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-rwxr-xr-xsupport/scripts/robotis-loader.py94
1 files changed, 94 insertions, 0 deletions
diff --git a/support/scripts/robotis-loader.py b/support/scripts/robotis-loader.py
new file mode 100755
index 0000000..95d4e71
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+++ b/support/scripts/robotis-loader.py
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+#!/usr/bin/python
+
+# This script sends a program on a robotis board (OpenCM9.04 or CM900)
+# using the robotis bootloader (used in OpenCM IDE)
+#
+# Usage:
+# python robotis-loader.py <serial port> <binary>
+#
+# Example:
+# python robotis-loader.py /dev/ttyACM0 firmware.bin
+#
+# https://github.com/Gregwar/robotis-loader
+
+import serial, sys, os, time
+
+print('~~ Robotis loader ~~')
+print('')
+
+# Reading command line
+if len(sys.argv) != 3:
+ exit('! Usage: robotis-loader.py <serial-port> <binary>')
+pgm, port, binary = sys.argv
+
+# Helper to prints a progress bar
+def progressBar(percent, precision=65):
+ threshold=precision*percent/100.0
+ sys.stdout.write('[ ')
+ for x in xrange(0, precision):
+ if x < threshold: sys.stdout.write('#')
+ else: sys.stdout.write(' ')
+ sys.stdout.write(' ] ')
+ sys.stdout.flush()
+
+# Opening the firmware file
+try:
+ stat = os.stat(binary)
+ size = stat.st_size
+ firmware = file(binary, 'rb')
+ print('* Opening %s, size=%d' % (binary, size))
+except:
+ exit('! Unable to open file %s' % binary)
+
+# Opening serial port
+try:
+ s = serial.Serial(port, baudrate=115200)
+except:
+ exit('! Unable to open serial port %s' % port)
+
+print('* Resetting the board')
+s.setRTS(True)
+s.setDTR(False)
+time.sleep(0.1)
+s.setRTS(False)
+s.write('CM9X')
+s.close()
+time.sleep(1.0);
+
+print('* Connecting...')
+s = serial.Serial(port, baudrate=115200)
+s.write('AT&LD')
+print('* Download signal transmitted, waiting...')
+
+# Entering bootloader sequence
+while True:
+ line = s.readline().strip()
+ if line.endswith('Ready..'):
+ print('* Board ready, sending data')
+ cs = 0
+ pos = 0
+ while True:
+ c = firmware.read(2048)
+ if len(c):
+ pos += len(c)
+ sys.stdout.write("\r")
+ progressBar(100*float(pos)/float(size))
+ s.write(c)
+ for k in range(0,len(c)):
+ cs = (cs+ord(c[k]))%256
+ else:
+ break
+ print('')
+ s.setDTR(True)
+ print('* Checksum: %d' % (cs))
+ s.write(chr(cs))
+ print('* Firmware was sent')
+ else:
+ if line == 'Success..':
+ print('* Success, running the code')
+ print('')
+ s.write('AT&RST')
+ s.close()
+ exit()
+ else:
+ print('Board -> '+line)