diff --git a/tools/artemis/artemis_svl.py b/tools/artemis/artemis_svl.py index 3d038155..f62c4b6f 100644 --- a/tools/artemis/artemis_svl.py +++ b/tools/artemis/artemis_svl.py @@ -3,27 +3,27 @@ # Variable baud rate bootloader for Artemis Apollo3 modules # Immediately upon reset the Artemis module will search for the timing character -# to auto-detect the baud rate. If a valid baud rate is found the Artemis will +# to auto-detect the baud rate. If a valid baud rate is found the Artemis will # respond with the bootloader version packet # If the computer receives a well-formatted version number packet at the desired -# baud rate it will send a command to begin bootloading. The Artemis shall then -# respond with the a command asking for the next frame. -# The host will then send a frame packet. If the CRC is OK the Artemis will write +# baud rate it will send a command to begin bootloading. The Artemis shall then +# respond with the a command asking for the next frame. +# The host will then send a frame packet. If the CRC is OK the Artemis will write # that to memory and request the next frame. If the CRC fails the Artemis will # discard that data and send a request to re-send the previous frame. # This cycle repeats until the Artemis receives a done command in place of the # requested frame data command. -# The initial baud rate determination must occur within some small timeout. Once -# baud rate detection has completed all additional communication will have a +# The initial baud rate determination must occur within some small timeout. Once +# baud rate detection has completed all additional communication will have a # universal timeout value. Once the Artemis has begun requesting data it may no -# no longer exit the bootloader. If the host detects a timeout at any point it -# will stop bootloading. +# no longer exit the bootloader. If the host detects a timeout at any point it +# will stop bootloading. # Notes about PySerial timeout: -# The timeout operates on whole functions - that is to say that a call to -# ser.read(10) will return after ser.timeout, just as will ser.read(1) (assuming +# The timeout operates on whole functions - that is to say that a call to +# ser.read(10) will return after ser.timeout, just as will ser.read(1) (assuming # that the necessary bytes were not found) -# If there are no incoming bytes (on the line or in the buffer) then two calls to +# If there are no incoming bytes (on the line or in the buffer) then two calls to # ser.read(n) will time out after 2*ser.timeout # Incoming UART data is buffered behind the scenes, probably by the OS. @@ -39,19 +39,23 @@ import sys import time import math +import os.path from sys import exit +SCRIPT_VERSION_MAJOR = "1" +SCRIPT_VERSION_MINOR = "7" + # *********************************************************************************** # # Commands # # *********************************************************************************** -SVL_CMD_VER = 0x01 # version -SVL_CMD_BL = 0x02 # enter bootload mode -SVL_CMD_NEXT = 0x03 # request next chunk -SVL_CMD_FRAME = 0x04 # indicate app data frame -SVL_CMD_RETRY = 0x05 # request re-send frame -SVL_CMD_DONE = 0x06 # finished - all data sent +SVL_CMD_VER = 0x01 # version +SVL_CMD_BL = 0x02 # enter bootload mode +SVL_CMD_NEXT = 0x03 # request next chunk +SVL_CMD_FRAME = 0x04 # indicate app data frame +SVL_CMD_RETRY = 0x05 # request re-send frame +SVL_CMD_DONE = 0x06 # finished - all data sent barWidthInCharacters = 50 # Width of progress bar, ie [###### % complete @@ -97,7 +101,7 @@ def get_crc16(data): - #Table and code ported from Artemis SVL bootloader + # Table and code ported from Artemis SVL bootloader crc = 0x0000 data = bytearray(data) for ch in data: @@ -108,30 +112,33 @@ def get_crc16(data): return crc - # *********************************************************************************** # -# Wait for a packet +# Wait for a packet # # *********************************************************************************** def wait_for_packet(ser): - packet = {'len':0, 'cmd':0, 'data':0, 'crc':1, 'timeout':1} + packet = {'len': 0, 'cmd': 0, 'data': 0, 'crc': 1, 'timeout': 1} - n = ser.read(2) # get the number of bytes + n = ser.read(2) # get the number of bytes if(len(n) < 2): return packet - - packet['len'] = int.from_bytes(n, byteorder='big', signed=False) # + + packet['len'] = int.from_bytes(n, byteorder='big', signed=False) # payload = ser.read(packet['len']) if(len(payload) != packet['len']): return packet - - packet['timeout'] = 0 # all bytes received, so timeout is not true - packet['cmd'] = payload[0] # cmd is the first byte of the payload - packet['data'] = payload[1:packet['len']-2] # the data is the part of the payload that is not cmd or crc - packet['crc'] = get_crc16(payload) # performing the crc on the whole payload should return 0 + + # all bytes received, so timeout is not true + packet['timeout'] = 0 + # cmd is the first byte of the payload + packet['cmd'] = payload[0] + # the data is the part of the payload that is not cmd or crc + packet['data'] = payload[1:packet['len']-2] + # performing the crc on the whole payload should return 0 + packet['crc'] = get_crc16(payload) return packet @@ -140,22 +147,20 @@ def wait_for_packet(ser): # Send a packet # # *********************************************************************************** + + def send_packet(ser, cmd, data): data = bytearray(data) num_bytes = 3 + len(data) - payload = bytearray(cmd.to_bytes(1,'big')) + payload = bytearray(cmd.to_bytes(1, 'big')) payload.extend(data) crc = get_crc16(payload) - payload.extend(bytearray(crc.to_bytes(2,'big'))) + payload.extend(bytearray(crc.to_bytes(2, 'big'))) - ser.write(num_bytes.to_bytes(2,'big')) + ser.write(num_bytes.to_bytes(2, 'big')) ser.write(bytes(payload)) - - - - # *********************************************************************************** # # Setup: signal baud rate, get version, and command BL enter @@ -165,29 +170,27 @@ def phase_setup(ser): baud_detect_byte = b'U' - verboseprint('\nphase:\tsetup') - - # Handle the serial startup blip + verboseprint('\nPhase:\tSetup') + + # Handle the serial startup blip ser.reset_input_buffer() - verboseprint('\tcleared startup blip') + verboseprint('\tCleared startup blip') ser.write(baud_detect_byte) # send the baud detection character packet = wait_for_packet(ser) if(packet['timeout'] or packet['crc']): - return 1 - - twopartprint('\t','Got SVL Bootloader Version: ' + + return False # failed to enter bootloader + + twopartprint('\t', 'Got SVL Bootloader Version: ' + str(int.from_bytes(packet['data'], 'big'))) verboseprint('\tSending \'enter bootloader\' command') send_packet(ser, SVL_CMD_BL, b'') - # Now enter the bootload phase - - - + return True + # Now enter the bootload phase # *********************************************************************************** @@ -203,7 +206,7 @@ def phase_bootload(ser): resend_max = 4 resend_count = 0 - verboseprint('\nphase:\tbootload') + verboseprint('\nPhase:\tBootload') with open(args.binfile, mode='rb') as binfile: application = binfile.read() @@ -220,36 +223,38 @@ def phase_bootload(ser): ' bytes to send in ' + str(total_frames) + ' frames') bl_done = False - bl_failed = False - while((not bl_done) and (not bl_failed)): - - packet = wait_for_packet(ser) # wait for indication by Artemis + bl_succeeded = True + while((bl_done == False) and (bl_succeeded == True)): + + # wait for indication by Artemis + packet = wait_for_packet(ser) if(packet['timeout'] or packet['crc']): - print('\n\terror receiving packet') - print(packet) - print('\n') - bl_failed = True + verboseprint('\n\tError receiving packet') + verboseprint(packet) + verboseprint('\n') + bl_succeeded = False bl_done = True - if( packet['cmd'] == SVL_CMD_NEXT ): + if(packet['cmd'] == SVL_CMD_NEXT): # verboseprint('\tgot frame request') curr_frame += 1 resend_count = 0 - elif( packet['cmd'] == SVL_CMD_RETRY ): - verboseprint('\t\tretrying...') + elif(packet['cmd'] == SVL_CMD_RETRY): + verboseprint('\t\tRetrying...') resend_count += 1 - if( resend_count >= resend_max ): - bl_failed = True + if(resend_count >= resend_max): + bl_succeeded = False bl_done = True else: - print('unknown error') - bl_failed = True + print('Timeout or unknown error') + bl_succeeded = False bl_done = True - if( curr_frame <= total_frames ): - frame_data = application[((curr_frame-1)*frame_size):((curr_frame-1+1)*frame_size)] + if(curr_frame <= total_frames): + frame_data = application[( + (curr_frame-1)*frame_size):((curr_frame-1+1)*frame_size)] if(args.verbose): - verboseprint('\tsending frame #'+str(curr_frame) + + verboseprint('\tSending frame #'+str(curr_frame) + ', length: '+str(len(frame_data))) else: percentComplete = curr_frame * 100 / total_frames @@ -267,7 +272,7 @@ def phase_bootload(ser): send_packet(ser, SVL_CMD_DONE, b'') bl_done = True - if( bl_failed == False ): + if(bl_succeeded == True): twopartprint('\n\t', 'Upload complete') endTime = time.time() bps = total_len / (endTime - startTime) @@ -275,11 +280,7 @@ def phase_bootload(ser): else: twopartprint('\n\t', 'Upload failed') - return bl_failed - - - - + return bl_succeeded # *********************************************************************************** @@ -294,12 +295,12 @@ def phase_serial_port_help(): for dev in devices: if(dev.device.upper() == args.port.upper()): print(dev.device + " is currently open. Please close any other terminal programs that may be using " + - dev.device + " and try again.") + dev.device + " and try again.") exit() # otherwise, give user a list of possible com ports print(args.port.upper() + - " not found but we detected the following serial ports:") + " not found but we detected the following serial ports:") for dev in devices: if 'CH340' in dev.description: print( @@ -325,23 +326,46 @@ def main(): print('\n\nArtemis SVL Bootloader') + verboseprint("Script version " + SCRIPT_VERSION_MAJOR + + "." + SCRIPT_VERSION_MINOR) + + if not os.path.exists(args.binfile): + print("Bin file {} does not exist.".format(args.binfile)) + exit() + + bl_success = False + entered_bootloader = False + for _ in range(num_tries): with serial.Serial(args.port, args.baud, timeout=args.timeout) as ser: - t_su = 0.15 # startup time for Artemis bootloader (experimentally determined - 0.095 sec min delay) + # startup time for Artemis bootloader (experimentally determined - 0.095 sec min delay) + t_su = 0.15 time.sleep(t_su) # Allow Artemis to come out of reset - phase_setup(ser) # Perform baud rate negotiation - bl_failed = phase_bootload(ser) # Bootload + # Perform baud rate negotiation + entered_bootloader = phase_setup(ser) + + if(entered_bootloader == True): + bl_success = phase_bootload(ser) + if(bl_success == True): # Bootload + #print("Bootload complete!") + break + else: + verboseprint("Failed to enter bootload phase") - if( bl_failed == False ): + if(bl_success == True): break - except: + if(entered_bootloader == False): + print( + "Target failed to enter bootload mode. Verify the right COM port is selected and that your board has the SVL bootloader.") + + except serial.SerialException: phase_serial_port_help() - + exit() @@ -367,7 +391,7 @@ def main(): action="store_true") parser.add_argument("-t", "--timeout", default=0.50, help="Communication timeout in seconds (default 0.5)", - type=float) + type=float) if len(sys.argv) < 2: print("No port selected. Detected Serial Ports:") @@ -390,7 +414,7 @@ def verboseprint(*args): def twopartprint(verbosestr, printstr): if args.verbose: - print(verbosestr, end = '') + print(verbosestr, end='') print(printstr) diff --git a/tools/artemis/windows/artemis_svl.exe b/tools/artemis/windows/artemis_svl.exe index c5510575..fb8603f4 100644 Binary files a/tools/artemis/windows/artemis_svl.exe and b/tools/artemis/windows/artemis_svl.exe differ