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skymotefirmwareupgrader.py
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# Defines a class that knows how to upgrade a Skymote's firmware.
import threading
import skymotefirmwareutils
from datetime import datetime
from time import sleep
import sys
import struct
from LabJackPython import LabJackException
class SkymoteFirmwareUpgraderThread(threading.Thread):
def __init__(self, bridge, fwFilename, upgradeMotes = False, recovery = False):
threading.Thread.__init__(self)
self.daemon = True
self.bridge = bridge
self.fwFilename = fwFilename
self.upgradeMotes = upgradeMotes
self.recovery = recovery
self.running = False
# All print statements will be added as entries in this list.
self.statusList = []
def log(self, msg):
print msg
self.statusList.append(msg)
def run(self):
self.running = True
self.log("Step 1: Choose a firmware file")
fwFile = skymotefirmwareutils.FirmwareFile(self.fwFilename)
self.log("%s version %s (%s)" % (fwFile.intendedDevice, fwFile.providedVersion, self.fwFilename))
#fwFile = skymotefirmwareutils.FirmwareFile("./SMBUSB_firmware_080_09092010.bin")
#fwFile = skymotefirmwareutils.FirmwareFile("./SMTLB_firmware_037_09132010.bin")
#fwFile = skymotefirmwareutils.FirmwareFile("./SMB_firmware_031_09132010.bin")
#print "%s provides %s version %s." % (fwFile.filename, fwFile.intendedDevice, fwFile.providedVersion)
self.log("\nStep 2: Open a Skymote Bridge")
b = self.bridge
if not self.recovery:
b.mainFirmwareVersion()
b.usbFirmwareVersion()
b.ethernetFirmwareVersion()
self.log("Found a bridge:\n Serial Number: %s" % b.serialNumber)
self.log(" Main (Jennic) firmware: %s" % b.mainFWVersion)
self.log(" USB firmware: %s" % b.usbFWVersion)
self.log(" Ethernet firmware: %s" % b.ethernetFWVersion)
if not self.upgradeMotes:
self.log("Doing firmware upgrade on bridge.")
if not self.recovery:
fwFile.checkCompatibility(b)
b.debug = False
device = b
if fwFile.firmwareType == skymotefirmwareutils.MAIN_FW_TYPE:
self.sendMainFirmware(device, fwFile)
elif fwFile.firmwareType == skymotefirmwareutils.USB_FW_TYPE:
self.sendUsbFirmware(device, fwFile, self.recovery)
elif fwFile.firmwareType == skymotefirmwareutils.ETHERNET_FW_TYPE:
self.sendEthernetFirmware(device, fwFile, self.recovery)
else:
for mote in b.motes:
self.log("Doing firmware upgrade on mote with unit id = %s" % mote.unitId)
selectedMote = mote
selectedMote.bridge.debug = False
# Set the device to high power mode:
selectedMote.writeRegister(59989, 5)
self.log("Waiting for mote to rejoin...")
sleep(5)
self.log("Trying to read firmware")
# Read current firmware version
selectedMote.mainFirmwareVersion()
self.log("Current Mote firmware = %s" % selectedMote.mainFWVersion)
# Check the device is compatible with the firmware
fwFile.checkCompatibility(selectedMote)
self.sendMainFirmware(selectedMote, fwFile)
self.running = False
def sendMainFirmware(self, device, fwFile):
start = datetime.now()
# Set the flash key
self.log("Writing Flash Key...")
device.writeRegister(59000, [0xBAE8, 0xEF64])
self.log("Done.")
# Erase Flash blocks
self.log("Erasing Flash...")
for i in range(23):
#self.log(str(i)+" ")
#sys.stdout.flush()
try:
device.writeRegister(59074, [0xAA55, 0xC33C, 0x0, i])
except LabJackException:
self.log("\nFlash erase failed, retrying...")
device.writeRegister(59074, [0xAA55, 0xC33C, 0x0, i])
self.log("Done.")
self.log("\nDone.")
self.log("Writing Flash...")
imageLength = len(fwFile.fwImage)
bytesWritten = 0
timesThrough = 0
for address, data in fwFile.image():
if timesThrough % 10 == 0:
self.log("Writing Flash bytes %s of %s" % (bytesWritten, imageLength))
#self.log(str(address)+" ")
#sys.stdout.flush()
success = False
while not success:
try:
device.writeRegister(59020, [0xAA55, 0xC33C, 0x0, address] + data)
bytesWritten += 32
timesThrough += 1
success = True
except LabJackException:
self.log("Write failed, retrying...")
self.log("Writing Flash bytes %s of %s" % (imageLength, imageLength))
self.log("Done.")
self.log("Setting start, length, and SHA-1...")
imageStart = 0
imageLength = fwFile.imageLength
imageLength = list(struct.unpack(">HH", struct.pack(">I", imageLength)))
sha1 = fwFile.imageSHA1
sha1 = list(struct.unpack(">"+"H"*10, sha1))
device.writeRegister(59080, [0,imageStart] + imageLength + sha1)
self.log("Done.")
end = datetime.now()
self.log("Programming complete.")
self.log("Time to send image: %s" % (end-start))
self.log("Resetting Device...")
device.writeRegister(59999, 0x4c4a)
self.log("Done.")
self.log("Sleeping for 10 seconds to allow device to finish updating.")
for i in reversed(range(10)):
self.log(str(i+1)+" ")
sys.stdout.flush()
sleep(1)
self.log( "")
def sendUsbFirmware(self, device, fwFile, recovery):
self.log("Upgrading USB Firmware...")
self.log("Jumping to flash mode...")
if not recovery:
device.writeRegister(57998, 0x4C4A)
self.log("Done.")
self.log("Re-opening device handle only...")
if not recovery:
device.handle.modbusSocket.send("crh6")
sleep(10)
self.log("Done.")
self.log("Erasing Pages...")
for i in range(10, 32):
self.log(str(i)+" ")
sys.stdout.flush()
try:
device.writeRegister(57902, [0x0000, i])
except LabJackException:
self.log("\nFlash erase failed, retrying...")
device.writeRegister(57902, [0x0000, i])
self.log("Done.")
self.log("\nDone.")
self.log("Writing Pages...")
for address, data in fwFile.image():
self.log(str(address)+" ")
sys.stdout.flush()
success = False
while not success:
try:
device.writeRegister(57906, [0x0000, address] + data)
success = True
except LabJackException:
self.log("Write failed, retrying...")
self.log("Done")
self.log("Resetting...")
device.writeRegister(57999, 0x4C4A)
if recovery:
device.close()
sleep(5)
device.open(LJSocket = None, handleOnly = True)
else:
device.handle.modbusSocket.send("rst5")
sleep(6)
self.log("Done")
def sendEthernetFirmware(self, device, fwFile, recovery):
self.log("Upgrading Ethernet firmware...")
self.log("Jumping to flash mode...")
try:
device.writeRegister(56998, 0x4C4A)
sleep(6)
except Exception, e:
if not recovery:
raise e
else:
pass
self.log("Done.")
self.log("Erasing Pages...")
for i in range(10, 52):
self.log(str(i)+" ")
sys.stdout.flush()
try:
device.writeRegister(56902, [0x0000, i])
except LabJackException:
self.log("\nFlash erase failed, retrying...")
device.writeRegister(56902, [0x0000, i])
self.log("Done.")
self.log("\nDone.")
self.log("Writing Pages...")
for address, data in fwFile.image():
self.log(str(address)+" ")
sys.stdout.flush()
success = False
while not success:
try:
device.writeRegister(56906, [0x0000, address] + data)
success = True
except LabJackException:
self.log("Write failed, retrying...")
self.log("Done")
self.log("Resetting...")
device.writeRegister(56999, 0x4C4A)
sleep(5)
self.log("Done")