336c7dadac
Wrap long lines to max 100 characters. See https://docs.astral.sh/ruff/rules/line-too-long/ Signed-off-by: Pieter De Gendt <pieter.degendt@basalte.be>
353 lines
14 KiB
Python
353 lines
14 KiB
Python
# Copyright (c) 2020 Vestas Wind Systems A/S
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#
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# SPDX-License-Identifier: Apache-2.0
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'''Runner for performing program download over CANopen (DSP 302-3).'''
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import argparse
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import os
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import time
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from runners.core import RunnerCaps, ZephyrBinaryRunner
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try:
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import canopen
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from progress.bar import Bar
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MISSING_REQUIREMENTS = False
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except ImportError:
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MISSING_REQUIREMENTS = True
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# Default Python-CAN context to use, see python-can documentation for details
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DEFAULT_CAN_CONTEXT = 'default'
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# Default program number
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DEFAULT_PROGRAM_NUMBER = 1
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# Program download buffer size in bytes
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DEFAULT_PROGRAM_DOWNLOAD_BUFFER_SIZE = 1024
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# Default timeouts and retries
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DEFAULT_TIMEOUT = 10.0 # seconds
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DEFAULT_SDO_TIMEOUT = 1 # seconds
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DEFAULT_SDO_RETRIES = 1
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# Object dictionary indexes
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H1F50_PROGRAM_DATA = 0x1F50
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H1F51_PROGRAM_CTRL = 0x1F51
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H1F56_PROGRAM_SWID = 0x1F56
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H1F57_FLASH_STATUS = 0x1F57
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# Program control commands
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PROGRAM_CTRL_STOP = 0x00
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PROGRAM_CTRL_START = 0x01
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PROGRAM_CTRL_RESET = 0x02
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PROGRAM_CTRL_CLEAR = 0x03
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PROGRAM_CTRL_ZEPHYR_CONFIRM = 0x80
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class ToggleAction(argparse.Action):
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'''Toggle argument parser'''
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def __call__(self, parser, namespace, values, option_string=None):
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setattr(namespace, self.dest, not option_string.startswith('--no-'))
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class CANopenBinaryRunner(ZephyrBinaryRunner):
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'''Runner front-end for CANopen.'''
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def __init__(self, cfg, dev_id, can_context=DEFAULT_CAN_CONTEXT,
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program_number=DEFAULT_PROGRAM_NUMBER, confirm=True,
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confirm_only=True, timeout=DEFAULT_TIMEOUT,
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sdo_retries=DEFAULT_SDO_RETRIES, sdo_timeout=DEFAULT_SDO_TIMEOUT,
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download_buffer_size=DEFAULT_PROGRAM_DOWNLOAD_BUFFER_SIZE, block_transfer=False):
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if MISSING_REQUIREMENTS:
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raise RuntimeError('one or more Python dependencies were missing; '
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"see the getting started guide for details on "
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"how to fix")
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super().__init__(cfg)
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self.dev_id = dev_id # Only use for error checking in do_run()
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self.bin_file = cfg.bin_file
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self.confirm = confirm
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self.confirm_only = confirm_only
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self.timeout = timeout
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self.downloader = CANopenProgramDownloader(logger=self.logger,
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node_id=dev_id,
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can_context=can_context,
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program_number=program_number,
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sdo_retries=sdo_retries,
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sdo_timeout=sdo_timeout,
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download_buffer_size=download_buffer_size,
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block_transfer=block_transfer,
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)
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@classmethod
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def name(cls):
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return 'canopen'
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@classmethod
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def capabilities(cls):
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return RunnerCaps(commands={'flash'}, dev_id=True, flash_addr=False)
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@classmethod
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def dev_id_help(cls) -> str:
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return 'CANopen Node ID.'
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@classmethod
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def do_add_parser(cls, parser):
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# Optional:
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parser.add_argument('--node-id', dest='dev_id',
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help=cls.dev_id_help())
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parser.add_argument('--can-context', default=DEFAULT_CAN_CONTEXT,
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help=f'Python-CAN context to use (default: {DEFAULT_CAN_CONTEXT})')
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parser.add_argument('--program-number', type=int, default=DEFAULT_PROGRAM_NUMBER,
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help=f'program number (default: {DEFAULT_PROGRAM_NUMBER})')
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parser.add_argument('--confirm', '--no-confirm',
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dest='confirm', nargs=0,
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action=ToggleAction,
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help='confirm after starting? (default: yes)')
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parser.add_argument('--confirm-only', default=False, action='store_true',
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help='confirm only, no program download (default: no)')
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parser.add_argument('--timeout', type=float, default=DEFAULT_TIMEOUT,
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help=f'Timeout in seconds (default: {DEFAULT_TIMEOUT})')
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parser.add_argument('--sdo-retries', type=int, default=DEFAULT_SDO_RETRIES,
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help=f'CANopen SDO request retries (default: {DEFAULT_SDO_RETRIES})')
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parser.add_argument('--sdo-timeout', type=float, default=DEFAULT_SDO_TIMEOUT,
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help=f'''CANopen SDO response timeout in seconds
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(default: {DEFAULT_SDO_TIMEOUT})''')
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parser.add_argument('--download-buffer-size', type=int,
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default=DEFAULT_PROGRAM_DOWNLOAD_BUFFER_SIZE,
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help=f'''Program download buffer size in bytes
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(default: {DEFAULT_PROGRAM_DOWNLOAD_BUFFER_SIZE})''')
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parser.add_argument('--block-transfer', default=False, action='store_true',
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help='Use SDO block transfers (experimental, default: no)')
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parser.set_defaults(confirm=True)
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@classmethod
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def do_create(cls, cfg, args):
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return CANopenBinaryRunner(cfg, int(args.dev_id),
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can_context=args.can_context,
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program_number=args.program_number,
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confirm=args.confirm,
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confirm_only=args.confirm_only,
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timeout=args.timeout,
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sdo_retries=args.sdo_retries,
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sdo_timeout=args.sdo_timeout,
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download_buffer_size=args.download_buffer_size,
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block_transfer=args.block_transfer)
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def do_run(self, command, **kwargs):
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if not self.dev_id:
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raise RuntimeError('Please specify a CANopen node ID with the '
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'-i/--dev-id or --node-id command-line switch.')
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if command == 'flash':
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self.flash(**kwargs)
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def flash(self, **kwargs):
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'''Download program to flash over CANopen'''
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self.ensure_output('bin')
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self.logger.info('Using Node ID %d, program number %d',
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self.downloader.node_id,
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self.downloader.program_number)
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self.downloader.connect()
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status = self.downloader.wait_for_flash_status_ok(self.timeout)
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if status == 0:
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self.downloader.swid()
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else:
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self.logger.warning(f'Flash status 0x{status:02x}, '
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'skipping software identification')
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self.downloader.enter_pre_operational()
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if self.confirm_only:
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self.downloader.zephyr_confirm_program()
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self.downloader.disconnect()
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return
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if self.bin_file is None:
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raise ValueError('Cannot download program; bin_file is missing')
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self.downloader.stop_program()
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self.downloader.clear_program()
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self.downloader.wait_for_flash_status_ok(self.timeout)
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self.downloader.download(self.bin_file)
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status = self.downloader.wait_for_flash_status_ok(self.timeout)
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if status != 0:
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raise ValueError('Program download failed: '
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f'flash status 0x{status:02x}')
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self.downloader.swid()
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self.downloader.start_program()
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self.downloader.wait_for_bootup(self.timeout)
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self.downloader.swid()
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if self.confirm:
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self.downloader.enter_pre_operational()
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self.downloader.zephyr_confirm_program()
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self.downloader.disconnect()
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class CANopenProgramDownloader:
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'''CANopen program downloader'''
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def __init__(self, logger, node_id, can_context=DEFAULT_CAN_CONTEXT,
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program_number=DEFAULT_PROGRAM_NUMBER,
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sdo_retries=DEFAULT_SDO_RETRIES, sdo_timeout=DEFAULT_SDO_TIMEOUT,
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download_buffer_size=DEFAULT_PROGRAM_DOWNLOAD_BUFFER_SIZE, block_transfer=False):
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super().__init__()
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self.logger = logger
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self.node_id = node_id
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self.can_context = can_context
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self.program_number = program_number
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self.network = canopen.Network()
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self.node = self.network.add_node(self.node_id,
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self.create_object_dictionary())
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self.data_sdo = self.node.sdo[H1F50_PROGRAM_DATA][self.program_number]
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self.ctrl_sdo = self.node.sdo[H1F51_PROGRAM_CTRL][self.program_number]
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self.swid_sdo = self.node.sdo[H1F56_PROGRAM_SWID][self.program_number]
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self.flash_sdo = self.node.sdo[H1F57_FLASH_STATUS][self.program_number]
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self.download_buffer_size = download_buffer_size
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self.node.sdo.MAX_RETRIES = sdo_retries
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self.node.sdo.RESPONSE_TIMEOUT = sdo_timeout
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self.block_transfer = block_transfer
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def connect(self):
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'''Connect to CAN network'''
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try:
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self.network.connect(context=self.can_context)
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except Exception as err:
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raise ValueError('Unable to connect to CAN network') from err
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def disconnect(self):
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'''Disconnect from CAN network'''
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self.network.disconnect()
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def enter_pre_operational(self):
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'''Enter pre-operational NMT state'''
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self.logger.info("Entering pre-operational mode")
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try:
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self.node.nmt.state = 'PRE-OPERATIONAL'
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except Exception as err:
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raise ValueError('Failed to enter pre-operational mode') from err
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def _ctrl_program(self, cmd):
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'''Write program control command to CANopen object dictionary (0x1f51)'''
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try:
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self.ctrl_sdo.raw = cmd
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except Exception as err:
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raise ValueError(f'Unable to write control command 0x{cmd:02x}') from err
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def stop_program(self):
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'''Write stop control command to CANopen object dictionary (0x1f51)'''
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self.logger.info('Stopping program')
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self._ctrl_program(PROGRAM_CTRL_STOP)
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def start_program(self):
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'''Write start control command to CANopen object dictionary (0x1f51)'''
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self.logger.info('Starting program')
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self._ctrl_program(PROGRAM_CTRL_START)
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def clear_program(self):
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'''Write clear control command to CANopen object dictionary (0x1f51)'''
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self.logger.info('Clearing program')
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self._ctrl_program(PROGRAM_CTRL_CLEAR)
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def zephyr_confirm_program(self):
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'''Write confirm control command to CANopen object dictionary (0x1f51)'''
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self.logger.info('Confirming program')
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self._ctrl_program(PROGRAM_CTRL_ZEPHYR_CONFIRM)
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def swid(self):
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'''Read software identification from CANopen object dictionary (0x1f56)'''
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try:
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swid = self.swid_sdo.raw
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except Exception as err:
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raise ValueError('Failed to read software identification') from err
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self.logger.info(f'Program software identification: 0x{swid:08x}')
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return swid
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def flash_status(self):
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'''Read flash status identification'''
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try:
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status = self.flash_sdo.raw
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except Exception as err:
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raise ValueError('Failed to read flash status identification') from err
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return status
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def download(self, bin_file):
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'''Download program to CANopen object dictionary (0x1f50)'''
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self.logger.info('Downloading program: %s', bin_file)
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try:
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size = os.path.getsize(bin_file)
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infile = open(bin_file, 'rb') # noqa: SIM115
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outfile = self.data_sdo.open('wb', buffering=self.download_buffer_size,
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size=size, block_transfer=self.block_transfer)
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progress = Bar('%(percent)d%%', max=size, suffix='%(index)d/%(max)dB')
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while True:
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chunk = infile.read(self.download_buffer_size // 2)
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if not chunk:
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break
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outfile.write(chunk)
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progress.next(n=len(chunk))
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except Exception as err:
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raise ValueError('Failed to download program') from err
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finally:
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progress.finish()
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infile.close()
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outfile.close()
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def wait_for_bootup(self, timeout=DEFAULT_TIMEOUT):
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'''Wait for boot-up message reception'''
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self.logger.info('Waiting for boot-up message...')
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try:
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self.node.nmt.wait_for_bootup(timeout=timeout)
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except Exception as err:
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raise ValueError('Timeout waiting for boot-up message') from err
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def wait_for_flash_status_ok(self, timeout=DEFAULT_TIMEOUT):
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'''Wait for flash status ok'''
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self.logger.info('Waiting for flash status ok')
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end_time = time.time() + timeout
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while True:
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now = time.time()
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status = self.flash_status()
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if status == 0:
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break
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if now > end_time:
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return status
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return status
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@staticmethod
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def create_object_dictionary():
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'''Create a synthetic CANopen object dictionary for program download'''
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objdict = canopen.objectdictionary.ObjectDictionary()
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array = canopen.objectdictionary.Array('Program data', 0x1f50)
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member = canopen.objectdictionary.Variable('', 0x1f50, subindex=1)
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member.data_type = canopen.objectdictionary.DOMAIN
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array.add_member(member)
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objdict.add_object(array)
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array = canopen.objectdictionary.Array('Program control', 0x1f51)
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member = canopen.objectdictionary.Variable('', 0x1f51, subindex=1)
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member.data_type = canopen.objectdictionary.UNSIGNED8
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array.add_member(member)
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objdict.add_object(array)
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array = canopen.objectdictionary.Array('Program software ID', 0x1f56)
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member = canopen.objectdictionary.Variable('', 0x1f56, subindex=1)
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member.data_type = canopen.objectdictionary.UNSIGNED32
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array.add_member(member)
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objdict.add_object(array)
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array = canopen.objectdictionary.Array('Flash error ID', 0x1f57)
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member = canopen.objectdictionary.Variable('', 0x1f57, subindex=1)
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member.data_type = canopen.objectdictionary.UNSIGNED32
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array.add_member(member)
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objdict.add_object(array)
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return objdict
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