
raspi_uart.write(addr)
raspi_uart.write(crc8(addr))
wait_ack("G_WREADY")
payload = chr(l - 1) + fw[offset:offset + l]
raspi_uart.write(payload)
raspi_uart.write(crc8(payload))
wait_ack("G_WDONE")
offset += l
stage_cb("00000000")
finally:
GPIO.output(self.TOOLHEAD_BOOT, GPIO.LOW)
GPIO.output(self.TOOLHEAD_POWER, self.TOOLHEAD_POWER_OFF)
sleep(0.5)
GPIO.output(self.TOOLHEAD_POWER, self._head_power_stat)
raspi_uart.parity = PARITY_NONE
raspi_uart.close()
logger.debug("Update fw end")