tos-bsl.in

tinyos2.0版本驱动

        self.SetRSTpin(1)                       #disable power
        self.SetTESTpin(0)                      #disable power
        self.serialport.close()

    def comRxHeader(self):
        """receive header and split data"""
        if DEBUG > 1: sys.stderr.write("* comRxHeader()\n")

        hdr = self.serialport.read(1)
        if not hdr: raise BSLException("Timeout")
        rxHeader = ord(hdr) & 0xf0;
        rxNum    = ord(hdr) & 0x0f;

        if self.protocolMode == self.MODE_BSL:
            self.reqNo = 0
            self.seqNo = 0
            rxNum = 0
        if DEBUG > 1: sys.stderr.write("* comRxHeader() OK\n")
        return rxHeader, rxNum

    def comRxFrame(self, rxNum):
        if DEBUG > 1: sys.stderr.write("* comRxFrame()\n")
        rxFrame = chr(self.DATA_FRAME | rxNum)

        if DEBUG > 2: sys.stderr.write("  comRxFrame() header...\n")
        rxFramedata = self.serialport.read(3)
        if len(rxFramedata) != 3: raise BSLException("Timeout")
        rxFrame = rxFrame + rxFramedata

        if DEBUG > 3: sys.stderr.write("  comRxFrame() check header...\n")
        if rxFrame[1] == chr(0) and rxFrame[2] == rxFrame[3]:   #Add. header info. correct?
            rxLengthCRC = ord(rxFrame[2]) + 2       #Add CRC-Bytes to length
            if DEBUG > 2: sys.stderr.write("  comRxFrame() receiving data, size: %s\n" % rxLengthCRC)

            rxFramedata = self.serialport.read(rxLengthCRC)
            if len(rxFramedata) != rxLengthCRC: raise BSLException("Timeout")
            rxFrame = rxFrame + rxFramedata
            #Check received frame:
            if DEBUG > 3: sys.stderr.write("  comRxFrame() crc check\n")
            #rxLength+4: Length with header but w/o CRC:
            checksum = self.calcChecksum(rxFrame, ord(rxFrame[2]) + 4)
            if rxFrame[ord(rxFrame[2])+4] == chr(0xff & checksum) and \
               rxFrame[ord(rxFrame[2])+5] == chr(0xff & (checksum >> 8)): #Checksum correct?
                #Frame received correctly (=> send next frame)
                if DEBUG > 2: sys.stderr.write("* comRxFrame() OK\n")
                return rxFrame
            else:
                if DEBUG: sys.stderr.write("  comRxFrame() Checksum wrong\n")
        else:
            if DEBUG: sys.stderr.write("  comRxFrame() Header corrupt %r" % rxFrame)
        raise BSLException(self.ERR_COM)            #Frame has errors!

    def comTxHeader(self, txHeader):
        """send header"""
        if DEBUG > 1: sys.stderr.write("* txHeader()\n")
        self.serialport.write(txHeader)

    def comTxRx(self, cmd, dataOut, length):
        """Sends the command cmd with the data given in dataOut to the
        microcontroller and expects either an acknowledge or a frame
        with result from the microcontroller.  The results are stored
        in dataIn (if not a NULL pointer is passed).
        In this routine all the necessary protocol stuff is handled.
        Returns zero if the function was successful."""
        if DEBUG > 1: sys.stderr.write("* comTxRx()\n")
        txFrame     = []
        rxHeader    = 0
        rxNum       = 0

        dataOut = list(dataOut)     #convert to a list for simpler data fill in
        #Transmitting part ----------------------------------------
        #Prepare data for transmit
        if (length % 2) != 0:
            #/* Fill with one byte to have even number of bytes to send */
            if self.protocolMode == self.MODE_BSL:
                dataOut.append(0xFF)  #fill with 0xFF
            else:
                dataOut.append(0)     #fill with zero

        txFrame = "%c%c%c%c" % (self.DATA_FRAME | self.seqNo, cmd, len(dataOut), len(dataOut))

        self.reqNo = (self.seqNo + 1) % self.MAX_FRAME_COUNT

        txFrame = txFrame + string.join(dataOut,'')
        checksum = self.calcChecksum(txFrame, length + 4)
        txFrame = txFrame + chr(checksum & 0xff)
        txFrame = txFrame + chr((checksum >> 8) & 0xff)

        accessAddr = (0x0212 + (checksum^0xffff)) & 0xfffe  #0x0212: Address of wCHKSUM
        if self.BSLMemAccessWarning and accessAddr < self.BSL_CRITICAL_ADDR:
            sys.stderr.write("WARNING: This command might change data at address %04x or %04x!\n" % (accessAddr, accessAddr + 1))

        self.serialport.flushInput()                #clear receiving queue
        #TODO: Check after each transmitted character,
        #TODO: if microcontroller did send a character (probably a NAK!).
        for c in txFrame:
            self.serialport.write(c)
            if DEBUG > 3: sys.stderr.write("\ttx %02x" % ord(c))
            #if self.serialport.inWaiting(): break  #abort when BSL replies, probably NAK
        else:
            if DEBUG > 1: sys.stderr.write( "  comTxRx() transmit OK\n")

        #Receiving part -------------------------------------------
        rxHeader, rxNum = self.comRxHeader()        #receive header
        if DEBUG > 1: sys.stderr.write("  comTxRx() rxHeader=0x%02x, rxNum=%d, seqNo=%d, reqNo=%s\n" % (rxHeader, rxNum, self.seqNo, self.reqNo))
        if rxHeader == self.DATA_ACK:               #acknowledge/OK
            if DEBUG > 2: sys.stderr.write("  comTxRx() DATA_ACK\n")
            if rxNum == self.reqNo:
                self.seqNo = self.reqNo
                if DEBUG > 2: sys.stderr.write("* comTxRx() DATA_ACK OK\n")
                return          #Acknowledge received correctly => next frame
            raise BSLException(self.ERR_FRAME_NUMBER)
        elif rxHeader == self.DATA_NAK:             #not acknowledge/error
            if DEBUG > 2: sys.stderr.write("* comTxRx() DATA_NAK\n")
            raise BSLException(self.ERR_RX_NAK)
        elif rxHeader == self.DATA_FRAME:           #receive data
            if DEBUG > 2: sys.stderr.write("* comTxRx() DATA_FRAME\n")
            if rxNum == self.reqNo:
                rxFrame = self.comRxFrame(rxNum)
                return rxFrame
            raise BSLException(self.ERR_FRAME_NUMBER)
        elif rxHeader == self.CMD_FAILED:           #Frame ok, but command failed.
            if DEBUG > 2: sys.stderr.write("*  comTxRx() CMD_FAILED\n")
            raise BSLException(self.ERR_CMD_FAILED)

        raise BSLException("Unknown header 0x%02x\nAre you downloading to RAM into an old device that requires the patch? Try option -U" % rxHeader)

    def SetDTR(self, level, invert):
        """Controls DTR pin (0: GND; 1: VCC; unless inverted flag is set)"""
        if invert:
            self.serialport.setDTR(not level)
        else:
            self.serialport.setDTR(level)
        if self.slowmode:
            time.sleep(0.040)

    def SetRTS(self, level, invert):
        """Controls RTS pin (0: GND; 1: VCC; unless inverted flag is set)"""
        if invert:
            self.serialport.setRTS(not level)
        else:
            self.serialport.setRTS(level)
        if self.slowmode:
            time.sleep(0.040)

    def SetRSTpin(self, level=1):
        """Controls RST/NMI pin (0: GND; 1: VCC; unless inverted flag is set)"""
        if self.swapRSTTEST:
            self.SetRTS(level, self.invertRST)
        else:
            self.SetDTR(level, self.invertRST)

    def SetTESTpin(self, level=1):
        """Controls TEST pin (inverted on board: 0: VCC; 1: GND; unless inverted flag is set)"""
        if self.swapRSTTEST:
            self.SetDTR(level, self.invertTEST)
        else:
            self.SetRTS(level, self.invertTEST)

    def telosSetSCL(self, level):
        self.serialport.setRTS(not level)

    def telosSetSDA(self, level):
        self.serialport.setDTR(not level)

    def telosI2CStart(self):
	self.telosSetSDA(1)
	self.telosSetSCL(1)
	self.telosSetSDA(0)

    def telosI2CStop(self):
	self.telosSetSDA(0)
	self.telosSetSCL(1)
	self.telosSetSDA(1)

    def telosI2CWriteBit(self, bit):
	self.telosSetSCL(0)
	self.telosSetSDA(bit)
        time.sleep(2e-6)
	self.telosSetSCL(1)
        time.sleep(1e-6)
	self.telosSetSCL(0)

    def telosI2CWriteByte(self, byte):
        self.telosI2CWriteBit( byte & 0x80 );
        self.telosI2CWriteBit( byte & 0x40 );
        self.telosI2CWriteBit( byte & 0x20 );
        self.telosI2CWriteBit( byte & 0x10 );
        self.telosI2CWriteBit( byte & 0x08 );
        self.telosI2CWriteBit( byte & 0x04 );
        self.telosI2CWriteBit( byte & 0x02 );
        self.telosI2CWriteBit( byte & 0x01 );
        self.telosI2CWriteBit( 0 );  # "acknowledge"

    def telosI2CWriteCmd(self, addr, cmdbyte):
	self.telosI2CStart()
        self.telosI2CWriteByte( 0x90 | (addr << 1) )
	self.telosI2CWriteByte( cmdbyte )
	self.telosI2CStop()

    def telosBReset(self,invokeBSL=0):

	# "BSL entry sequence at dedicated JTAG pins"
        # rst !s0: 0 0 0 0 1 1
	# tck !s1: 1 0 1 0 0 1
        #   s0|s1: 1 3 1 3 2 0

	# "BSL entry sequence at shared JTAG pins"
        # rst !s0: 0 0 0 0 1 1
	# tck !s1: 0 1 0 1 1 0
        #   s0|s1: 3 1 3 1 0 2

	if invokeBSL:
	  self.telosI2CWriteCmd(0,1)
	  self.telosI2CWriteCmd(0,3)
	  self.telosI2CWriteCmd(0,1)
	  self.telosI2CWriteCmd(0,3)
	  self.telosI2CWriteCmd(0,2)
	  self.telosI2CWriteCmd(0,0)
	else:
	  self.telosI2CWriteCmd(0,3)
	  self.telosI2CWriteCmd(0,2)
	self.telosI2CWriteCmd(0,0)
        time.sleep(0.250)       #give MSP430's oscillator time to stabilize
	self.serialport.flushInput()  #clear buffers

    def bslReset(self, invokeBSL=0):
        """Applies BSL entry sequence on RST/NMI and TEST/VPP pins
        Parameters:
            invokeBSL = 1: complete sequence
            invokeBSL = 0: only RST/NMI pin accessed

        RST is inverted twice on boot loader hardware
        TEST is inverted (only once)
        Need positive voltage on DTR, RTS for power-supply of hardware"""
	if self.telosI2C:
	  self.telosBReset(invokeBSL)
	  return

        if DEBUG > 1: sys.stderr.write("* bslReset(invokeBSL=%s)\n" % invokeBSL)
        self.SetRSTpin(1)       #power suply
        self.SetTESTpin(1)      #power suply
        time.sleep(0.250)       #charge capacitor on boot loader hardware

	if self.telosLatch:
	  self.SetTESTpin(0)
	  self.SetRSTpin(0)
	  self.SetTESTpin(1)

        self.SetRSTpin(0)       #RST  pin: GND
        if invokeBSL:
            self.SetTESTpin(1)  #TEST pin: GND
            self.SetTESTpin(0)  #TEST pin: Vcc
            self.SetTESTpin(1)  #TEST pin: GND
            self.SetTESTpin(0)  #TEST pin: Vcc
            self.SetRSTpin (1)  #RST  pin: Vcc
            self.SetTESTpin(1)  #TEST pin: GND
        else:
            self.SetRSTpin(1)   #RST  pin: Vcc
        time.sleep(0.250)       #give MSP430's oscillator time to stabilize

        self.serialport.flushInput()    #clear buffers

    def bslSync(self,wait=0):
        """Transmits Synchronization character and expects to receive Acknowledge character
        if wait is 0 it must work the first time. otherwise if wait is 1
        it is retried (forever).
        """
        loopcnt = 5                                 #Max. tries to get synchronization

        if DEBUG > 1: sys.stderr.write("* bslSync(wait=%d)\n" % wait)
        while wait or loopcnt:
            loopcnt = loopcnt - 1                   #count down tries
            self.serialport.flushInput()            #clear input, in case a prog is running

            self.serialport.write(chr(self.BSL_SYNC))   #Send synchronization byte
            c = self.serialport.read(1)             #read answer
            if c == chr(self.DATA_ACK):             #ACk
                if DEBUG > 1: sys.stderr.write("  bslSync() OK\n")
                return                              #Sync. successful
            elif not c:                             #timeout
                    if loopcnt > 4:
                        if DEBUG > 1:
                            sys.stderr.write("  bslSync() timeout, retry ...\n")
                    elif loopcnt == 4:
                        #nmi may have caused the first reset to be ignored, try again
                        self.bslReset(0) 
                        self.bslReset(1)
                    elif loopcnt > 0:
                        if DEBUG > 1:
                            sys.stderr.write("  bslSync() timeout, retry ...\n")
                    else :
                        if DEBUG > 1:
                            sys.stderr.write("  bslSync() timeout\n")
            else:                                   #garbage
                if DEBUG > 1: sys.stderr.write("  bslSync() failed (0x%02x), retry ...\n" % ord(c))
                
                raise BSLException(self.ERR_BSL_SYNC)       #Sync. failed

    def bslTxRx(self, cmd, addr, length = 0, blkout = None, wait=0):
        """Transmits a command (cmd) with its parameters:
        start-address (addr), length (len) and additional
        data (blkout) to boot loader.
        wait specified if the bsl sync should be tried once or
        repeated, forever
        Parameters return by boot loader are passed via blkin.
        """
        if DEBUG > 1: sys.stderr.write("* bslTxRx()\n")

        if cmd == self.BSL_TXBLK:
            #Align to even start address
            if (addr % 2) != 0: