385 lines
16 KiB
Python
385 lines
16 KiB
Python
# Serial port management for firmware communication
|
|
#
|
|
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging, threading, os
|
|
import serial
|
|
|
|
import msgproto, chelper, util
|
|
|
|
class error(Exception):
|
|
pass
|
|
|
|
class SerialReader:
|
|
BITS_PER_BYTE = 10.
|
|
def __init__(self, reactor, warn_prefix=""):
|
|
self.reactor = reactor
|
|
self.warn_prefix = warn_prefix
|
|
# Serial port
|
|
self.serial_dev = None
|
|
self.msgparser = msgproto.MessageParser(warn_prefix=warn_prefix)
|
|
# C interface
|
|
self.ffi_main, self.ffi_lib = chelper.get_ffi()
|
|
self.serialqueue = None
|
|
self.default_cmd_queue = self.alloc_command_queue()
|
|
self.stats_buf = self.ffi_main.new('char[4096]')
|
|
# Threading
|
|
self.lock = threading.Lock()
|
|
self.background_thread = None
|
|
# Message handlers
|
|
self.handlers = {}
|
|
self.register_response(self._handle_unknown_init, '#unknown')
|
|
self.register_response(self.handle_output, '#output')
|
|
# Sent message notification tracking
|
|
self.last_notify_id = 0
|
|
self.pending_notifications = {}
|
|
def _bg_thread(self):
|
|
response = self.ffi_main.new('struct pull_queue_message *')
|
|
while 1:
|
|
self.ffi_lib.serialqueue_pull(self.serialqueue, response)
|
|
count = response.len
|
|
if count < 0:
|
|
break
|
|
if response.notify_id:
|
|
params = {'#sent_time': response.sent_time,
|
|
'#receive_time': response.receive_time}
|
|
completion = self.pending_notifications.pop(response.notify_id)
|
|
self.reactor.async_complete(completion, params)
|
|
continue
|
|
params = self.msgparser.parse(response.msg[0:count])
|
|
params['#sent_time'] = response.sent_time
|
|
params['#receive_time'] = response.receive_time
|
|
hdl = (params['#name'], params.get('oid'))
|
|
try:
|
|
with self.lock:
|
|
hdl = self.handlers.get(hdl, self.handle_default)
|
|
hdl(params)
|
|
except:
|
|
logging.exception("%sException in serial callback",
|
|
self.warn_prefix)
|
|
def _error(self, msg, *params):
|
|
raise error(self.warn_prefix + (msg % params))
|
|
def _get_identify_data(self, eventtime):
|
|
# Query the "data dictionary" from the micro-controller
|
|
identify_data = b""
|
|
while 1:
|
|
msg = "identify offset=%d count=%d" % (len(identify_data), 40)
|
|
try:
|
|
params = self.send_with_response(msg, 'identify_response')
|
|
except error as e:
|
|
logging.exception("%sWait for identify_response",
|
|
self.warn_prefix)
|
|
return None
|
|
if params['offset'] == len(identify_data):
|
|
msgdata = params['data']
|
|
if not msgdata:
|
|
# Done
|
|
return identify_data
|
|
identify_data += msgdata
|
|
def _start_session(self, serial_dev, serial_fd_type=b'u', client_id=0):
|
|
self.serial_dev = serial_dev
|
|
self.serialqueue = self.ffi_main.gc(
|
|
self.ffi_lib.serialqueue_alloc(serial_dev.fileno(),
|
|
serial_fd_type, client_id),
|
|
self.ffi_lib.serialqueue_free)
|
|
self.background_thread = threading.Thread(target=self._bg_thread)
|
|
self.background_thread.start()
|
|
# Obtain and load the data dictionary from the firmware
|
|
completion = self.reactor.register_callback(self._get_identify_data)
|
|
identify_data = completion.wait(self.reactor.monotonic() + 5.)
|
|
if identify_data is None:
|
|
logging.info("%sTimeout on connect", self.warn_prefix)
|
|
self.disconnect()
|
|
return False
|
|
msgparser = msgproto.MessageParser(warn_prefix=self.warn_prefix)
|
|
msgparser.process_identify(identify_data)
|
|
self.msgparser = msgparser
|
|
self.register_response(self.handle_unknown, '#unknown')
|
|
# Setup baud adjust
|
|
mcu_baud = msgparser.get_constant_float('SERIAL_BAUD', None)
|
|
if mcu_baud is not None:
|
|
baud_adjust = self.BITS_PER_BYTE / mcu_baud
|
|
self.ffi_lib.serialqueue_set_baud_adjust(
|
|
self.serialqueue, baud_adjust)
|
|
receive_window = msgparser.get_constant_int('RECEIVE_WINDOW', None)
|
|
if receive_window is not None:
|
|
self.ffi_lib.serialqueue_set_receive_window(
|
|
self.serialqueue, receive_window)
|
|
return True
|
|
def connect_canbus(self, canbus_uuid, canbus_nodeid, canbus_iface="can0"):
|
|
import can # XXX
|
|
txid = canbus_nodeid * 2 + 256
|
|
filters = [{"can_id": txid+1, "can_mask": 0x7ff, "extended": False}]
|
|
# Prep for SET_NODEID command
|
|
try:
|
|
uuid = int(canbus_uuid, 16)
|
|
except ValueError:
|
|
uuid = -1
|
|
if uuid < 0 or uuid > 0xffffffffffff:
|
|
self._error("Invalid CAN uuid")
|
|
uuid = [(uuid >> (40 - i*8)) & 0xff for i in range(6)]
|
|
CANBUS_ID_ADMIN = 0x3f0
|
|
CMD_SET_NODEID = 0x01
|
|
set_id_cmd = [CMD_SET_NODEID] + uuid + [canbus_nodeid]
|
|
set_id_msg = can.Message(arbitration_id=CANBUS_ID_ADMIN,
|
|
data=set_id_cmd, is_extended_id=False)
|
|
# Start connection attempt
|
|
logging.info("%sStarting CAN connect", self.warn_prefix)
|
|
start_time = self.reactor.monotonic()
|
|
while 1:
|
|
if self.reactor.monotonic() > start_time + 90.:
|
|
self._error("Unable to connect")
|
|
try:
|
|
bus = can.interface.Bus(channel=canbus_iface,
|
|
can_filters=filters,
|
|
bustype='socketcan')
|
|
bus.send(set_id_msg)
|
|
except can.CanError as e:
|
|
logging.warn("%sUnable to open CAN port: %s",
|
|
self.warn_prefix, e)
|
|
self.reactor.pause(self.reactor.monotonic() + 5.)
|
|
continue
|
|
bus.close = bus.shutdown # XXX
|
|
ret = self._start_session(bus, b'c', txid)
|
|
if not ret:
|
|
continue
|
|
# Verify correct canbus_nodeid to canbus_uuid mapping
|
|
try:
|
|
params = self.send_with_response('get_canbus_id', 'canbus_id')
|
|
got_uuid = bytearray(params['canbus_uuid'])
|
|
if got_uuid == bytearray(uuid):
|
|
break
|
|
except:
|
|
logging.exception("%sError in canbus_uuid check",
|
|
self.warn_prefix)
|
|
logging.info("%sFailed to match canbus_uuid - retrying..",
|
|
self.warn_prefix)
|
|
self.disconnect()
|
|
def connect_pipe(self, filename):
|
|
logging.info("%sStarting connect", self.warn_prefix)
|
|
start_time = self.reactor.monotonic()
|
|
while 1:
|
|
if self.reactor.monotonic() > start_time + 90.:
|
|
self._error("Unable to connect")
|
|
try:
|
|
fd = os.open(filename, os.O_RDWR | os.O_NOCTTY)
|
|
except OSError as e:
|
|
logging.warn("%sUnable to open port: %s", self.warn_prefix, e)
|
|
self.reactor.pause(self.reactor.monotonic() + 5.)
|
|
continue
|
|
serial_dev = os.fdopen(fd, 'rb+', 0)
|
|
ret = self._start_session(serial_dev)
|
|
if ret:
|
|
break
|
|
def connect_uart(self, serialport, baud, rts=True):
|
|
# Initial connection
|
|
logging.info("%sStarting serial connect", self.warn_prefix)
|
|
start_time = self.reactor.monotonic()
|
|
while 1:
|
|
if self.reactor.monotonic() > start_time + 90.:
|
|
self._error("Unable to connect")
|
|
try:
|
|
serial_dev = serial.Serial(baudrate=baud, timeout=0,
|
|
exclusive=True)
|
|
serial_dev.port = serialport
|
|
serial_dev.rts = rts
|
|
serial_dev.open()
|
|
except (OSError, IOError, serial.SerialException) as e:
|
|
logging.warn("%sUnable to open serial port: %s",
|
|
self.warn_prefix, e)
|
|
self.reactor.pause(self.reactor.monotonic() + 5.)
|
|
continue
|
|
stk500v2_leave(serial_dev, self.reactor)
|
|
ret = self._start_session(serial_dev)
|
|
if ret:
|
|
break
|
|
def connect_file(self, debugoutput, dictionary, pace=False):
|
|
self.serial_dev = debugoutput
|
|
self.msgparser.process_identify(dictionary, decompress=False)
|
|
self.serialqueue = self.ffi_main.gc(
|
|
self.ffi_lib.serialqueue_alloc(self.serial_dev.fileno(), b'f', 0),
|
|
self.ffi_lib.serialqueue_free)
|
|
def set_clock_est(self, freq, conv_time, conv_clock, last_clock):
|
|
self.ffi_lib.serialqueue_set_clock_est(
|
|
self.serialqueue, freq, conv_time, conv_clock, last_clock)
|
|
def disconnect(self):
|
|
if self.serialqueue is not None:
|
|
self.ffi_lib.serialqueue_exit(self.serialqueue)
|
|
if self.background_thread is not None:
|
|
self.background_thread.join()
|
|
self.background_thread = self.serialqueue = None
|
|
if self.serial_dev is not None:
|
|
self.serial_dev.close()
|
|
self.serial_dev = None
|
|
for pn in self.pending_notifications.values():
|
|
pn.complete(None)
|
|
self.pending_notifications.clear()
|
|
def stats(self, eventtime):
|
|
if self.serialqueue is None:
|
|
return ""
|
|
self.ffi_lib.serialqueue_get_stats(
|
|
self.serialqueue, self.stats_buf, len(self.stats_buf))
|
|
return self.ffi_main.string(self.stats_buf).decode()
|
|
def get_reactor(self):
|
|
return self.reactor
|
|
def get_msgparser(self):
|
|
return self.msgparser
|
|
def get_default_command_queue(self):
|
|
return self.default_cmd_queue
|
|
# Serial response callbacks
|
|
def register_response(self, callback, name, oid=None):
|
|
with self.lock:
|
|
if callback is None:
|
|
del self.handlers[name, oid]
|
|
else:
|
|
self.handlers[name, oid] = callback
|
|
# Command sending
|
|
def raw_send(self, cmd, minclock, reqclock, cmd_queue):
|
|
self.ffi_lib.serialqueue_send(self.serialqueue, cmd_queue,
|
|
cmd, len(cmd), minclock, reqclock, 0)
|
|
def raw_send_wait_ack(self, cmd, minclock, reqclock, cmd_queue):
|
|
self.last_notify_id += 1
|
|
nid = self.last_notify_id
|
|
completion = self.reactor.completion()
|
|
self.pending_notifications[nid] = completion
|
|
self.ffi_lib.serialqueue_send(self.serialqueue, cmd_queue,
|
|
cmd, len(cmd), minclock, reqclock, nid)
|
|
params = completion.wait()
|
|
if params is None:
|
|
self._error("Serial connection closed")
|
|
return params
|
|
def send(self, msg, minclock=0, reqclock=0):
|
|
cmd = self.msgparser.create_command(msg)
|
|
self.raw_send(cmd, minclock, reqclock, self.default_cmd_queue)
|
|
def send_with_response(self, msg, response):
|
|
cmd = self.msgparser.create_command(msg)
|
|
src = SerialRetryCommand(self, response)
|
|
return src.get_response([cmd], self.default_cmd_queue)
|
|
def alloc_command_queue(self):
|
|
return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
|
|
self.ffi_lib.serialqueue_free_commandqueue)
|
|
# Dumping debug lists
|
|
def dump_debug(self):
|
|
out = []
|
|
out.append("Dumping serial stats: %s" % (
|
|
self.stats(self.reactor.monotonic()),))
|
|
sdata = self.ffi_main.new('struct pull_queue_message[1024]')
|
|
rdata = self.ffi_main.new('struct pull_queue_message[1024]')
|
|
scount = self.ffi_lib.serialqueue_extract_old(self.serialqueue, 1,
|
|
sdata, len(sdata))
|
|
rcount = self.ffi_lib.serialqueue_extract_old(self.serialqueue, 0,
|
|
rdata, len(rdata))
|
|
out.append("Dumping send queue %d messages" % (scount,))
|
|
for i in range(scount):
|
|
msg = sdata[i]
|
|
cmds = self.msgparser.dump(msg.msg[0:msg.len])
|
|
out.append("Sent %d %f %f %d: %s" % (
|
|
i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
|
|
out.append("Dumping receive queue %d messages" % (rcount,))
|
|
for i in range(rcount):
|
|
msg = rdata[i]
|
|
cmds = self.msgparser.dump(msg.msg[0:msg.len])
|
|
out.append("Receive: %d %f %f %d: %s" % (
|
|
i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
|
|
return '\n'.join(out)
|
|
# Default message handlers
|
|
def _handle_unknown_init(self, params):
|
|
logging.debug("%sUnknown message %d (len %d) while identifying",
|
|
self.warn_prefix, params['#msgid'], len(params['#msg']))
|
|
def handle_unknown(self, params):
|
|
logging.warn("%sUnknown message type %d: %s",
|
|
self.warn_prefix, params['#msgid'], repr(params['#msg']))
|
|
def handle_output(self, params):
|
|
logging.info("%s%s: %s", self.warn_prefix,
|
|
params['#name'], params['#msg'])
|
|
def handle_default(self, params):
|
|
logging.warn("%sgot %s", self.warn_prefix, params)
|
|
|
|
# Class to send a query command and return the received response
|
|
class SerialRetryCommand:
|
|
def __init__(self, serial, name, oid=None):
|
|
self.serial = serial
|
|
self.name = name
|
|
self.oid = oid
|
|
self.last_params = None
|
|
self.serial.register_response(self.handle_callback, name, oid)
|
|
def handle_callback(self, params):
|
|
self.last_params = params
|
|
def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
|
|
retries = 5
|
|
retry_delay = .010
|
|
while 1:
|
|
for cmd in cmds[:-1]:
|
|
self.serial.raw_send(cmd, minclock, reqclock, cmd_queue)
|
|
self.serial.raw_send_wait_ack(cmds[-1], minclock, reqclock,
|
|
cmd_queue)
|
|
params = self.last_params
|
|
if params is not None:
|
|
self.serial.register_response(None, self.name, self.oid)
|
|
return params
|
|
if retries <= 0:
|
|
self.serial.register_response(None, self.name, self.oid)
|
|
raise error("Unable to obtain '%s' response" % (self.name,))
|
|
reactor = self.serial.reactor
|
|
reactor.pause(reactor.monotonic() + retry_delay)
|
|
retries -= 1
|
|
retry_delay *= 2.
|
|
|
|
# Attempt to place an AVR stk500v2 style programmer into normal mode
|
|
def stk500v2_leave(ser, reactor):
|
|
logging.debug("Starting stk500v2 leave programmer sequence")
|
|
util.clear_hupcl(ser.fileno())
|
|
origbaud = ser.baudrate
|
|
# Request a dummy speed first as this seems to help reset the port
|
|
ser.baudrate = 2400
|
|
ser.read(1)
|
|
# Send stk500v2 leave programmer sequence
|
|
ser.baudrate = 115200
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.read(4096)
|
|
ser.write(b'\x1b\x01\x00\x01\x0e\x11\x04')
|
|
reactor.pause(reactor.monotonic() + 0.050)
|
|
res = ser.read(4096)
|
|
logging.debug("Got %s from stk500v2", repr(res))
|
|
ser.baudrate = origbaud
|
|
|
|
def cheetah_reset(serialport, reactor):
|
|
# Fysetc Cheetah v1.2 boards have a weird stateful circuitry for
|
|
# configuring the bootloader. This sequence takes care of disabling it for
|
|
# sure.
|
|
# Open the serial port with RTS asserted
|
|
ser = serial.Serial(baudrate=2400, timeout=0, exclusive=True)
|
|
ser.port = serialport
|
|
ser.rts = True
|
|
ser.open()
|
|
ser.read(1)
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
# Toggle DTR
|
|
ser.dtr = True
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.dtr = False
|
|
# Deassert RTS
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.rts = False
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
# Toggle DTR again
|
|
ser.dtr = True
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.dtr = False
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.close()
|
|
|
|
# Attempt an arduino style reset on a serial port
|
|
def arduino_reset(serialport, reactor):
|
|
# First try opening the port at a different baud
|
|
ser = serial.Serial(serialport, 2400, timeout=0, exclusive=True)
|
|
ser.read(1)
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
# Then toggle DTR
|
|
ser.dtr = True
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.dtr = False
|
|
reactor.pause(reactor.monotonic() + 0.100)
|
|
ser.close()
|