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Merge pull request #41 from husarion/ros2-usb-flash
flashing over usb
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| #!/usr/bin/python3 | ||
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| import sh | ||
| import time | ||
| import sys | ||
| import argparse | ||
| from pyftdi.ftdi import Ftdi | ||
|
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| # CBUS0 - BOOT0 | ||
| # CBUS1 - RST | ||
|
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| class FirmwareFlasher: | ||
| def __init__(self, binary_file, port): | ||
|
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| # ftdi.show_devices() | ||
| # self.ftdi = Ftdi.create_from_url('ftdi://ftdi:ft-x:DK0AM0V0/1') | ||
| self.device = 'ftdi://ftdi:ft-x:/1' | ||
| self.ftdi = Ftdi() | ||
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| self.binary_file = binary_file | ||
| self.max_approach_no = 3 | ||
| self.port = port | ||
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| def enter_bootloader_mode(self): | ||
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| self.ftdi.open_from_url(url=self.device) | ||
| self.ftdi.set_cbus_direction(0b11,0b11) # set CBUS0 and CBUS1 to output | ||
| time.sleep(0.1) | ||
| self.ftdi.set_cbus_gpio(0b11) #set CBUS0 to 1 and RST to 1 | ||
| time.sleep(0.1) | ||
| self.ftdi.set_cbus_gpio(0b01) #set CBUS0 to 1 and RST to 0 | ||
| time.sleep(0.1) | ||
| # self.ftdi.set_cbus_direction(0b11,0b00) # set CBUS0 and CBUS1 to input | ||
| time.sleep(0.1) | ||
| self.ftdi.close() | ||
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| def exit_bootloader_mode(self): | ||
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| self.ftdi.open_from_url(url=self.device) | ||
| self.ftdi.set_cbus_direction(0b11,0b11) # set CBUS0 and CBUS1 to output | ||
| time.sleep(0.1) | ||
| self.ftdi.set_cbus_gpio(0b10) #set CBUS0 to 1 and RST to 1 | ||
| time.sleep(0.1) | ||
| self.ftdi.set_cbus_gpio(0b00) #set CBUS0 to 1 and RST to 0 | ||
| time.sleep(0.1) | ||
| # self.ftdi.set_cbus_direction(0b11,0b00) # set CBUS0 and CBUS1 to input | ||
| time.sleep(0.1) | ||
| self.ftdi.close() | ||
|
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| def try_flash_operation(self, operation_name, flash_command, flash_args): | ||
| for i in range(self.max_approach_no): | ||
| try: | ||
| self.enter_bootloader_mode() | ||
| sh.usbreset("0403:6015") | ||
| flash_command(self.port, *flash_args, _out=sys.stdout) | ||
| self.exit_bootloader_mode() | ||
| time.sleep(0.2) | ||
| break | ||
| except Exception as e: | ||
| print(f"{operation_name} error! Trying again.") | ||
| print(f"Error: {e}") | ||
| print("---------------------------------------") | ||
| else: | ||
| print(f"WARNING! {operation_name} went wrong.") | ||
|
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| def flash_firmware(self): | ||
| # Disable the flash write-protection | ||
| self.try_flash_operation("Write-UnProtection", sh.stm32flash, ["-u"]) | ||
|
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| # Disable the flash read-protection | ||
| self.try_flash_operation("Read-UnProtection", sh.stm32flash, ["-k"]) | ||
|
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| # Flashing the firmware | ||
| # /usr/bin/stm32flash /dev/ttyUSB0 -v -w /root/firmware.bin -b 115200 | ||
| flash_args = ["-v", "-w", self.binary_file, "-b", "115200"] | ||
| self.try_flash_operation("Flashing", sh.stm32flash, flash_args) | ||
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| sh.usbreset("0403:6015") | ||
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| def main(): | ||
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| parser = argparse.ArgumentParser( | ||
| description='Flashing the firmware on STM32 microcontroller in ROSbot XL') | ||
|
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| parser.add_argument( | ||
| "-f", | ||
| "--file", | ||
| nargs='?', | ||
| default="/root/firmware.bin", | ||
| help="Path to a firmware file. Default: /root/firmware.bin") | ||
| parser.add_argument( | ||
| "-p", | ||
| "--port", | ||
| nargs='?', | ||
| default="/dev/ttyUSB0", | ||
| help="Path to serial connection. Default: /dev/ttyUSB0") | ||
|
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| binary_file = parser.parse_args().file | ||
| port = parser.parse_args().port | ||
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| flasher = FirmwareFlasher(binary_file, port) | ||
| flasher.flash_firmware() | ||
| print("Done.") | ||
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| if __name__ == "__main__": | ||
| main() |
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