def __init__(self, ref_only=False):
util.kill_processes(['mavproxy.py', GDB])
self.reflog = StringIO()
self.testlog = StringIO()
self.ref = None
self.test = None
self.nsh = None
self.refmav = None
self.testmav = None
try:
if not ref_only:
self.nsh = nsh_console.nsh_console()
except Exception as ex:
self.close()
util.show_error('Connecting to nsh console', ex, self.testlog)
try:
self.ref = mav_reference.mav_reference(self.reflog)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board1', ex, self.reflog)
try:
if not ref_only:
self.test = mav_test.mav_test(self.testlog)
except Exception as ex:
self.close()
util.show_error('Connecting to test board1', ex, self.testlog)
try:
logger.info("CONNECTING MAVLINK TO REFERENCE BOARD")
self.refmav = mavutil.mavlink_connection('127.0.0.1:14550')
util.wait_heartbeat(self.refmav, timeout=30)
util.wait_mode(self.refmav, IDLE_MODES)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board2', ex, self.reflog)
try:
if not ref_only:
logger.info("CONNECTING MAVLINK TO TEST BOARD at %s" % time.ctime())
self.testmav = mavutil.mavlink_connection('127.0.0.1:14551')
util.wait_heartbeat(self.testmav, timeout=30)
logger.info("got heartbeat at %s" % time.ctime())
util.wait_mode(self.testmav, IDLE_MODES)
logger.info("Waiting for 'Ready to FLY'")
self.test.expect('Ready to FLY', timeout=20)
except Exception as ex:
self.close()
util.show_error('Connecting to test board2 at %s' % time.ctime(), ex, self.testlog)
if self.nsh is not None:
# log any extra nsh data
logger.debug("Draining nsh")
try:
self.nsh.read_nonblocking(4096, 1)
except Exception as ex:
pass
try:
if not ref_only and not ref_gyro_offset_ok(self.refmav):
self.close()
util.failure("Bad reference gyro - FAILED")
except Exception as ex:
self.close()
util.show_error('testing reference gyros', ex)
logger.info("Setting rotation level")
try:
rotate.set_rotation(self, 'level', wait=False)
except Exception as ex:
self.close()
util.show_error("unable to set safety off", ex)
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
def __init__(self, ref_only=False):
util.kill_processes(['mavproxy.py', GDB])
self.reflog = StringIO()
self.testlog = StringIO()
self.ref = None
self.test = None
self.nsh = None
self.refmav = None
self.testmav = None
try:
if not ref_only:
self.nsh = nsh_console.nsh_console()
except Exception as ex:
self.close()
util.show_error('Connecting to nsh console', ex, self.testlog)
try:
self.ref = mav_reference.mav_reference(self.reflog)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board1', ex, self.reflog)
try:
if not ref_only:
self.test = mav_test.mav_test(self.testlog)
except Exception as ex:
self.close()
util.show_error('Connecting to test board1', ex, self.testlog)
try:
logger.info("CONNECTING MAVLINK TO REFERENCE BOARD")
self.refmav = mavutil.mavlink_connection('127.0.0.1:14550')
util.wait_heartbeat(self.refmav, timeout=30)
util.wait_mode(self.refmav, IDLE_MODES)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board2', ex, self.reflog)
try:
if not ref_only:
logger.info("CONNECTING MAVLINK TO TEST BOARD")
self.testmav = mavutil.mavlink_connection('127.0.0.1:14551')
util.wait_heartbeat(self.testmav, timeout=30)
logger.info("got heartbeat")
util.wait_mode(self.testmav, IDLE_MODES)
logger.info("Waiting for 'Ready to FLY'")
self.fw_version = None
self.px4_version = None
self.nuttx_version = None
self.stm32_serial = None
ready = False
self.test.send("param fetch\n")
# log version information for later reference
while (self.fw_version is None or
self.px4_version is None or
self.nuttx_version is None or
self.stm32_serial is None or
not ready):
i = self.test.expect(['APM: ([^\r\n]*Copter[^\r\n]*)\r\n',
'APM: PX4: ([0-9a-f]+) NuttX: ([0-9a-f]+)\r\n',
'APM: PX4v2 ([0-9A-F]+ [0-9A-F]+ [0-9A-F]+)\r\n',
'(Ready to FLY)'],
timeout=20)
if i == 3:
ready = True
elif i == 0:
self.fw_version = self.test.match.group(1)
elif i == 1:
self.px4_version = self.test.match.group(1)
self.nuttx_version = self.test.match.group(2)
elif i == 2:
self.stm32_serial = self.test.match.group(1)
except Exception as ex:
self.close()
util.show_error('Connecting to test board2', ex, self.testlog)
if self.nsh is not None:
# log any extra nsh data
logger.debug("Draining nsh")
try:
self.nsh.read_nonblocking(4096, 1)
except Exception as ex:
pass
try:
if not ref_only and not ref_gyro_offset_ok(self.refmav):
self.close()
util.failure("Bad reference gyro - FAILED")
except Exception as ex:
self.close()
util.show_error('testing reference gyros', ex)
logger.info("Setting rotation level")
try:
rotate.set_rotation(self, 'level', wait=False)
except Exception as ex:
self.close()
util.show_error("unable to set safety off", ex)
def __init__(self, ref_only=False):
util.kill_processes(['mavproxy.py', GDB])
self.reflog = StringIO()
self.testlog = StringIO()
self.ref = None
self.test = None
self.nsh = None
self.refmav = None
self.testmav = None
try:
if not ref_only:
self.nsh = nsh_console.nsh_console()
except Exception as ex:
self.close()
util.show_error('Connecting to nsh console', ex, self.testlog)
try:
self.ref = mav_reference.mav_reference(self.reflog)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board1', ex, self.reflog)
try:
if not ref_only:
self.test = mav_test.mav_test(self.testlog)
except Exception as ex:
self.close()
util.show_error('Connecting to test board1', ex, self.testlog)
try:
logger.info("CONNECTING MAVLINK TO REFERENCE BOARD")
self.refmav = mavutil.mavlink_connection('127.0.0.1:14550')
util.wait_heartbeat(self.refmav, timeout=30)
util.wait_mode(self.refmav, IDLE_MODES)
except Exception as ex:
self.close()
util.show_error('Connecting to reference board2', ex, self.reflog)
try:
if not ref_only:
logger.info("CONNECTING MAVLINK TO TEST BOARD")
self.testmav = mavutil.mavlink_connection('127.0.0.1:14551')
util.wait_heartbeat(self.testmav, timeout=30)
logger.info("got heartbeat")
util.wait_mode(self.testmav, IDLE_MODES)
logger.info("Waiting for 'Ready to FLY'")
self.fw_version = None
self.px4_version = None
self.nuttx_version = None
self.stm32_serial = None
ready = False
self.test.send("param fetch\n")
# log version information for later reference
while (self.fw_version is None or self.px4_version is None
or self.nuttx_version is None
or self.stm32_serial is None or not ready):
i = self.test.expect([
'APM: ([^\r\n]*Copter[^\r\n]*)\r\n',
'APM: PX4: ([0-9a-f]+) NuttX: ([0-9a-f]+)\r\n',
'APM: PX4v2 ([0-9A-F]+ [0-9A-F]+ [0-9A-F]+)\r\n',
'(Ready to FLY)'
],
timeout=20)
if i == 3:
ready = True
elif i == 0:
self.fw_version = self.test.match.group(1)
elif i == 1:
self.px4_version = self.test.match.group(1)
self.nuttx_version = self.test.match.group(2)
elif i == 2:
self.stm32_serial = self.test.match.group(1)
except Exception as ex:
self.close()
util.show_error('Connecting to test board2', ex, self.testlog)
if self.nsh is not None:
# log any extra nsh data
logger.debug("Draining nsh")
try:
self.nsh.read_nonblocking(4096, 1)
except Exception as ex:
pass
try:
if not ref_only and not ref_gyro_offset_ok(self.refmav):
self.close()
util.failure("Bad reference gyro - FAILED")
except Exception as ex:
self.close()
util.show_error('testing reference gyros', ex)
logger.info("Setting rotation level")
try:
rotate.set_rotation(self, 'level', wait=False)
except Exception as ex:
self.close()
util.show_error("unable to set safety off", ex)
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