1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
|
#!/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)
|
