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Create artemis_svl.py
This is the new SVL Python script, for Artemis SVL Version 3+
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‎tools/artemis/artemis_svl.py

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#!/usr/bin/env python
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# SparkFun Variable Loader
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# Variable baud rate bootloader for Artemis Apollo3 modules
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# Immediately upon reset the Artemis module will search for the timing character
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# to auto-detect the baud rate. If a valid baud rate is found the Artemis will
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# respond with the bootloader version packet
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# If the computer receives a well-formatted version number packet at the desired
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# baud rate it will send a command to begin bootloading. The Artemis shall then
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# respond with the a command asking for the next frame.
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# The host will then send a frame packet. If the CRC is OK the Artemis will write
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# that to memory and request the next frame. If the CRC fails the Artemis will
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# discard that data and send a request to re-send the previous frame.
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# This cycle repeats until the Artemis receives a done command in place of the
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# requested frame data command.
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# The initial baud rate determination must occur within some small timeout. Once
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# baud rate detection has completed all additional communication will have a
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# universal timeout value. Once the Artemis has begun requesting data it may no
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# no longer exit the bootloader. If the host detects a timeout at any point it
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# will stop bootloading.
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# Notes about PySerial timeout:
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# The timeout operates on whole functions - that is to say that a call to
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# ser.read(10) will return after ser.timeout, just as will ser.read(1) (assuming
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# that the necessary bytes were not found)
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# If there are no incoming bytes (on the line or in the buffer) then two calls to
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# ser.read(n) will time out after 2*ser.timeout
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# Incoming UART data is buffered behind the scenes, probably by the OS.
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# ***********************************************************************************
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#
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# Imports
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#
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# ***********************************************************************************
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import argparse
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import serial
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import serial.tools.list_ports as list_ports
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import sys
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import time
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import math
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# ***********************************************************************************
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#
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# Commands
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#
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# ***********************************************************************************
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SVL_CMD_VER = 0x01 # version
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SVL_CMD_BL = 0x02 # enter bootload mode
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SVL_CMD_NEXT = 0x03 # request next chunk
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SVL_CMD_FRAME = 0x04 # indicate app data frame
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SVL_CMD_RETRY = 0x05 # request re-send frame
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SVL_CMD_DONE = 0x06 # finished - all data sent
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# ***********************************************************************************
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#
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# Compute CRC on a byte array
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#
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# ***********************************************************************************
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def get_crc16(data):
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# To perform the division perform the following:
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# Load the register with zero bits.
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# Augment the message by appending W zero bits to the end of it.
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# While (more message bits)
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# Begin
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# Shift the register left by one bit, reading the next bit of the
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# augmented message into register bit position 0.
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# If (a 1 bit popped out of the register during step 3)
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# Register = Register XOR Poly.
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# End
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# The register now contains the remainder.
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register = 0x0000
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poly = 0x8005
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data = bytearray(data)
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data.extend(bytearray(2))
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bits = 8*len(data)
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def get_data_bit(bit):
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byte = int(bit/8)
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if(data[byte] & (0x80 >> (bit%8))):
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return 1
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return 0
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for bit in range(bits):
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c = 0
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if(register & 0x8000):
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c = 1
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register <<= 1
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register &= 0xFFFF
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if(get_data_bit(bit)):
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register |= 0x0001
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if(c):
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register = (register ^ poly)
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return register
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# ***********************************************************************************
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#
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# Wait for a packet
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#
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# ***********************************************************************************
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def wait_for_packet(ser):
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packet = {'len':0, 'cmd':0, 'data':0, 'crc':1, 'timeout':1}
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n = ser.read(2) # get the number of bytes
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if(len(n) < 2):
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return packet
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packet['len'] = int.from_bytes(n, byteorder='big', signed=False) #
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payload = ser.read(packet['len'])
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if(len(payload) != packet['len']):
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return packet
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packet['timeout'] = 0 # all bytes received, so timeout is not true
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packet['cmd'] = payload[0] # cmd is the first byte of the payload
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packet['data'] = payload[1:packet['len']-2] # the data is the part of the payload that is not cmd or crc
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packet['crc'] = get_crc16(payload) # performing the crc on the whole payload should return 0
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return packet
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# ***********************************************************************************
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#
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# Send a packet
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#
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# ***********************************************************************************
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def send_packet(ser, cmd, data):
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data = bytearray(data)
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num_bytes = 3 + len(data)
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payload = bytearray(cmd.to_bytes(1,'big'))
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payload.extend(data)
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crc = get_crc16(payload)
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payload.extend(bytearray(crc.to_bytes(2,'big')))
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ser.write(num_bytes.to_bytes(2,'big'))
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ser.write(bytes(payload))
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# ***********************************************************************************
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#
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# Setup: signal baud rate, get version, and command BL enter
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#
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# ***********************************************************************************
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def phase_setup(ser):
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baud_detect_byte = b'U'
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print('\nphase:\tsetup')
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# Handle the serial startup blip
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ser.reset_input_buffer()
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print('\tcleared startup blip')
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ser.write(baud_detect_byte) # send the baud detection character
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packet = wait_for_packet(ser)
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if(packet['timeout'] or packet['crc']):
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return 1
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print('\tGot SVL Bootloader Version: '+str(int.from_bytes(packet['data'],'big')))
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print('\tSending \'enter bootloader\' command')
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send_packet(ser, SVL_CMD_BL, b'')
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# Now enter the bootload phase
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# ***********************************************************************************
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#
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# Bootloader phase (Artemis is locked in)
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#
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# ***********************************************************************************
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def phase_bootload(ser):
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frame_size = 512*4
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print('\nphase:\tbootload')
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with open(args.binfile, mode='rb') as binfile:
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application = binfile.read()
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total_len = len(application)
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total_frames = math.ceil(total_len/frame_size)
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curr_frame = 0
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verboseprint('\tLength to send: ' + str(total_len) + ' bytes, ' + str(total_frames) + ' frames')
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bl_done = False
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while(not bl_done):
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packet = wait_for_packet(ser) # wait for indication by Artemis
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if(packet['timeout'] or packet['crc']):
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print('\n\terror receiving packet')
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print(packet)
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print('\n')
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return 1
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if( packet['cmd'] == SVL_CMD_NEXT ):
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# verboseprint('\tgot frame request')
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curr_frame += 1
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elif( packet['cmd'] == SVL_CMD_RETRY ):
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verboseprint('\t\tretrying...')
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else:
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print('unknown error')
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return 1
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if( curr_frame <= total_frames ):
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frame_data = application[((curr_frame-1)*frame_size):((curr_frame-1+1)*frame_size)]
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verboseprint('\tsending frame #'+str(curr_frame)+', length: '+str(len(frame_data)))
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send_packet(ser, SVL_CMD_FRAME, frame_data)
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else:
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send_packet(ser, SVL_CMD_DONE, b'')
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bl_done = True
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print('\n\tUpload complete')
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exit()
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# ***********************************************************************************
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#
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# Help if serial port could not be opened
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#
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# ***********************************************************************************
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def phase_serial_port_help():
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devices = list_ports.comports()
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# First check to see if user has the given port open
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for dev in devices:
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if(dev.device.upper() == args.port.upper()):
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print(dev.device + " is currently open. Please close any other terminal programs that may be using " +
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dev.device + " and try again.")
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exit()
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# otherwise, give user a list of possible com ports
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print(args.port.upper() +
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" not found but we detected the following serial ports:")
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for dev in devices:
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if 'CH340' in dev.description:
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print(
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dev.description + ": Likely an Arduino or derivative. Try " + dev.device + ".")
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elif 'FTDI' in dev.description:
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print(
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dev.description + ": Likely an Arduino or derivative. Try " + dev.device + ".")
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elif 'USB Serial Device' in dev.description:
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print(
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dev.description + ": Possibly an Arduino or derivative.")
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else:
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print(dev.description)
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# ***********************************************************************************
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#
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# Main function
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#
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# ***********************************************************************************
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def main():
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try:
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with serial.Serial(args.port, args.baud, timeout=args.timeout) as ser:
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t_su = 0.15 # startup time for Artemis bootloader (experimentally determined - 0.095 sec min delay)
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print('\n\nArtemis SVL Bootloader')
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time.sleep(t_su) # Allow Artemis to come out of reset
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phase_setup(ser) # Perform baud rate negotiation
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phase_bootload(ser) # Bootload
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except:
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phase_serial_port_help()
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exit()
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# ******************************************************************************
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#
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# Main program flow
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#
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# ******************************************************************************
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(
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description='SparkFun Serial Bootloader for Artemis')
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parser.add_argument('port', help='Serial COMx Port')
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parser.add_argument('-b', dest='baud', default=115200, type=int,
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help='Baud Rate (default is 115200)')
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parser.add_argument('-f', dest='binfile', default='',
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help='Binary file to program into the target device')
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parser.add_argument("-v", "--verbose", default=0, help="Enable verbose output",
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action="store_true")
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parser.add_argument("-t", "--timeout", default=0.50, help="Communication timeout in seconds (default 0.5)",
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type=float)
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if len(sys.argv) < 2:
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print("No port selected. Detected Serial Ports:")
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devices = list_ports.comports()
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for dev in devices:
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print(dev.description)
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args = parser.parse_args()
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# Create print function for verbose output if caller deems it: https://stackoverflow.com/questions/5980042/how-to-implement-the-verbose-or-v-option-into-a-script
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if args.verbose:
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def verboseprint(*args):
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# Print each argument separately so caller doesn't need to
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# stuff everything to be printed into a single string
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for arg in args:
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print(arg, end=''),
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print()
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else:
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verboseprint = lambda *a: None # do-nothing function
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main()

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