示例#1
0
def factory_install(device_barcode):
    '''main factory installer'''
    start_time = time.time()

    if not args.test:
        colour_text.clear_screen()

    # start a new log directory on each run
    logger.new_log_dir()
    logger.reopen_logfile()

    logdir = logger.get_log_dir()
    logger.info("Logging to %s" % logdir)
    logger.info("Device barcode %s" % device_barcode)

    colour_text.print_blue('''
==================================================
| Starting installation. Barcode is %s
==================================================
''' % device_barcode)

    logger.info(time.ctime())
    
    if args.erase:
        if not jtag.erase_firmwares():
            colour_text.print_fail('''
======================================
| FAILED: JTAG firmware erase failed
======================================
''')
            logger.critical("JTAG firmware erase failed")
            return False
    
    if not args.nofw and not jtag.load_all_firmwares(retries=3):
        colour_text.print_fail('''
======================================
| FAILED: JTAG firmware install failed
======================================
''')
        logger.critical("JTAG firmware install failed")
        return False

    if args.erase:
        if not connection.erase_parameters():
            colour_text.print_fail('''
==========================================
| FAILED: Failed to erase parameters
==========================================
''')
            logger.critical("Failed to erase parameters")
            return False

    if not accelcal.accel_calibrate_retries(retries=4):
        colour_text.print_fail('''
==========================================
| FAILED: Accelerometer calibration failed
==========================================
''')
        logger.critical("Accelerometer calibration failed")
        return False

    # all OK
    colour_text.print_green('''
================================================
| Device: %s
| PASSED: Factory install complete (%u seconds)
================================================
''' %  (device_barcode, (time.time() - start_time)))
    logger.info("Factory install complete (%u seconds)" % (time.time() - start_time))
    return True
示例#2
0
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
示例#3
0
        # 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('''
            ==========================================
            | FAILED: Barcode not detected
            ==========================================
            ''')
            logger.critical("Barcode not detected")
            time.sleep(2)
            continue
        
        # log the barcode
        logger.info("Barcode detected: %s" % device_barcode)
    
    # 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....")

    ret = factory_install(device_barcode)
示例#4
0
def factory_install(device_barcode):
    '''main factory installer'''
    start_time = time.time()

    script_dir = os.path.dirname(os.path.abspath(__file__))

    ete.command_bytes('test_work')

    if not args.test:
        colour_text.clear_screen()

    # start a new log directory on each run
    logger.new_log_dir()
    logger.reopen_logfile()

    logdir = logger.get_log_dir()
    logger.info("Logging to %s" % logdir)
    #logger.info("Device barcode %s" % device_barcode)

    colour_text.print_blue('''
==================================================
| Starting installation. Barcode is %s
==================================================
''' % device_barcode)

    logger.info(time.ctime())
    
    if args.erase:
        if not jtag.erase_firmwares():
            colour_text.print_fail('''
======================================
| FAILED: JTAG firmware erase failed
======================================
''')
            logger.critical("JTAG firmware erase failed")
            ete.command_bytes('test_fail')
            ete.command_bytes('reset')
            ete.accel(10000)
            ete.yawspeed(5000)
            ete.rollspeed(10000)
            return False
    
    if not args.nofw and not jtag.load_all_firmwares(retries=3):
        colour_text.print_fail('''
======================================
| FAILED: JTAG firmware install failed
======================================
''')
        logger.critical("JTAG firmware install failed")
        ete.command_bytes('test_fail')
        ete.command_bytes('reset')
        ete.accel(100000)
        ete.yawspeed(5000)
        ete.rollspeed(10000)
        try:
            conn = connection.Connection(ref_only=True)
            rotate.center_servos(conn)
        except Exception as ex:
            print("Failed to center servos: %s" % ex)
            pass
        return False

    if args.erase:
        if not connection.erase_parameters():
            colour_text.print_fail('''
==========================================
| FAILED: Failed to erase parameters
==========================================
''')
            logger.critical("Failed to erase parameters")
            ete.command_bytes('test_fail')
            ete.position(0, 0)
            ete.command_bytes('reset')
            ete.accel(100000)
            ete.yawspeed(5000)
            ete.rollspeed(10000)
            return False

    if not accelcal.accel_calibrate_retries(retries=4):
        colour_text.print_fail('''
==========================================
| FAILED: Accelerometer calibration failed
==========================================
''')
        logger.critical("Accelerometer calibration failed")
        ete.command_bytes('test_fail')
        ete.position(0, 0)
        ete.command_bytes('reset')
        ete.accel(100000)
        ete.yawspeed(5000)
        ete.rollspeed(10000)
        return False

    # all OK
    logger.info("Writting OTP region in STM32")
    #Add OTP HERE
    script_dir = os.path.dirname(os.path.abspath(__file__))
    if args.otp_show:
        p1 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'--only-display',"abc"], stdin=PIPE, stdout=PIPE, stderr=PIPE)
        output, err = p1.communicate()
        logger.info(output)
    time.sleep(1)
    #conn = connection.Connection(ref_only=False)
    #otp_program_mod.Display_OTP(conn)


    

    def getMacAddress(): 
        if sys.platform == 'win32': 
            for line in os.popen("ipconfig /all"): 
                if line.lstrip().startswith('Physical Address'): 
                    mac = line.split(':')[1].strip().replace('-',':') 
                    break 
        else: 
            for line in os.popen("/sbin/ifconfig"): 
                if line.find('Ether') > -1: 
                    mac = line.split()[4] 
                    break 
        return mac 

    print("Manufacturer info : Hex Technology, \xA9 ProfiCNC 2016")
    print "MAC Address:",getMacAddress() #.join(['{:02x}'.format((uuid.getnode() >> i) & 0xff) for i in range(0,8*6,8)][::-1])

    colour_text.print_blue('''Barcode is %s''' % device_barcode)
    print("date of testing :" + time.strftime("%x"))
    print("time of testing :" + time.strftime("%X"))
    accel_data0 = "%f,%f,%f,%f,%f,%f" % (test_sensors.offset[0][0] ,test_sensors.offset[0][1] ,test_sensors.offset[0][2],test_sensors.scale_factor[0][0],test_sensors.scale_factor[0][1],test_sensors.scale_factor[0][2])
    accel_data2 = "%f,%f,%f,%f,%f,%f" % (test_sensors.offset[2][0] ,test_sensors.offset[2][1] ,test_sensors.offset[2][2],test_sensors.scale_factor[2][0],test_sensors.scale_factor[2][1],test_sensors.scale_factor[2][2])
    print "Accel :", accel_data0
    print "Accel :", accel_data2
    if True:#args.otp_write:
	#Manufacturing Info
        p2 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'Hex Technology, \xA9 ProfiCNC 2016',getMacAddress(),device_barcode,time.strftime("%x"),time.strftime("%X"),'--',str(accel_data0),str(accel_data2)], stdin=PIPE, stdout=PIPE, stderr=PIPE)
        output, err = p2.communicate()
        logger.info(output)
	logger.info(err)
	time.sleep(1)
        #Display
        #p3 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'--only-display',"abc"], stdin=PIPE, stdout=PIPE, stderr=PIPE)
        #output, err = p3.communicate()
        #logger.info(output)

    colour_text.print_green('''
================================================
| Device: %s
| PASSED: Factory install complete (%u seconds)
================================================
''' %  (device_barcode, (time.time() - start_time)))
    logger.info("Factory install complete (%u seconds)" % (time.time() - start_time))
    ete.command_bytes('test_pass')
    ete.position(0, 0)
    ete.command_bytes('reset')
    ete.accel(100000)
    ete.yawspeed(5000)
    ete.rollspeed(10000)
    return True
示例#5
0
文件: jtag.py 项目: 3drobotics/FWLoad
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
示例#6
0
def factory_install(device_barcode):
    '''main factory installer'''
    start_time = time.time()

    script_dir = os.path.dirname(os.path.abspath(__file__))

    ete.command_bytes('test_work')

    if not args.test:
        colour_text.clear_screen()

    # start a new log directory on each run
    logger.new_log_dir()
    logger.reopen_logfile()

    logdir = logger.get_log_dir()
    logger.info("Logging to %s" % logdir)
    #logger.info("Device barcode %s" % device_barcode)

    colour_text.print_blue('''
==================================================
| Starting installation. Barcode is %s
==================================================
''' % device_barcode)

    logger.info(time.ctime())

    if args.erase:
        if not jtag.erase_firmwares():
            colour_text.print_fail('''
======================================
| FAILED: JTAG firmware erase failed
======================================
''')
            logger.critical("JTAG firmware erase failed")
            ete.command_bytes('test_fail')
            ete.command_bytes('reset')
            ete.accel(10000)
            ete.yawspeed(5000)
            ete.rollspeed(10000)
            return False

    if not args.nofw and not jtag.load_all_firmwares(retries=3):
        colour_text.print_fail('''
======================================
| FAILED: JTAG firmware install failed
======================================
''')
        logger.critical("JTAG firmware install failed")
        ete.command_bytes('test_fail')
        ete.command_bytes('reset')
        ete.accel(100000)
        ete.yawspeed(5000)
        ete.rollspeed(10000)
        try:
            conn = connection.Connection(ref_only=True)
            rotate.center_servos(conn)
        except Exception as ex:
            print("Failed to center servos: %s" % ex)
            pass
        return False

    if args.erase:
        if not connection.erase_parameters():
            colour_text.print_fail('''
==========================================
| FAILED: Failed to erase parameters
==========================================
''')
            logger.critical("Failed to erase parameters")
            ete.command_bytes('test_fail')
            ete.position(0, 0)
            ete.command_bytes('reset')
            ete.accel(100000)
            ete.yawspeed(5000)
            ete.rollspeed(10000)
            return False

    if not accelcal.accel_calibrate_retries(retries=4):
        colour_text.print_fail('''
==========================================
| FAILED: Accelerometer calibration failed
==========================================
''')
        logger.critical("Accelerometer calibration failed")
        ete.command_bytes('test_fail')
        ete.position(0, 0)
        ete.command_bytes('reset')
        ete.accel(100000)
        ete.yawspeed(5000)
        ete.rollspeed(10000)
        return False

    # all OK
    logger.info("Writting OTP region in STM32")
    #Add OTP HERE
    script_dir = os.path.dirname(os.path.abspath(__file__))
    if args.otp_show:
        p1 = Popen([
            'python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,
            '--only-display', "abc"
        ],
                   stdin=PIPE,
                   stdout=PIPE,
                   stderr=PIPE)
        output, err = p1.communicate()
        logger.info(output)
    time.sleep(1)

    #conn = connection.Connection(ref_only=False)
    #otp_program_mod.Display_OTP(conn)

    def getMacAddress():
        if sys.platform == 'win32':
            for line in os.popen("ipconfig /all"):
                if line.lstrip().startswith('Physical Address'):
                    mac = line.split(':')[1].strip().replace('-', ':')
                    break
        else:
            for line in os.popen("/sbin/ifconfig"):
                if line.find('Ether') > -1:
                    mac = line.split()[4]
                    break
        return mac

    print("Manufacturer info : Hex Technology, \xA9 ProfiCNC 2016")
    print "MAC Address:", getMacAddress(
    )  #.join(['{:02x}'.format((uuid.getnode() >> i) & 0xff) for i in range(0,8*6,8)][::-1])

    colour_text.print_blue('''Barcode is %s''' % device_barcode)
    print("date of testing :" + time.strftime("%x"))
    print("time of testing :" + time.strftime("%X"))
    accel_data0 = "%f,%f,%f,%f,%f,%f" % (
        test_sensors.offset[0][0], test_sensors.offset[0][1],
        test_sensors.offset[0][2], test_sensors.scale_factor[0][0],
        test_sensors.scale_factor[0][1], test_sensors.scale_factor[0][2])
    accel_data2 = "%f,%f,%f,%f,%f,%f" % (
        test_sensors.offset[2][0], test_sensors.offset[2][1],
        test_sensors.offset[2][2], test_sensors.scale_factor[2][0],
        test_sensors.scale_factor[2][1], test_sensors.scale_factor[2][2])
    print "Accel :", accel_data0
    print "Accel :", accel_data2
    if True:  #args.otp_write:
        #Manufacturing Info
        p2 = Popen([
            'python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,
            'Hex Technology, \xA9 ProfiCNC 2016',
            getMacAddress(), device_barcode,
            time.strftime("%x"),
            time.strftime("%X"), '--',
            str(accel_data0),
            str(accel_data2)
        ],
                   stdin=PIPE,
                   stdout=PIPE,
                   stderr=PIPE)
        output, err = p2.communicate()
        logger.info(output)
        logger.info(err)
        time.sleep(1)
        #Display
        #p3 = Popen(['python', script_dir + '/otp_program.py', '--port', FMU_DEBUG,'--only-display',"abc"], stdin=PIPE, stdout=PIPE, stderr=PIPE)
        #output, err = p3.communicate()
        #logger.info(output)

    colour_text.print_green('''
================================================
| Device: %s
| PASSED: Factory install complete (%u seconds)
================================================
''' % (device_barcode, (time.time() - start_time)))
    logger.info("Factory install complete (%u seconds)" %
                (time.time() - start_time))
    ete.command_bytes('test_pass')
    ete.position(0, 0)
    ete.command_bytes('reset')
    ete.accel(100000)
    ete.yawspeed(5000)
    ete.rollspeed(10000)
    return True
示例#7
0
        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:
            colour_text.print_fail('''
            ==========================================
            | FAILED: Barcode not detected
            ==========================================
            ''')
            logger.critical("Barcode not detected")
            time.sleep(2)
            continue

        # we don't use logger for the barcode here as we are still on the previous
        # boards log
        print("Got barcode: %s" % device_barcode)
        logger.info("Barcode detected")

    # 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....")