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