mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-11-03 20:05:49 +01:00
391 lines
13 KiB
Python
Executable File
391 lines
13 KiB
Python
Executable File
#!/usr/bin/env python3
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# Tool to enter a USB bootloader and flash Klipper
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#
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# Copyright (C) 2019 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 sys, os, re, subprocess, optparse, time, fcntl, termios, struct
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class error(Exception):
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pass
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# Attempt to enter bootloader via 1200 baud request
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def enter_bootloader(device):
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try:
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f = open(device, 'rb')
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fd = f.fileno()
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fcntl.ioctl(fd, termios.TIOCMBIS, struct.pack('I', termios.TIOCM_DTR))
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t = termios.tcgetattr(fd)
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t[4] = t[5] = termios.B1200
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sys.stderr.write("Entering bootloader on %s\n" % (device,))
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termios.tcsetattr(fd, termios.TCSANOW, t)
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fcntl.ioctl(fd, termios.TIOCMBIC, struct.pack('I', termios.TIOCM_DTR))
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f.close()
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except (IOError, OSError) as e:
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pass
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# Translate a serial device name to a stable serial name in /dev/serial/by-path/
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def translate_serial_to_tty(device):
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ttyname = os.path.realpath(device)
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if not os.path.exists('/dev/serial/by-path/'):
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raise error("Unable to find serial 'by-path' folder")
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for fname in os.listdir('/dev/serial/by-path/'):
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fname = '/dev/serial/by-path/' + fname
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if os.path.realpath(fname) == ttyname:
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return ttyname, fname
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return ttyname, ttyname
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# Translate a serial device name to a usb path (suitable for dfu-util)
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def translate_serial_to_usb_path(device):
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realdev = os.path.realpath(device)
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fname = os.path.basename(realdev)
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try:
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lname = os.readlink("/sys/class/tty/" + fname)
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except OSError as e:
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raise error("Unable to find tty device")
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ttypath_r = re.compile(r".*/usb\d+.*/(?P<path>\d+-[0-9.]+):\d+\.\d+/.*")
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m = ttypath_r.match(lname)
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if m is None:
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raise error("Unable to find tty usb device")
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devpath = os.path.realpath("/sys/class/tty/%s/device" % (fname,))
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return m.group("path"), devpath
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# Wait for a given path to appear
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def wait_path(path, alt_path=None):
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time.sleep(.100)
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start_alt_path = None
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end_time = time.time() + 4.0
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while 1:
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time.sleep(0.100)
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cur_time = time.time()
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if os.path.exists(path):
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sys.stderr.write("Device reconnect on %s\n" % (path,))
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time.sleep(0.100)
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return path
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if alt_path is not None and os.path.exists(alt_path):
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if start_alt_path is None:
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start_alt_path = cur_time
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continue
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if cur_time >= start_alt_path + 0.300:
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sys.stderr.write("Device reconnect on alt path %s\n" % (
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alt_path,))
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return alt_path
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if cur_time > end_time:
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return path
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CANBOOT_ID ="1d50:6177"
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def detect_canboot(devpath):
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usbdir = os.path.dirname(devpath)
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try:
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with open(os.path.join(usbdir, "idVendor")) as f:
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vid = f.read().strip().lower()
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with open(os.path.join(usbdir, "idProduct")) as f:
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pid = f.read().strip().lower()
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except Exception:
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return False
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usbid = "%s:%s" % (vid, pid)
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return usbid == CANBOOT_ID
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def call_flashcan(device, binfile):
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try:
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import serial
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except ModuleNotFoundError:
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sys.stderr.write(
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"Python's pyserial module is required to update. Install\n"
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"with the following command:\n"
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" %s -m pip install pyserial\n\n" % (sys.executable,)
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)
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sys.exit(-1)
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args = [sys.executable, "lib/canboot/flash_can.py", "-d",
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device, "-f", binfile]
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sys.stderr.write(" ".join(args) + '\n\n')
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res = subprocess.call(args)
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if res != 0:
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sys.stderr.write("Error running flash_can.py\n")
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sys.exit(-1)
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def flash_canboot(options, binfile):
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ttyname, pathname = translate_serial_to_tty(options.device)
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call_flashcan(pathname, binfile)
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# Flash via a call to bossac
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def flash_bossac(device, binfile, extra_flags=[]):
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ttyname, pathname = translate_serial_to_tty(device)
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enter_bootloader(pathname)
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pathname = wait_path(pathname, ttyname)
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baseargs = ["lib/bossac/bin/bossac", "-U", "-p", pathname]
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args = baseargs + extra_flags + ["-w", binfile, "-v"]
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sys.stderr.write(" ".join(args) + '\n\n')
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res = subprocess.call(args)
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if res != 0:
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raise error("Error running bossac")
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if "-R" not in extra_flags:
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args = baseargs + ["-b", "-R"]
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try:
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subprocess.check_output(args, stderr=subprocess.STDOUT)
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if "-b" not in extra_flags:
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wait_path(pathname)
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subprocess.check_output(args, stderr=subprocess.STDOUT)
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except subprocess.CalledProcessError as e:
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pass
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# Invoke the dfu-util program
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def call_dfuutil(flags, binfile, sudo):
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args = ["dfu-util"] + flags + ["-D", binfile]
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if sudo:
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args.insert(0, "sudo")
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sys.stderr.write(" ".join(args) + '\n\n')
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res = subprocess.call(args)
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if res != 0:
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raise error("Error running dfu-util")
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# Flash via a call to dfu-util
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def flash_dfuutil(device, binfile, extra_flags=[], sudo=True):
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hexfmt_r = re.compile(r"^[a-fA-F0-9]{4}:[a-fA-F0-9]{4}$")
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if hexfmt_r.match(device.strip()):
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call_dfuutil(["-d", ","+device.strip()] + extra_flags, binfile, sudo)
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return
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ttyname, serbypath = translate_serial_to_tty(device)
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buspath, devpath = translate_serial_to_usb_path(device)
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enter_bootloader(device)
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pathname = wait_path(devpath)
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if detect_canboot(devpath):
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call_flashcan(serbypath, binfile)
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else:
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call_dfuutil(["-p", buspath] + extra_flags, binfile, sudo)
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def call_hidflash(binfile, sudo):
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args = ["lib/hidflash/hid-flash", binfile]
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if sudo:
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args.insert(0, "sudo")
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sys.stderr.write(" ".join(args) + '\n\n')
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res = subprocess.call(args)
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if res != 0:
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raise error("Error running hid-flash")
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# Flash via call to hid-flash
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def flash_hidflash(device, binfile, sudo=True):
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hexfmt_r = re.compile(r"^[a-fA-F0-9]{4}:[a-fA-F0-9]{4}$")
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if hexfmt_r.match(device.strip()):
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call_hidflash(binfile, sudo)
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return
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ttyname, serbypath = translate_serial_to_tty(device)
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buspath, devpath = translate_serial_to_usb_path(device)
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enter_bootloader(device)
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pathname = wait_path(devpath)
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if detect_canboot(devpath):
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call_flashcan(serbypath, binfile)
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else:
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call_hidflash(binfile, sudo)
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# Call Klipper modified "picoboot"
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def call_picoboot(bus, addr, binfile, sudo):
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args = ["lib/rp2040_flash/rp2040_flash", binfile]
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if bus is not None:
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args.extend([bus, addr])
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if sudo:
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args.insert(0, "sudo")
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sys.stderr.write(" ".join(args) + '\n\n')
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res = subprocess.call(args)
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if res != 0:
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raise error("Error running rp2040_flash")
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# Flash via Klipper modified "picoboot"
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def flash_picoboot(device, binfile, sudo):
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ttyname, serbypath = translate_serial_to_tty(device)
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buspath, devpath = translate_serial_to_usb_path(device)
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# We need one level up to get access to busnum/devnum files
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usbdir = os.path.dirname(devpath)
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enter_bootloader(device)
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wait_path(usbdir + "/busnum")
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with open(usbdir + "/busnum") as f:
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bus = f.read().strip()
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with open(usbdir + "/devnum") as f:
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addr = f.read().strip()
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if detect_canboot(devpath):
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call_flashcan(serbypath, binfile)
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else:
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call_picoboot(bus, addr, binfile, sudo)
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######################################################################
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# Device specific helpers
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######################################################################
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def flash_atsam3(options, binfile):
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try:
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flash_bossac(options.device, binfile, ["-e", "-b"])
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except error as e:
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sys.stderr.write("Failed to flash to %s: %s\n" % (
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options.device, str(e)))
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sys.exit(-1)
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def flash_atsam4(options, binfile):
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try:
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flash_bossac(options.device, binfile, ["-e"])
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except error as e:
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sys.stderr.write("Failed to flash to %s: %s\n" % (
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options.device, str(e)))
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sys.exit(-1)
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def flash_atsamd(options, binfile):
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extra_flags = ["--offset=0x%x" % (options.start,), "-b", "-R"]
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try:
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flash_bossac(options.device, binfile, extra_flags)
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except error as e:
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sys.stderr.write("Failed to flash to %s: %s\n" % (
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options.device, str(e)))
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sys.exit(-1)
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SMOOTHIE_HELP = """
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Failed to flash to %s: %s
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If flashing Klipper to a Smoothieboard for the first time it may be
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necessary to manually place the board into "bootloader mode" - press
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and hold the "Play button" and then press and release the "Reset
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button".
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When a Smoothieboard is in bootloader mode it can be flashed with the
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following command:
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make flash FLASH_DEVICE=1d50:6015
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Alternatively, one can flash a Smoothieboard via SD card - copy the
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"out/klipper.bin" file to a file named "firmware.bin" on an SD card
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and then restart the Smoothieboard with that SD card.
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"""
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def flash_lpc176x(options, binfile):
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try:
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flash_dfuutil(options.device, binfile, [], options.sudo)
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except error as e:
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sys.stderr.write(SMOOTHIE_HELP % (options.device, str(e)))
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sys.exit(-1)
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STM32F1_HELP = """
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Failed to flash to %s: %s
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If the device is already in bootloader mode it can be flashed with the
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following command:
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make flash FLASH_DEVICE=1eaf:0003
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OR
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make flash FLASH_DEVICE=1209:beba
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If attempting to flash via 3.3V serial, then use:
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make serialflash FLASH_DEVICE=%s
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"""
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def flash_stm32f1(options, binfile):
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try:
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if options.start == 0x8000800:
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flash_hidflash(options.device, binfile, options.sudo)
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else:
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flash_dfuutil(options.device, binfile, ["-R", "-a", "2"],
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options.sudo)
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except error as e:
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sys.stderr.write(STM32F1_HELP % (
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options.device, str(e), options.device))
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sys.exit(-1)
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STM32F4_HELP = """
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Failed to flash to %s: %s
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If the device is already in bootloader mode it can be flashed with the
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following command:
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make flash FLASH_DEVICE=0483:df11
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OR
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make flash FLASH_DEVICE=1209:beba
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If attempting to flash via 3.3V serial, then use:
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make serialflash FLASH_DEVICE=%s
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"""
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def flash_stm32f4(options, binfile):
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start = "0x%x:leave" % (options.start,)
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try:
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if options.start == 0x8004000:
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flash_hidflash(options.device, binfile, options.sudo)
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else:
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flash_dfuutil(options.device, binfile,
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["-R", "-a", "0", "-s", start], options.sudo)
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except error as e:
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sys.stderr.write(STM32F4_HELP % (
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options.device, str(e), options.device))
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sys.exit(-1)
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RP2040_HELP = """
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Failed to flash to %s: %s
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If the device is already in bootloader mode it can be flashed with the
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following command:
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make flash FLASH_DEVICE=%s
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Alternatively, one can flash rp2040 boards like the Pico by manually
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entering bootloader mode(hold bootsel button during powerup), mount the
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device as a usb drive, and copy klipper.uf2 to the device.
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"""
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def flash_rp2040(options, binfile):
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rawdev = "2e8a:0003"
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if options.mcutype == 'rp2350':
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rawdev = "2e8a:000f"
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try:
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if options.device.lower() == rawdev:
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call_picoboot(None, None, binfile, options.sudo)
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else:
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flash_picoboot(options.device, binfile, options.sudo)
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except error as e:
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sys.stderr.write(RP2040_HELP % (options.device, str(e), rawdev))
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sys.exit(-1)
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MCUTYPES = {
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'sam3': flash_atsam3, 'sam4': flash_atsam4, 'same70': flash_atsam4,
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'samd': flash_atsamd, 'same5': flash_atsamd,
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'lpc176': flash_lpc176x, 'stm32f103': flash_stm32f1,
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'stm32f4': flash_stm32f4, 'stm32f042': flash_stm32f4,
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'stm32f070': flash_stm32f4, 'stm32f072': flash_stm32f4,
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'stm32g0b1': flash_stm32f4, 'stm32f7': flash_stm32f4,
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'stm32h7': flash_stm32f4, 'stm32l4': flash_stm32f4,
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'stm32g4': flash_stm32f4, 'rp2': flash_rp2040,
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}
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######################################################################
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# Startup
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######################################################################
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def main():
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usage = "%prog [options] -t <type> -d <device> <klipper.bin>"
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opts = optparse.OptionParser(usage)
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opts.add_option("-t", "--type", type="string", dest="mcutype",
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help="micro-controller type")
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opts.add_option("-d", "--device", type="string", dest="device",
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help="serial port device")
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opts.add_option("-s", "--start", type="int", dest="start",
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help="start address in flash")
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opts.add_option("--no-sudo", action="store_false", dest="sudo",
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default=True, help="do not run sudo")
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options, args = opts.parse_args()
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if len(args) != 1:
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opts.error("Incorrect number of arguments")
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flash_func = None
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if options.mcutype:
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for prefix, func in MCUTYPES.items():
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if options.mcutype.startswith(prefix):
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flash_func = func
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break
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if flash_func is None:
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opts.error("USB flashing is not supported for MCU '%s'"
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% (options.mcutype,))
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if not options.device:
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sys.stderr.write("\nPlease specify FLASH_DEVICE\n\n")
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sys.exit(-1)
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flash_func(options, args[0])
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if __name__ == '__main__':
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main()
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