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388 lines
17 KiB
Python
388 lines
17 KiB
Python
# Serial port management for firmware communication
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#
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, threading, os
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import serial
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import msgproto, chelper, util
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class error(Exception):
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pass
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class SerialReader:
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def __init__(self, reactor, warn_prefix=""):
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self.reactor = reactor
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self.warn_prefix = warn_prefix
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# Serial port
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self.serial_dev = None
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self.msgparser = msgproto.MessageParser(warn_prefix=warn_prefix)
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# C interface
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self.ffi_main, self.ffi_lib = chelper.get_ffi()
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self.serialqueue = None
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self.default_cmd_queue = self.alloc_command_queue()
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self.stats_buf = self.ffi_main.new('char[4096]')
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# Threading
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self.lock = threading.Lock()
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self.background_thread = None
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# Message handlers
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self.handlers = {}
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self.register_response(self._handle_unknown_init, '#unknown')
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self.register_response(self.handle_output, '#output')
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# Sent message notification tracking
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self.last_notify_id = 0
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self.pending_notifications = {}
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def _bg_thread(self):
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response = self.ffi_main.new('struct pull_queue_message *')
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while 1:
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self.ffi_lib.serialqueue_pull(self.serialqueue, response)
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count = response.len
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if count < 0:
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break
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if response.notify_id:
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params = {'#sent_time': response.sent_time,
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'#receive_time': response.receive_time}
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completion = self.pending_notifications.pop(response.notify_id)
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self.reactor.async_complete(completion, params)
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continue
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params = self.msgparser.parse(response.msg[0:count])
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params['#sent_time'] = response.sent_time
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params['#receive_time'] = response.receive_time
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hdl = (params['#name'], params.get('oid'))
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try:
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with self.lock:
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hdl = self.handlers.get(hdl, self.handle_default)
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hdl(params)
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except:
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logging.exception("%sException in serial callback",
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self.warn_prefix)
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def _error(self, msg, *params):
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raise error(self.warn_prefix + (msg % params))
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def _get_identify_data(self, eventtime):
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# Query the "data dictionary" from the micro-controller
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identify_data = b""
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while 1:
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msg = "identify offset=%d count=%d" % (len(identify_data), 40)
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try:
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params = self.send_with_response(msg, 'identify_response')
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except error as e:
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logging.exception("%sWait for identify_response",
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self.warn_prefix)
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return None
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if params['offset'] == len(identify_data):
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msgdata = params['data']
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if not msgdata:
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# Done
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return identify_data
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identify_data += msgdata
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def _start_session(self, serial_dev, serial_fd_type=b'u', client_id=0):
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self.serial_dev = serial_dev
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self.serialqueue = self.ffi_main.gc(
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self.ffi_lib.serialqueue_alloc(serial_dev.fileno(),
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serial_fd_type, client_id),
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self.ffi_lib.serialqueue_free)
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self.background_thread = threading.Thread(target=self._bg_thread)
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self.background_thread.start()
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# Obtain and load the data dictionary from the firmware
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completion = self.reactor.register_callback(self._get_identify_data)
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identify_data = completion.wait(self.reactor.monotonic() + 5.)
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if identify_data is None:
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logging.info("%sTimeout on connect", self.warn_prefix)
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self.disconnect()
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return False
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msgparser = msgproto.MessageParser(warn_prefix=self.warn_prefix)
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msgparser.process_identify(identify_data)
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self.msgparser = msgparser
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self.register_response(self.handle_unknown, '#unknown')
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# Setup baud adjust
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if serial_fd_type == b'c':
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wire_freq = msgparser.get_constant_float('CANBUS_FREQUENCY', None)
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else:
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wire_freq = msgparser.get_constant_float('SERIAL_BAUD', None)
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if wire_freq is not None:
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self.ffi_lib.serialqueue_set_wire_frequency(self.serialqueue,
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wire_freq)
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receive_window = msgparser.get_constant_int('RECEIVE_WINDOW', None)
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if receive_window is not None:
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self.ffi_lib.serialqueue_set_receive_window(
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self.serialqueue, receive_window)
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return True
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def connect_canbus(self, canbus_uuid, canbus_nodeid, canbus_iface="can0"):
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import can # XXX
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txid = canbus_nodeid * 2 + 256
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filters = [{"can_id": txid+1, "can_mask": 0x7ff, "extended": False}]
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# Prep for SET_NODEID command
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try:
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uuid = int(canbus_uuid, 16)
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except ValueError:
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uuid = -1
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if uuid < 0 or uuid > 0xffffffffffff:
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self._error("Invalid CAN uuid")
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uuid = [(uuid >> (40 - i*8)) & 0xff for i in range(6)]
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CANBUS_ID_ADMIN = 0x3f0
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CMD_SET_NODEID = 0x01
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set_id_cmd = [CMD_SET_NODEID] + uuid + [canbus_nodeid]
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set_id_msg = can.Message(arbitration_id=CANBUS_ID_ADMIN,
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data=set_id_cmd, is_extended_id=False)
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# Start connection attempt
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logging.info("%sStarting CAN connect", self.warn_prefix)
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start_time = self.reactor.monotonic()
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while 1:
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if self.reactor.monotonic() > start_time + 90.:
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self._error("Unable to connect")
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try:
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bus = can.interface.Bus(channel=canbus_iface,
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can_filters=filters,
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bustype='socketcan')
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bus.send(set_id_msg)
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except can.CanError as e:
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logging.warn("%sUnable to open CAN port: %s",
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self.warn_prefix, e)
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self.reactor.pause(self.reactor.monotonic() + 5.)
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continue
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bus.close = bus.shutdown # XXX
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ret = self._start_session(bus, b'c', txid)
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if not ret:
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continue
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# Verify correct canbus_nodeid to canbus_uuid mapping
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try:
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params = self.send_with_response('get_canbus_id', 'canbus_id')
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got_uuid = bytearray(params['canbus_uuid'])
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if got_uuid == bytearray(uuid):
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break
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except:
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logging.exception("%sError in canbus_uuid check",
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self.warn_prefix)
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logging.info("%sFailed to match canbus_uuid - retrying..",
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self.warn_prefix)
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self.disconnect()
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def connect_pipe(self, filename):
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logging.info("%sStarting connect", self.warn_prefix)
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start_time = self.reactor.monotonic()
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while 1:
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if self.reactor.monotonic() > start_time + 90.:
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self._error("Unable to connect")
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try:
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fd = os.open(filename, os.O_RDWR | os.O_NOCTTY)
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except OSError as e:
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logging.warn("%sUnable to open port: %s", self.warn_prefix, e)
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self.reactor.pause(self.reactor.monotonic() + 5.)
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continue
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serial_dev = os.fdopen(fd, 'rb+', 0)
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ret = self._start_session(serial_dev)
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if ret:
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break
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def connect_uart(self, serialport, baud, rts=True):
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# Initial connection
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logging.info("%sStarting serial connect", self.warn_prefix)
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start_time = self.reactor.monotonic()
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while 1:
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if self.reactor.monotonic() > start_time + 90.:
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self._error("Unable to connect")
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try:
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serial_dev = serial.Serial(baudrate=baud, timeout=0,
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exclusive=True)
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serial_dev.port = serialport
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serial_dev.rts = rts
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serial_dev.open()
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except (OSError, IOError, serial.SerialException) as e:
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logging.warn("%sUnable to open serial port: %s",
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self.warn_prefix, e)
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self.reactor.pause(self.reactor.monotonic() + 5.)
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continue
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stk500v2_leave(serial_dev, self.reactor)
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ret = self._start_session(serial_dev)
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if ret:
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break
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def connect_file(self, debugoutput, dictionary, pace=False):
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self.serial_dev = debugoutput
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self.msgparser.process_identify(dictionary, decompress=False)
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self.serialqueue = self.ffi_main.gc(
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self.ffi_lib.serialqueue_alloc(self.serial_dev.fileno(), b'f', 0),
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self.ffi_lib.serialqueue_free)
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def set_clock_est(self, freq, conv_time, conv_clock, last_clock):
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self.ffi_lib.serialqueue_set_clock_est(
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self.serialqueue, freq, conv_time, conv_clock, last_clock)
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def disconnect(self):
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if self.serialqueue is not None:
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self.ffi_lib.serialqueue_exit(self.serialqueue)
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if self.background_thread is not None:
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self.background_thread.join()
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self.background_thread = self.serialqueue = None
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if self.serial_dev is not None:
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self.serial_dev.close()
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self.serial_dev = None
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for pn in self.pending_notifications.values():
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pn.complete(None)
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self.pending_notifications.clear()
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def stats(self, eventtime):
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if self.serialqueue is None:
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return ""
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self.ffi_lib.serialqueue_get_stats(self.serialqueue,
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self.stats_buf, len(self.stats_buf))
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return str(self.ffi_main.string(self.stats_buf).decode())
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def get_reactor(self):
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return self.reactor
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def get_msgparser(self):
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return self.msgparser
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def get_serialqueue(self):
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return self.serialqueue
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def get_default_command_queue(self):
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return self.default_cmd_queue
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# Serial response callbacks
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def register_response(self, callback, name, oid=None):
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with self.lock:
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if callback is None:
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del self.handlers[name, oid]
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else:
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self.handlers[name, oid] = callback
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# Command sending
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def raw_send(self, cmd, minclock, reqclock, cmd_queue):
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self.ffi_lib.serialqueue_send(self.serialqueue, cmd_queue,
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cmd, len(cmd), minclock, reqclock, 0)
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def raw_send_wait_ack(self, cmd, minclock, reqclock, cmd_queue):
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self.last_notify_id += 1
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nid = self.last_notify_id
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completion = self.reactor.completion()
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self.pending_notifications[nid] = completion
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self.ffi_lib.serialqueue_send(self.serialqueue, cmd_queue,
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cmd, len(cmd), minclock, reqclock, nid)
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params = completion.wait()
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if params is None:
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self._error("Serial connection closed")
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return params
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def send(self, msg, minclock=0, reqclock=0):
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cmd = self.msgparser.create_command(msg)
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self.raw_send(cmd, minclock, reqclock, self.default_cmd_queue)
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def send_with_response(self, msg, response):
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cmd = self.msgparser.create_command(msg)
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src = SerialRetryCommand(self, response)
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return src.get_response([cmd], self.default_cmd_queue)
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def alloc_command_queue(self):
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return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
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self.ffi_lib.serialqueue_free_commandqueue)
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# Dumping debug lists
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def dump_debug(self):
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out = []
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out.append("Dumping serial stats: %s" % (
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self.stats(self.reactor.monotonic()),))
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sdata = self.ffi_main.new('struct pull_queue_message[1024]')
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rdata = self.ffi_main.new('struct pull_queue_message[1024]')
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scount = self.ffi_lib.serialqueue_extract_old(self.serialqueue, 1,
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sdata, len(sdata))
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rcount = self.ffi_lib.serialqueue_extract_old(self.serialqueue, 0,
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rdata, len(rdata))
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out.append("Dumping send queue %d messages" % (scount,))
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for i in range(scount):
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msg = sdata[i]
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cmds = self.msgparser.dump(msg.msg[0:msg.len])
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out.append("Sent %d %f %f %d: %s" % (
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i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
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out.append("Dumping receive queue %d messages" % (rcount,))
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for i in range(rcount):
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msg = rdata[i]
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cmds = self.msgparser.dump(msg.msg[0:msg.len])
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out.append("Receive: %d %f %f %d: %s" % (
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i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
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return '\n'.join(out)
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# Default message handlers
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def _handle_unknown_init(self, params):
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logging.debug("%sUnknown message %d (len %d) while identifying",
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self.warn_prefix, params['#msgid'], len(params['#msg']))
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def handle_unknown(self, params):
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logging.warn("%sUnknown message type %d: %s",
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self.warn_prefix, params['#msgid'], repr(params['#msg']))
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def handle_output(self, params):
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logging.info("%s%s: %s", self.warn_prefix,
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params['#name'], params['#msg'])
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def handle_default(self, params):
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logging.warn("%sgot %s", self.warn_prefix, params)
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# Class to send a query command and return the received response
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class SerialRetryCommand:
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def __init__(self, serial, name, oid=None):
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self.serial = serial
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self.name = name
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self.oid = oid
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self.last_params = None
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self.serial.register_response(self.handle_callback, name, oid)
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def handle_callback(self, params):
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self.last_params = params
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def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
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retries = 5
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retry_delay = .010
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while 1:
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for cmd in cmds[:-1]:
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self.serial.raw_send(cmd, minclock, reqclock, cmd_queue)
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self.serial.raw_send_wait_ack(cmds[-1], minclock, reqclock,
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cmd_queue)
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params = self.last_params
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if params is not None:
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self.serial.register_response(None, self.name, self.oid)
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return params
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if retries <= 0:
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self.serial.register_response(None, self.name, self.oid)
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raise error("Unable to obtain '%s' response" % (self.name,))
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reactor = self.serial.reactor
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reactor.pause(reactor.monotonic() + retry_delay)
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retries -= 1
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retry_delay *= 2.
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# Attempt to place an AVR stk500v2 style programmer into normal mode
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def stk500v2_leave(ser, reactor):
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logging.debug("Starting stk500v2 leave programmer sequence")
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util.clear_hupcl(ser.fileno())
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origbaud = ser.baudrate
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# Request a dummy speed first as this seems to help reset the port
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ser.baudrate = 2400
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ser.read(1)
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# Send stk500v2 leave programmer sequence
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ser.baudrate = 115200
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reactor.pause(reactor.monotonic() + 0.100)
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ser.read(4096)
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ser.write(b'\x1b\x01\x00\x01\x0e\x11\x04')
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reactor.pause(reactor.monotonic() + 0.050)
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res = ser.read(4096)
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logging.debug("Got %s from stk500v2", repr(res))
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ser.baudrate = origbaud
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def cheetah_reset(serialport, reactor):
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# Fysetc Cheetah v1.2 boards have a weird stateful circuitry for
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# configuring the bootloader. This sequence takes care of disabling it for
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# sure.
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# Open the serial port with RTS asserted
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ser = serial.Serial(baudrate=2400, timeout=0, exclusive=True)
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ser.port = serialport
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ser.rts = True
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ser.open()
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ser.read(1)
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reactor.pause(reactor.monotonic() + 0.100)
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# Toggle DTR
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ser.dtr = True
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reactor.pause(reactor.monotonic() + 0.100)
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ser.dtr = False
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# Deassert RTS
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reactor.pause(reactor.monotonic() + 0.100)
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ser.rts = False
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reactor.pause(reactor.monotonic() + 0.100)
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# Toggle DTR again
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ser.dtr = True
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reactor.pause(reactor.monotonic() + 0.100)
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ser.dtr = False
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reactor.pause(reactor.monotonic() + 0.100)
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ser.close()
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# Attempt an arduino style reset on a serial port
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def arduino_reset(serialport, reactor):
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# First try opening the port at a different baud
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ser = serial.Serial(serialport, 2400, timeout=0, exclusive=True)
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ser.read(1)
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reactor.pause(reactor.monotonic() + 0.100)
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# Then toggle DTR
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ser.dtr = True
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reactor.pause(reactor.monotonic() + 0.100)
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ser.dtr = False
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reactor.pause(reactor.monotonic() + 0.100)
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ser.close()
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