From 350a0ff2d835493ed7bcb099a7165ed39f2ecd3c Mon Sep 17 00:00:00 2001 From: Kristian Sloth Lauszus Date: Wed, 24 Jan 2024 18:48:12 +0100 Subject: [PATCH] Initial commit --- .gitattributes | 12 + .github/workflows/ci.yml | 86 ++++ .gitignore | 9 + LICENSE | 674 ++++++++++++++++++++++++++++++++ README.md | 104 +++++ pybldc/__init__.py | 28 ++ pybldc/__main__.py | 27 ++ pybldc/py.typed | 0 pybldc/pybldc.py | 818 +++++++++++++++++++++++++++++++++++++++ pyproject.toml | 84 ++++ requirements.txt | 4 + 11 files changed, 1846 insertions(+) create mode 100644 .gitattributes create mode 100644 .github/workflows/ci.yml create mode 100644 .gitignore create mode 100644 LICENSE create mode 100644 README.md create mode 100644 pybldc/__init__.py create mode 100644 pybldc/__main__.py create mode 100644 pybldc/py.typed create mode 100644 pybldc/pybldc.py create mode 100644 pyproject.toml create mode 100644 requirements.txt diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..08c4987 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,12 @@ +# Set the default behavior, in case people don't have core.autocrlf set. +* text=auto + +# Explicitly declare text files you want to always be normalized and converted to native line endings on checkout. +*.txt text +*.csv text +*.py text +*.kv text +*.ini text +*.md text +*.sh text +*.service text diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..24bfef3 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,86 @@ +name: CI + +on: [push] + +jobs: + checks: + name: Checks + runs-on: ubuntu-22.04 + timeout-minutes: 5 + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.8 + uses: actions/setup-python@v4 + with: + python-version: "3.8" + - name: Cache pip + uses: actions/cache@v4 + with: + path: ~/.cache/pip + key: ${{ runner.os }}-3.8-${{ hashFiles('requirements.txt') }} + - name: Update pip + run: pip install .[extra] + - name: Check formatting with Black + run: black --check --diff . + - name: Lint with flake8 + run: flake8 . + - name: Static type checking + run: | + # Use mypy for static type checking + mkdir -p .mypy_cache # Workaround issue with mypy: https://github.com/tk-woven/mypy-install-types-mre + mypy --install-types --non-interactive . + dist: + name: Build dist + runs-on: ubuntu-22.04 + timeout-minutes: 5 + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.8 + uses: actions/setup-python@v4 + with: + python-version: "3.8" + - name: Install dependencies + run: | + pip install -U pip setuptools wheel + pip install -U build + - name: Build dist + run: python -m build --sdist --wheel + - name: Upload dist as artifact + uses: actions/upload-artifact@v4 + with: + name: pybldc-${{ github.sha }} + path: dist + release: + needs: [checks, dist] + name: Release + runs-on: ubuntu-22.04 + timeout-minutes: 5 + if: startsWith(github.ref, 'refs/tags/') + steps: + - name: Set up Python 3.8 + uses: actions/setup-python@v4 + with: + python-version: "3.8" + - uses: actions/download-artifact@v4 + with: + name: pybldc-${{ github.sha }} + path: pybldc + - name: Publish to PyPI server + id: pypi + run: | + pip install -U pip setuptools wheel + pip install -U twine + twine check pybldc/* + twine upload -u ${{ secrets.PYPI_USERNAME }} -p ${{ secrets.PYPI_PASSWORD }} pybldc/* + - name: Calculate checksums + run: | + pushd pybldc + sha256sum * > SHA256SUMS + popd + - name: Publish to Github Release + if: ${{ ! cancelled() && steps.pypi.conclusion == 'success' }} + uses: softprops/action-gh-release@v1 + with: + files: pybldc/* + draft: true + fail_on_unmatched_files: true diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5c7cc61 --- /dev/null +++ b/.gitignore @@ -0,0 +1,9 @@ +*.pyc +.idea/ +venv*/ +.eggs/ +*.egg-info/ +build/ +dist/ +*.bin +__pycache__/ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md new file mode 100644 index 0000000..637a0f6 --- /dev/null +++ b/README.md @@ -0,0 +1,104 @@ +# pybldc + +#### Developed by Kristian Sloth Lauszus, 2024 + +The code is released under the GNU General Public License v3.0. +_________ +[![PyPI](https://img.shields.io/pypi/v/pybldc.svg)](https://pypi.org/project/pybldc) +[![CI](https://github.com/Lauszus/pybldc/actions/workflows/ci.yml/badge.svg)](https://github.com/Lauszus/pybldc/actions/workflows/ci.yml) + +## Purpose + +This tool allows you to flash a VESC via CAN-bus or serial/USB using Python. + +## Installation and running + +To install: + +```bash +pip install . +``` + +Or install the latest release from PyPI: + +```bash +pip3 install -U pybldc +``` + +### CLI + +A handy CLI tool is included: + +```bash +$ pybldc -h +usage: pybldc [-id CONTROLLER_ID] [-i INTERFACE] [-l CHANNEL] [-p PORT] [-h] [--version] [-B BINARY] [--bootloader] [-t TIMEOUT] [-r PING_REPEAT] [-b BAUDRATE] [--debug] {can,serial} {upload,ping,reset} + +positional arguments: + {can,serial} Communicate with the target via either CAN or serial + {upload,ping,reset} upload: write BINARY + ping: send a ping command to the target and check for a response + reset: send a reset command to the target and check for a response + +required CAN arguments: + -id CONTROLLER_ID, --controller-id CONTROLLER_ID + The VESC ID used for communication + +optional CAN arguments: + -i INTERFACE, --interface INTERFACE + The CAN-Bus interface to use (default "socketcan") + -l CHANNEL, --channel CHANNEL + The CAN-Bus channel to use (default "can0") + +required serial arguments: + -p PORT, --port PORT The port to use for serial + +optional arguments: + -h, --help Show this help message and exit + --version Show program's version number and exit + -B BINARY, --binary BINARY + The binary to upload + --bootloader The binary to upload is a bootloader + -t TIMEOUT, --timeout TIMEOUT + The time to wait in seconds for a response (default 5.0) + -r PING_REPEAT, --ping-repeat PING_REPEAT + The number of times to try to establish a connection by pinging the VESC (default 3) + -b BAUDRATE, --baudrate BAUDRATE, --bitrate BAUDRATE + The baudrate/bitrate to use for serial/can (defaults to 115200 for serial and 500000 for CAN) + --debug Turn on debug logs +``` + +__Upload__ + +``` +pybldc can upload -id 1 -B VESC.bin +``` + +``` +pybldc serial upload -p /dev/ttyACM0 -B VESC.bin +``` + +__Ping__ + +``` +pybldc can ping -id 1 +``` + +``` +pybldc serial ping -p /dev/ttyACM0 +``` + +__Reset__ + +``` +pybldc can reset -id 1 +``` + +``` +pybldc serial reset -p /dev/ttyACM0 +``` + +## Credit + +* VESC firmware: https://github.com/vedderb/bldc +* VESC bootloader: https://github.com/vedderb/bldc-bootloader +* VESC Tool: https://github.com/vedderb/vesc_tool diff --git a/pybldc/__init__.py b/pybldc/__init__.py new file mode 100644 index 0000000..3f8141c --- /dev/null +++ b/pybldc/__init__.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +# +# Copyright (C) 2024 Kristian Sloth Lauszus. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . +# +# Contact information +# ------------------- +# Kristian Sloth Lauszus +# Web : https://www.lauszus.com +# e-mail : lauszus@gmail.com + +__version__ = "0.0.0" + +__all__ = ["PyBldcCan", "PyBldcSerial"] + +from .pybldc import PyBldcCan, PyBldcSerial diff --git a/pybldc/__main__.py b/pybldc/__main__.py new file mode 100644 index 0000000..5030b6c --- /dev/null +++ b/pybldc/__main__.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +# +# Copyright (C) 2024 Kristian Sloth Lauszus. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . +# +# Contact information +# ------------------- +# Kristian Sloth Lauszus +# Web : https://www.lauszus.com +# e-mail : lauszus@gmail.com + +if __name__ == "__main__": + from .pybldc import cli + + cli() diff --git a/pybldc/py.typed b/pybldc/py.typed new file mode 100644 index 0000000..e69de29 diff --git a/pybldc/pybldc.py b/pybldc/pybldc.py new file mode 100644 index 0000000..a38ded8 --- /dev/null +++ b/pybldc/pybldc.py @@ -0,0 +1,818 @@ +#!/usr/bin/env python +# +# Copyright (C) 2024 Kristian Sloth Lauszus. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . +# +# Contact information +# ------------------- +# Kristian Sloth Lauszus +# Web : https://www.lauszus.com +# e-mail : lauszus@gmail.com + +import abc +import argparse +import logging +import queue +import threading +import time +from enum import IntEnum +from timeit import default_timer as timer +from types import TracebackType +from typing import Any, Generator, List, Optional, Type, Union, cast + +import can +import heatshrink2 +import serial +from tqdm import tqdm + +from . import __version__ + + +class CanPacketId(IntEnum): + CAN_PACKET_FILL_RX_BUFFER = 5 # Fill 7 bytes at a time + CAN_PACKET_FILL_RX_BUFFER_LONG = 6 # Fill 6 bytes + CAN_PACKET_PROCESS_RX_BUFFER = 7 # Process the received byte + CAN_PACKET_PROCESS_SHORT_BUFFER = 8 # Used when sending data <= 6 + CAN_PACKET_PING = 17 + CAN_PACKET_PONG = 18 + + +class CommPacketId(IntEnum): + COMM_JUMP_TO_BOOTLOADER = 1 + COMM_ERASE_NEW_APP = 2 + COMM_WRITE_NEW_APP_DATA = 3 + COMM_REBOOT = 29 + COMM_ERASE_BOOTLOADER = 73 + + +class HwType(IntEnum): + HW_TYPE_VESC = 0 + HW_TYPE_VESC_BMS = 1 + HW_TYPE_CUSTOM_MODULE = 2 + + +def crc16_ccitt(buf: Union[bytes, List[int]]) -> int: + # fmt:off + crc16_ccitt_table = [0x0000, 0x1021, 0x2042, 0x3063, 0x4084, + 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, + 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, + 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, + 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, + 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, + 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, + 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, + 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, + 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, + 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, + 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, + 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, + 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, + 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, + 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, + 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, + 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, + 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, + 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, + 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, + 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, + 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, + 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, + 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, + 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, + 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, + 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, + 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0] + # fmt: on + + cksum = 0 + for b in buf: + cksum = (crc16_ccitt_table[((cksum >> 8) ^ b) & 0xFF] ^ (cksum << 8)) & 0xFFFF + return cksum + + +class PyBldcBase: + def __init__( + self, + logger: logging.Logger, + ) -> None: + self._logger = logger + + def __enter__(self) -> "PyBldcBase": + return self + + def __exit__(self, exc_type: Type[BaseException], exc_value: BaseException, traceback: TracebackType) -> None: + self.shutdown() + + @abc.abstractmethod + def shutdown(self, timeout: float = 1.0) -> None: + pass + + @staticmethod + def chunks(lst: List[int], n: int) -> Generator[List[int], None, None]: + for i in range(0, len(lst), n): + yield lst[i : i + n] + + def upload( + self, + binary_filename: str, + timeout: float = 5.0, + ping_repeat: int = 3, + attempts: int = 1, + is_bootloader: bool = False, + ) -> Generator[Union[float, bool], None, None]: + if attempts < 1: + raise ValueError('PyBldcBase: "attempts" has to be greater than 0') + + # Read the binary data from the file + self._logger.info( + f'PyBldcBase: Uploading "{binary_filename}" via {"CAN" if isinstance(self, PyBldcCan) else "serial"}' + ) + + upload_result = False + for _ in range(attempts): + # Yield a progress while uploading and store the return value + upload_result = yield from self._upload(binary_filename, timeout, ping_repeat, is_bootloader=is_bootloader) + + if upload_result: + # Uploading was successful + break + + # Finally yield the result + yield upload_result + + @staticmethod + def _pack_uint16(data: int) -> List[int]: + return [ + (data >> 8) & 0xFF, + data & 0xFF, + ] + + @staticmethod + def _pack_uint24(data: int) -> List[int]: + return [ + (data >> 16) & 0xFF, + (data >> 8) & 0xFF, + data & 0xFF, + ] + + @staticmethod + def _pack_uint32(data: int) -> List[int]: + return [ + (data >> 24) & 0xFF, + (data >> 16) & 0xFF, + (data >> 8) & 0xFF, + data & 0xFF, + ] + + def _upload( + self, + binary_filename: str, + timeout: float, + ping_repeat: int, + is_bootloader: bool = False, + ) -> Generator[float, None, bool]: + # 1. Try to ping the target x times to make sure we can communicate with it + for i in range(ping_repeat): + if self.ping(timeout=timeout): + self._logger.info(f"PyBldcBase: Found VESC in {i + 1} attempt(s)") + break + else: + self._logger.warning("Timed out waiting for ping response for VESC") + return False + + # 2. Load the binary + with open(binary_filename, "rb") as f: + binary_data = f.read() + + # 3. Erase the region of memory where application will be located + binary_data_len = len(binary_data) + if is_bootloader: + self._logger.info("PyBldcBase: Erasing bootloader") + if not self._send_implementation( + [CommPacketId.COMM_ERASE_BOOTLOADER], + [], + timeout=timeout, + ): + self._logger.error('PyBldcBase: "COMM_ERASE_BOOTLOADER" response failed for VESC') + return False + else: + self._logger.info(f"PyBldcBase: Erasing {binary_data_len} bytes") + if not self._send_implementation( + [ + CommPacketId.COMM_ERASE_NEW_APP, + ] + + PyBldcBase._pack_uint32(binary_data_len), + [], + timeout=timeout, + ): + self._logger.error('PyBldcBase: "COMM_ERASE_NEW_APP" response failed for VESC') + return False + + # 4. Compress the binary if needed + # Note: This is not supported for bootloaders + if binary_data_len > 393208: + self._logger.info(f"PyBldcBase: Compression is required, as binary data is large: {binary_data_len}") + binary_data = heatshrink2.encode( + binary_data, + window_sz2=13, + lookahead_sz2=5, + ) + self._logger.info(f"PyBldcBase: Size after compression: {len(binary_data)}") + + if len(binary_data) > 393208: + self._logger.info("PyBldcBase: The firmware is too big even after compression") + return False + + # "0xCC" is used to indicate to the bootloader that the data is compressed + # See: https://github.com/vedderb/bldc-bootloader/blob/master/main.c + binary_data_len = (0xCC << 24) | len(binary_data) + + # 5. Upload a new program chunk by chunk + # For bootloaders: + # Simply upload the bootloader binary + # For applications: + # The first 4 bytes must be set to the size of the new main program + # The next 2 bytes are a CRC-checksum of the new main program + # The next bytes is the program binary + binary_data_crc16 = crc16_ccitt(binary_data) + self._logger.info(f"PyBldcBase: Uploading binary with checksum: {binary_data_crc16}") + + if is_bootloader: + app_data = list(binary_data) + else: + app_data = ( + PyBldcBase._pack_uint32(binary_data_len) + + PyBldcBase._pack_uint16(binary_data_crc16) + + list(binary_data) + ) + + chunk_size = 384 # This is the same size as the VESC Tool uses + + if is_bootloader: + # The location of the bootloader depends on the type of hardware + if isinstance(self, PyBldcCan): + if self._can_listener.hw_type == HwType.HW_TYPE_CUSTOM_MODULE: + raise ValueError("HW_TYPE_CUSTOM_MODULE is not supported") + elif self._can_listener.hw_type == HwType.HW_TYPE_VESC_BMS: + start_addr = 0x0803E000 - 0x08020000 + else: + start_addr = 1024 * 128 * 3 + else: + # TODO: Determine HW type when connected via serial + start_addr = 1024 * 128 * 3 + else: + # Regular applications are always uploaded to address 0 + start_addr = 0 + + data_sent = 0 + yield 0.0 # The progress starts at 0 % + for i, d in enumerate(PyBldcBase.chunks(app_data, chunk_size)): + offset = start_addr + (chunk_size * i) + offset_list = PyBldcBase._pack_uint32(offset) + if not self._send_implementation( + [CommPacketId.COMM_WRITE_NEW_APP_DATA] + offset_list + d, + expected_response=offset_list, + timeout=timeout, + ): + self._logger.error('PyBldcBase: "COMM_WRITE_NEW_APP_DATA" response failed for VESC') + return False + + # Yield the progress in percent + data_sent += len(d) + yield data_sent / len(app_data) * 100.0 + + if not is_bootloader: + # 6. Call the bootloader + # Note: This does not have a response + _ = self._send_implementation([CommPacketId.COMM_JUMP_TO_BOOTLOADER], [], timeout=0.0) + + return True + + @abc.abstractmethod + def ping(self, timeout: float = 1.0) -> bool: + pass + + def reset(self) -> None: + self._logger.info("PyBldcBase: Sending reset command") + + # Note: This does not have a response + _ = self._send_implementation([CommPacketId.COMM_REBOOT], [], timeout=0.0) + + def _wait_for_packet_response( + self, + packet_queue: queue.Queue[List[int]], + comm_packet_id: CommPacketId, + expected_response: List[int], + timeout: float, + ) -> Optional[bool]: + if timeout == 0.0: + # We do not actually care about the answer, so return immediately + return None + + start = timer() + while True: + dt = timer() - start + if dt >= timeout: + return False + + try: + response = packet_queue.get(timeout=timeout - dt) + self._logger.debug(f"PyBldcBase: Received packet response: {response}, expected: {expected_response}") + + # Make sure it replies with the command as the first byte and "OK" as the second byte + # Some commands repeat the data + if response[0] == comm_packet_id: + return response[1] == 1 and response[2:] == expected_response + except queue.Empty: + return False + + @abc.abstractmethod + def _send_implementation(self, data: List[int], expected_response: List[int], timeout: float) -> Optional[bool]: + pass + + +class PyBldcCanListener(can.Listener): + def __init__(self, can_id: int, controller_id: int, logger: logging.Logger) -> None: + super().__init__() + self._id = can_id + self._controller_id = controller_id + self._logger = logger + self._is_stopped = False + self.packet_queue: queue.Queue[List[int]] = queue.Queue() + self.pong_event = threading.Event() + self._hw_type: Optional[HwType] = None + + @property + def hw_type(self) -> Optional[HwType]: + return self._hw_type + + def on_message_received(self, msg: can.Message) -> None: + # Make sure we are not stopped and it is a valid frame + if self._is_stopped or msg.is_error_frame or msg.is_remote_frame or not msg.is_extended_id: + return + + # Decode the controller ID and packet ID + target_id = msg.arbitration_id & 0xFF + packet_id = (msg.arbitration_id >> 8) & 0xFF + + # We are only interested in frames to us + if target_id != self._id: + return + + self._logger.debug( + f"PyBldcCanListener: Received ID: 0x{msg.arbitration_id:08X}, len: {msg.dlc}, data: {list(msg.data)}" + ) + + # TODO: Add support for receiving longer packets + if packet_id == CanPacketId.CAN_PACKET_PROCESS_SHORT_BUFFER: + controller_id = msg.data[0] + send_flag = msg.data[1] # Make sure it is a response to a packet we sent + if controller_id == self._controller_id and send_flag == 1: + data = list(msg.data[2:]) # Extract the data + self.packet_queue.put_nowait(data) + elif packet_id == CanPacketId.CAN_PACKET_PONG: + controller_id = msg.data[0] + self._hw_type = cast(HwType, msg.data[1]) + if controller_id == self._controller_id: + self.pong_event.set() + + def on_error(self, exc: Exception) -> None: + # Workaround issue with errors being printed when the interface is shutting down + if not self._is_stopped: + self._logger.exception("PyBldcCanListener: on_error") + + def stop(self) -> None: + self._is_stopped = True + + +class PyBldcCan(PyBldcBase): + def __init__( + self, + logger: logging.Logger, + controller_id: int, + interface: str = "socketcan", + channel: str = "can0", + bitrate: int = 500000, + ) -> None: + super().__init__(logger=logger) + + if controller_id < 0 or controller_id >= 253: + raise ValueError('PyBldcBase: "controller_id" has to be >=0 and <253') + self._controller_id = controller_id + self._id = 253 # VESC Tool uses 254, lets use 253 + # Only receive the messages from the specified VESC + can_filters = [ + { + "can_id": self._id, + "can_mask": 0xFF, # The controller id is the first byte in the CAN ID + "extended": True, + } + ] + self._can_bus = can.Bus(interface=interface, channel=channel, can_filters=can_filters, bitrate=bitrate) + self._can_listener = PyBldcCanListener(self._id, self._controller_id, self._logger) + self._can_notifier = can.Notifier(self._can_bus, [self._can_listener]) + + def __enter__(self) -> "PyBldcCan": + return self + + def shutdown(self, timeout: float = 1.0) -> None: + self._can_notifier.stop(timeout=timeout) + self._can_bus.shutdown() + + def ping(self, timeout: float = 1.0) -> bool: + self._logger.info("PyBldcCan: Sending ping command") + self._can_listener.pong_event.clear() + self._can_send_packet(CanPacketId.CAN_PACKET_PING, [self._id]) + return self._can_listener.pong_event.wait(timeout) + + def _send_implementation(self, data: List[int], expected_response: List[int], timeout: float) -> Optional[bool]: + """ + See: "comm_can_send_buffer" in "bldc/comm/comm_can.c" and + "packetDataToSend" in "vesc_tool/vescinterface.cpp" + """ + if len(data) <= 6: + send_buffer: List[int] = [ + self._id, + 0, # Process packet at receiver and send a response + ] + list(data) + + self._can_send_packet(CanPacketId.CAN_PACKET_PROCESS_SHORT_BUFFER, send_buffer) + else: + end_a = 0 + for i in range(0, len(data), 7): + if i > 255: + break + end_a = i + 7 + + send_buffer = [i] + if i + 7 <= len(data): + send_len = 7 + else: + send_len = len(data) - i + send_buffer += data[i : i + send_len] + + self._can_send_packet(CanPacketId.CAN_PACKET_FILL_RX_BUFFER, send_buffer) + + # Just sleep a minimal time, so the CAN buffer does not get full + # TODO: Figure out how to block until the message is sent or determine if the buffer is full + time.sleep(0.0001) + + for i in range(end_a, len(data), 6): + send_buffer = PyBldcBase._pack_uint16(i) + if i + 6 <= len(data): + send_len = 6 + else: + send_len = len(data) - i + send_buffer += data[i : i + send_len] + + self._can_send_packet(CanPacketId.CAN_PACKET_FILL_RX_BUFFER_LONG, send_buffer) + + # Just sleep a minimal time, so the CAN buffer does not get full + # TODO: Figure out how to block until the message is sent or determine if the buffer is full + time.sleep(0.0001) + + send_buffer = ( + [ + self._id, + 0, # Process packet at receiver and send a response + ] + + PyBldcBase._pack_uint16(len(data)) + + PyBldcBase._pack_uint16(crc16_ccitt(data)) + ) + + self._can_send_packet(CanPacketId.CAN_PACKET_PROCESS_RX_BUFFER, send_buffer) + + # Wait for the response + return self._wait_for_packet_response( + packet_queue=self._can_listener.packet_queue, + comm_packet_id=cast(CommPacketId, data[0]), + expected_response=expected_response, + timeout=timeout, + ) + + def _can_send_packet(self, can_packet_id: CanPacketId, data: List[int]) -> None: + msg = can.Message(arbitration_id=self._controller_id | (can_packet_id << 8), data=data, is_extended_id=True) + self._logger.debug( + f"PyBldcBase: Sending ID: 0x{msg.arbitration_id:08X}, len: {msg.dlc}, data: {list(msg.data)}" + ) + self._can_bus.send(msg) + + +class PyBldcSerial(PyBldcBase): + def __init__( + self, + logger: logging.Logger, + port: str, + baudrate: int = 115200, + ) -> None: + super().__init__(logger=logger) + + # Open the serial port, but read from it in a thread, so we are not blocking the main loop + self._serial = serial.Serial(port=port, baudrate=baudrate, timeout=0.5) + self._shutdown_thread = threading.Event() + self._received_packet_queue: queue.Queue[List[int]] = queue.Queue() + self._thread = threading.Thread( + target=self._serial_read_thread, + name="_serial_read_thread", + args=( + self._serial, + self._shutdown_thread, + self._logger, + self._received_packet_queue, + ), + ) + self._thread.daemon = False # Make sure the application joins this before closing down + self._thread.start() + + def __enter__(self) -> "PyBldcSerial": + return self + + def shutdown(self, timeout: float = 1.0) -> None: + self._shutdown_thread.set() + self._thread.join(timeout=timeout) + self._serial.close() + + def ping(self, timeout: float = 1.0) -> bool: + # We assume that we can ping it if the serial port is open + return bool(self._serial.is_open) + + def _send_implementation(self, data: List[int], expected_response: List[int], timeout: float) -> Optional[bool]: + if len(data) <= 255: + send_buffer = [ + 2, # Start of data + len(data) & 0xFF, # Length of data as 8-bits + ] + elif len(data) <= 65535: + send_buffer = [ + 3, # Start of data + *PyBldcBase._pack_uint16(len(data)), # Length of data as 16-bits + ] + else: + send_buffer = [ + 4, # Start of data + *PyBldcBase._pack_uint24(len(data)), # Length of data as 24-bits + ] + + send_buffer.extend(data) # Data + send_buffer.extend(PyBldcBase._pack_uint16(crc16_ccitt(data))) # Checksum + send_buffer.append(3) # Stop byte + + # Send the buffer on the serial interface + self._serial.write(send_buffer) + + # Wait for the response + return self._wait_for_packet_response( + packet_queue=self._received_packet_queue, + comm_packet_id=cast(CommPacketId, data[0]), + expected_response=expected_response, + timeout=timeout, + ) + + @staticmethod + def _serial_read_thread( + ser: Any, + shutdown_event: threading.Event, + logger: logging.Logger, + received_packet_queue: queue.Queue[List[int]], + ) -> None: + try: + data_buffer = bytearray() + while not shutdown_event.is_set() and ser.is_open: + data = ser.read() + if data: + data_buffer += data + + while True: + # Based on "try_decode_packet" in "vesc_tool/packet.cpp" + if len(data_buffer) == 0: + break + + is_len_8b = data_buffer[0] == 2 + is_len_16b = data_buffer[0] == 3 + is_len_24b = data_buffer[0] == 4 + + if not is_len_8b and not is_len_16b and not is_len_24b: + logger.warning(f"_serial_read_thread: Discarding invalid data: {data_buffer[0]}") + data_buffer = data_buffer[1:] # Discard the fist byte + continue + + data_start = data_buffer[0] + if len(data_buffer) < data_start: + # We need more data before we can read the data + break + + if is_len_8b: + data_len = data_buffer[1] + if data_len < 1: + logger.warning(f"_serial_read_thread: Data len is not valid: {data_len} < 1") + data_buffer = data_buffer[1:] # Discard the fist byte + continue + elif is_len_16b: + data_len = data_buffer[1] << 8 | data_buffer[2] + if data_len < 255: + logger.warning(f"_serial_read_thread: Packet is too short: {data_len} < 255") + data_buffer = data_buffer[1:] # Discard the fist byte + continue + else: + data_len = data_buffer[1] << 16 | data_buffer[2] << 8 | data_buffer[3] + if data_len < 65535: + logger.warning(f"_serial_read_thread: Packet is too short: {data_len} < 65535") + data_buffer = data_buffer[1:] # Discard the fist byte + continue + + if len(data_buffer) < data_len + data_start + 3: + # Need more data to determine rest of packet + break + + parsed_data = data_buffer[data_start : data_start + data_len] + if ( + crc16_ccitt(parsed_data) + != data_buffer[data_start + data_len] << 8 | data_buffer[data_start + data_len + 1] + ): + logger.warning("_serial_read_thread: CRC failed") + data_buffer = data_buffer[1:] # Discard the fist byte + continue + + stop_byte = data_buffer[data_start + data_len + 2] + if stop_byte != 3: + logger.warning(f"_serial_read_thread: Invalid stop byte: {stop_byte}") + data_buffer = data_buffer[1:] # Discard the fist byte + continue + + # The data is now parsed, so advance the buffer to the next message + data_buffer = data_buffer[data_start + data_len + 3 :] + received_packet_queue.put_nowait(list(parsed_data)) + + logger.debug(f"_serial_read_thread: Packet response: {list(parsed_data)})") + except serial.serialutil.SerialException: + # This is triggered when the VESC jumps to the bootloader, so just ignore it + logger.debug('BlhostSerial: Caught SerialException exception in "_serial_read_thread"', exc_info=True) + except Exception: + logger.exception('BlhostSerial: Caught exception in "_serial_read_thread"') + + +def cli() -> None: + parser = argparse.ArgumentParser(prog="pybldc", add_help=False, formatter_class=argparse.RawTextHelpFormatter) + parser.add_argument( + "hw_interface", help="Communicate with the target via either CAN or serial", choices=["can", "serial"] + ) + parser.add_argument( + "command", + help="upload: write BINARY\n" + "ping: send a ping command to the target and check for a response\n" + "reset: send a reset command to the target and check for a response", + choices=["upload", "ping", "reset"], + ) + + # Options for "can" + required_can = parser.add_argument_group("required CAN arguments") + required_can.add_argument("-id", "--controller-id", help="The VESC ID used for communication") + + optional_can = parser.add_argument_group("optional CAN arguments") + optional_can.add_argument( + "-i", "--interface", help='The CAN-Bus interface to use (default "socketcan")', default="socketcan" + ) + optional_can.add_argument("-l", "--channel", help='The CAN-Bus channel to use (default "can0")', default="can0") + + # Options for "serial" + required_serial = parser.add_argument_group("required serial arguments") + required_serial.add_argument("-p", "--port", help="The port to use for serial") + + # Common optional arguments + optional = parser.add_argument_group("optional arguments") + optional.add_argument("-h", "--help", action="help", help="Show this help message and exit") + optional.add_argument( + "--version", + action="version", + help="Show program's version number and exit", + version=f"%(prog)s {__version__}", + ) + optional.add_argument("-B", "--binary", help="The binary to upload") + optional.add_argument( + "--bootloader", + help="The binary to upload is a bootloader", + action="store_true", + ) + optional.add_argument( + "-t", + "--timeout", + help="The time to wait in seconds for a response (default 5.0)", + default=5.0, + type=float, + ) + optional.add_argument( + "-r", + "--ping-repeat", + help="The number of times to try to establish a connection by pinging the VESC (default 3)", + default=3, + type=int, + ) + optional.add_argument( + "-b", + "--baudrate", + "--bitrate", + help="The baudrate/bitrate to use for serial/can (defaults to 115200 for serial and 500000 for CAN)", + ) + optional.add_argument( + "--debug", + help="Turn on debug logs", + action="store_true", + ) + + parsed_args = parser.parse_args() + if parsed_args.hw_interface == "can": + if parsed_args.controller_id is None: + parser.print_help() + exit(1) + PyBldcImpl: Type[PyBldcBase] = PyBldcCan + kwargs = { + "controller_id": int(parsed_args.controller_id, base=0), + "interface": parsed_args.interface, + "channel": parsed_args.channel, + } + if parsed_args.baudrate is not None: + kwargs["bitrate"] = parsed_args.baudrate + else: + if parsed_args.port is None: + parser.print_help() + exit(1) + PyBldcImpl = PyBldcSerial + kwargs = { + "port": parsed_args.port, + } + if parsed_args.baudrate is not None: + kwargs["baudrate"] = parsed_args.baudrate + + # Print all log output directly in the terminal + logger = logging.getLogger(__name__) + logger.setLevel(logging.DEBUG if parsed_args.debug else logging.INFO) + stream_handler = logging.StreamHandler() + stream_handler.setFormatter(logging.Formatter("[%(levelname)s] %(message)s")) + logger.addHandler(stream_handler) + kwargs["logger"] = logger + + with PyBldcImpl(**kwargs) as bldc: + if parsed_args.command == "upload": + if parsed_args.binary is None: + parser.print_help() + exit(1) + + pbar = None + result = False + for upload_progress in bldc.upload( + parsed_args.binary, + timeout=parsed_args.timeout, + ping_repeat=parsed_args.ping_repeat, + is_bootloader=parsed_args.bootloader, + ): + if not isinstance(upload_progress, bool): + if pbar is None: + # Create it here, so the progress is not printed before we actually start uploading + pbar = tqdm( + desc="[INFO] Upload progress", + total=100, + bar_format="{l_bar}{bar}| [{elapsed}]", + dynamic_ncols=True, + ) + pbar.update(upload_progress - pbar.n) + if upload_progress >= 100.0: + # Ensure nothing is printed after the update finishes + pbar.close() + else: + result = upload_progress + if pbar is not None: + pbar.close() # Make sure it is closed + if result is True: + logger.info("Uploading succeeded") + exit(0) + else: + logger.error("Uploading failed") + exit(1) + elif parsed_args.command == "ping": + for i in range(parsed_args.ping_repeat): + if bldc.ping(timeout=parsed_args.timeout): + logger.info(f"Found VESC in {i + 1} attempt(s)") + exit(0) + + logger.error("Timed out waiting for ping response for VESC") + exit(1) + else: + bldc.reset() + logger.info("VESC was reset") + exit(0) + + +if __name__ == "__main__": + cli() diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..5e1feaf --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,84 @@ +[build-system] +requires = ["setuptools", "setuptools-scm"] +build-backend = "setuptools.build_meta" + +[project] +name = "pybldc" +description="Tool for flashing a VESC via CAN-bus or serial/USB using Python." +readme = "README.md" +license = {file = "LICENSE"} +authors = [ + {name = "Kristian Sloth Lauszus", email = "lauszus@gmail.com"}, +] +requires-python = ">= 3.8" +dynamic = ["version", "dependencies"] +keywords = ["VESC", "bldc", "upload", "CAN", "USB"] +classifiers = [ + "Programming Language :: Python :: 3", + "License :: OSI Approved :: GNU General Public License v3 (GPLv3)", + "Operating System :: OS Independent", +] + +[project.urls] +Repository = "https://github.com/Lauszus/Lauszus" +Iissues = "https://github.com/Lauszus/pybldc/issues" + +[project.scripts] +pybldc = "pybldc.pybldc:cli" + +[tool.setuptools] +packages = ["pybldc"] + +[tool.setuptools.dynamic] +version = {attr = "pybldc.__version__"} +dependencies = {file = ["requirements.txt"]} + +[tool.setuptools.package-data] +"pybldc" = ["py.typed"] + +[project.optional-dependencies] +extra = [ + "mypy", + "black", + "flake8", + "flake8-import-order", + "flake8-pyproject", +] + +[tool.flake8] +deps = [ + "flake8", + "flake8-import-order", + "flake8-pyproject", +] +commands = [ + "flake8", +] +import-order-style = "pycharm" +max-line-length = 120 +extend-ignore = "E203" +extend-exclude = ".git,.cache,.eggs,.mypy_cache,.pytest_cache,.tox,.venv,venv,migrations,build" + +[tool.mypy] +python_version = "3.8" +exclude = ["venv", "build"] + +disallow_untyped_defs = true +disallow_any_unimported = true +no_implicit_optional = true +check_untyped_defs = true +warn_return_any = true +show_error_codes = true +warn_unused_ignores = true + +[[tool.mypy.overrides]] +module = [ + "serial.*", + "heatshrink2", +] +ignore_missing_imports = true + +[tool.black] +line-length = 120 +skip-string-normalization = false +exclude = '/(\.git|\.cache|\.mypy_cache|\.pytest_cache|\.tox|\.venv|venv|\.eggs)/' diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..303b669 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,4 @@ +tqdm +python-can >= 4.3.0 +pyserial +heatshrink2