Merge pull request swift-nav#88 from mfine/mfine-improve-bootloader

Improve bootloader, update log output

piksi_tools/bootload.py

@@ -77,23 +77,26 @@ def _handshake_callback(self, sbp_msg):
                         MsgBootloaderHandshakeDevice(sbp_msg).flags & 0xF)
     self.handshake_received = True
 
-  def wait_for_handshake(self, timeout=None):
+  def handshake(self, timeout=None):
     if timeout is not None:
       t0 = time.time()
     self.handshake_received = False
+    expire = time.time() + 15.0
+    self.link.send(SBP_MSG_RESET, "")
     while not self.handshake_received:
       time.sleep(0.1)
       if timeout is not None:
         if time.time()-timeout > t0:
           return False
-    return True
-
-  def reply_handshake(self):
+      if time.time() > expire:
+        expire = time.time() + 15.0
+        self.link.send(SBP_MSG_RESET, "")
     # < 0.45 of SBP protocol, reuse single handshake message.
     if self.sbp_version < (0, 45):
       self.link.send(SBP_MSG_BOOTLOADER_HANDSHAKE_DEPRECATED, '\x00')
     else:
       self.link.send(SBP_MSG_BOOTLOADER_HANDSHAKE_REQUEST, '\x00')
+    return True
 
   def jump_to_app(self):
     self.link.send(SBP_MSG_BOOTLOADER_JUMP_TO_APP, '\x00')
@@ -151,19 +154,16 @@ def main():
   with serial_link.get_driver(use_ftdi, port, baud) as driver:
     # Handler with context
     with Handler(driver.read, driver.write) as link:
-      link.send(SBP_MSG_RESET, "")
-      time.sleep(0.2)
       link.add_callback(serial_link.printer, SBP_MSG_PRINT)
 
       # Tell Bootloader we want to write to the flash.
       with Bootloader(link) as piksi_bootloader:
         print "Waiting for bootloader handshake message from Piksi ...",
         sys.stdout.flush()
         try:
-          piksi_bootloader.wait_for_handshake()
+          piksi_bootloader.handshake()
         except KeyboardInterrupt:
           return
-        piksi_bootloader.reply_handshake()
         print "received."
         print "Piksi Onboard Bootloader Version:", piksi_bootloader.version
         if piksi_bootloader.sbp_version > (0, 0):

piksi_tools/console/update_view.py

@@ -588,7 +588,7 @@ def create_flash(self, flash_type):
 
     self._write("Waiting for bootloader handshake message from Piksi ...")
     reset_prompt = None
-    handshake_received = self.pk_boot.wait_for_handshake(1)
+    handshake_received = self.pk_boot.handshake(1)
 
     # Prompt user to reset Piksi if we don't receive the handshake message
     # within a reasonable amount of tiime (firmware might be corrupted).
@@ -607,12 +607,11 @@ def create_flash(self, flash_type):
       reset_prompt.run(block=False)
 
       while not reset_prompt.closed and not handshake_received:
-        handshake_received = self.pk_boot.wait_for_handshake(1)
+        handshake_received = self.pk_boot.handshake(1)
 
       reset_prompt.kill()
       reset_prompt.wait()
 
-    self.pk_boot.reply_handshake()
     self._write("received bootloader handshake message.")
     self._write("Piksi Onboard Bootloader Version: " + self.pk_boot.version)
 

piksi_tools/testing/prepare_test.sh

@@ -42,12 +42,12 @@ cd testing
 ./cycle_device_power.py $2
 sleep 1
 cd ..
-./bootload.py -e -s -p $2 testing/$3 > testing/bootload_log1
+./bootload.py -e -s -p $2 testing/$3 > testing/bootload_log2
 cd testing
 ./cycle_device_power.py $2
 sleep 1
 cd ..
-./bootload.py -m -p $2 testing/$4  >> testing/bootload_log1
+./bootload.py -m -p $2 testing/$4  >> testing/bootload_log2
 cd testing
 
 # Sleep for a while to make sure both devices are booted up and ready to go