Tinymovr

"""
Usage:
    dfu.py --node_id=ID [--bin=PATH | --recovery] [--no-reset] [--force] [--bus=<bus>] [--chan=<chan>] [--bitrate=<bitrate>]

Options:
    --node_id=ID The CAN Node ID of the device in DFU mode.
    --bin=PATH   The path of the .bin file to upload.
    --recovery   Perform recovery procedure for inaccessible DFU bootloader.
    --no-reset   Do not perform a reset following successful flashing.
    --force      Force flashing even if device memory matches the .bin file.
    --bus=<bus>  One or more interfaces to use, first available is used [default: canine,slcan_disco].
    --chan=<chan>  The bus device "channel".
    --bitrate=<bitrate>  CAN bitrate [default: 1000000].
"""

import sys
import os
import time
import inspect
from pathlib import Path
import can
import yaml
from rich.progress import Progress
import IPython
from traitlets.config import Config
from docopt import docopt
from tinymovr.bus_router import init_router, destroy_router
from tinymovr.config import get_bus_config, create_device, configure_logging
from tinymovr.channel import ResponseError

"""
Tinymovr DFU Module
Copyright 2020-2026 MotionLayer P.C.

The Tinymovr Studio IPython-based command line interface

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 <http://www.gnu.org/licenses/>.
"""

# Define constants
BIN_CHUNK_SIZE = 4
FLASH_START_ADDR = 0x00001000

# NVM config region: pages 120-127 (8 KB at end of flash)
NVM_START_ADDR = 0x0001E000
NVM_SIZE = 8 * 1024


def compare_bin_w_device(device, bin_path, string="Comparing"):
    """
    Compare .bin file and device non-volatile memory
    """
    with Progress() as progress:
        total_size = os.path.getsize(bin_path)
        task1 = progress.add_task("[green]{}...".format(string), total=total_size)

        with open(bin_path, "rb") as bin_file:
            chunk = bin_file.read(BIN_CHUNK_SIZE * 4)
            flash_addr = FLASH_START_ADDR
            while chunk:
                for i in range(BIN_CHUNK_SIZE):
                    file_value = int.from_bytes(
                        chunk[i * 4 : (i + 1) * 4], byteorder="little"
                    )
                    device_value = device.read_flash_32(flash_addr + i * 4)
                    if file_value != device_value:
                        return False
                chunk = bin_file.read(BIN_CHUNK_SIZE * 4)
                flash_addr += BIN_CHUNK_SIZE * 4
                progress.update(task1, advance=BIN_CHUNK_SIZE * 4)
    return True


def calculate_local_checksum(chunk):
    """Calculate the checksum for a chunk of data"""
    checksum = sum(
        int.from_bytes(chunk[i * 4 : (i + 1) * 4], byteorder="little")
        for i in range(BIN_CHUNK_SIZE)
    )
    return checksum & 0xFFFFFFFF  # To ensure we get a 32-bit value


def read_nvm_region(device):
    """
    Read the NVM config region from flash before erasing.
    Returns the region as bytes, or None if it is entirely erased (0xFF).
    """
    print("Backing up NVM config region...")
    data = bytearray()
    word_count = NVM_SIZE // 4
    with Progress() as progress:
        task = progress.add_task("[cyan]Reading NVM...", total=word_count)
        for i in range(word_count):
            value = device.read_flash_32(NVM_START_ADDR + i * 4)
            data.extend(value.to_bytes(4, byteorder="little"))
            progress.update(task, advance=1)

    if all(b == 0xFF for b in data):
        print("NVM region is empty, nothing to preserve.")
        return None

    print("NVM config region backed up.")
    return bytes(data)


def write_nvm_region(device, data):
    """
    Write a previously backed-up NVM config region back to flash.
    Uses the scratchpad + commit mechanism (16 bytes per commit).
    """
    if data is None:
        return

    print("Restoring NVM config region...")
    chunk_size = BIN_CHUNK_SIZE * 4  # 16 bytes per commit
    num_chunks = NVM_SIZE // chunk_size
    with Progress() as progress:
        task = progress.add_task("[cyan]Writing NVM...", total=num_chunks)
        for chunk_idx in range(num_chunks):
            offset = chunk_idx * chunk_size
            chunk = data[offset : offset + chunk_size]

            # Skip chunks that are all 0xFF (already erased)
            if all(b == 0xFF for b in chunk):
                progress.update(task, advance=1)
                continue

            for i in range(BIN_CHUNK_SIZE):
                value = int.from_bytes(
                    chunk[i * 4 : (i + 1) * 4], byteorder="little"
                )
                device.write_scratch_32(i, value)
                time.sleep(1e-5)

            flash_addr = NVM_START_ADDR + offset
            try:
                device.commit(flash_addr, device.hash_uint32)
            except TypeError:
                device.commit(flash_addr)

            progress.update(task, advance=1)

    print("NVM config region restored.")


def upload_bin(device, bin_path):
    """
    Upload a binary file to the device, preserving the NVM config region.
    """
    total_size = os.path.getsize(bin_path)

    # Back up NVM config region before erasing
    nvm_data = read_nvm_region(device)

    print("\nErasing flash...")
    try:
        result = device.erase_all(device.hash_uint32)
    except TypeError:
        result = device.erase_all()
    if result != 0:
        print("\nError while erasing!")
        return
    print("Done.")
    
    with Progress() as progress:
        task2 = progress.add_task("[orange]Flashing...", total=total_size)
        with open(bin_path, "rb") as bin_file:
            chunk = bin_file.read(BIN_CHUNK_SIZE * 4)
            flash_addr = FLASH_START_ADDR
            while chunk:
                for i in range(BIN_CHUNK_SIZE):
                    value = int.from_bytes(
                        chunk[i * 4 : (i + 1) * 4], byteorder="little"
                    )
                    device.write_scratch_32(i, value)
                    time.sleep(1e-5)

                try:
                    device_checksum = device.commit(flash_addr, device.hash_uint32)
                except TypeError:
                    device_checksum = device.commit(flash_addr)

                local_checksum = calculate_local_checksum(chunk)

                if device_checksum != local_checksum:
                    print(f"Checksum mismatch at address {flash_addr:08X}. Exiting...")
                    sys.exit(1)

                chunk = bin_file.read(BIN_CHUNK_SIZE * 4)
                flash_addr += BIN_CHUNK_SIZE * 4
                progress.update(task2, advance=BIN_CHUNK_SIZE * 4)

    # Restore NVM config region after firmware write
    write_nvm_region(device, nvm_data)


def spawn():
    # Parse command line arguments
    arguments = docopt(__doc__)
    node_id = int(arguments["--node_id"])
    bin_path = arguments["--bin"]

    # Set up the device
    buses = arguments["--bus"].rsplit(sep=",")
    channel = arguments["--chan"]
    bitrate = int(arguments["--bitrate"])

    logger = configure_logging()

    if not channel:
        params = get_bus_config(buses, bitrate=bitrate)
    else:
        params = {"bustype": buses[0], "channel": channel, "bitrate": bitrate}

    if arguments["--recovery"]:

        input("Please power off the device and then press any key to continue...")
        print("Now power on the device.")
        init_router(can.Bus, params, logger=logger, timeout=1.0)
        while True:
            try:
                device = create_device(node_id=node_id)
                print("The device is now in DFU mode.")
                break
            except ResponseError:
                pass
    else:
    
        init_router(can.Bus, params, logger=logger, timeout=1.0)
        device = create_device(node_id=node_id)

        if not bin_path:
            raise FileNotFoundError(f"No bin file specified!")

        # If a non-existing .bin file is specified, raise error
        elif bin_path and not Path(bin_path).is_file():
            raise FileNotFoundError(f"Bin file {bin_path} not found!")

        # If an existing .bin file is specified, upload it to the device
        elif bin_path:
            if (not arguments["--force"]) and compare_bin_w_device(device, bin_path):
                print("Device firmware matches the bin file. Skipping flash.")
            else:
                if not arguments["--force"]:
                    print("Device firmware differs from bin file. Proceeding with flash.")
                upload_bin(device, bin_path)
                compare_bin_w_device(device, bin_path, string="Verifying")
                if not arguments["--no-reset"]:
                    print("Resetting device...")
                    device.reset()
    destroy_router()


if __name__ == "__main__":
    spawn()