126 lines
4.5 KiB
Python
126 lines
4.5 KiB
Python
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#!/usr/bin/env python3
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"""Flash the SII EEPROM image (generated by gen_eeprom.py) into the LAN9252
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over the EtherCAT cable — no external programmer, no HBI needed.
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Usage:
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ecat_flash_eeprom.py [adapter-substr] (default: I226)
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Steps: load gen_eeprom.py in-process (its asserts validate the image),
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probe the EEPROM byte order with a scratch word, write every non-0xFFFF
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word with immediate read-back verify, then restore the scratch word.
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Afterwards POWER CYCLE the board so the ESC reloads its config.
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"""
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import contextlib
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import importlib.util
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import io
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import struct
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import sys
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import pysoem
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GEN = r"G:\Robot_v2\DCU\DCU_APP\GD32E508_DCU_APP\comm\ssc\port\gen_eeprom.py"
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SCRATCH_WORD = 0x0200 # inside the 0xFF filler, far beyond the categories
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def load_image():
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spec = importlib.util.spec_from_file_location("gen_eeprom", GEN)
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mod = importlib.util.module_from_spec(spec)
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buf = io.StringIO()
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with contextlib.redirect_stdout(buf):
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spec.loader.exec_module(mod) # runs its own self-check asserts
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img = bytes(mod.eeprom)
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print(f"镜像加载成功: {len(img)} 字节, checksum=0x{img[14]:02X}, "
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f"VendorID=0x{struct.unpack_from('<I', img, 16)[0]:08X}, "
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f"ProductCode=0x{struct.unpack_from('<I', img, 20)[0]:08X}")
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return img
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def find_adapter(substr):
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for a in pysoem.find_adapters():
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desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
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if substr.lower() in desc.lower():
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return a
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return None
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def open_slave(substr):
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adapter = find_adapter(substr)
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if adapter is None:
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raise SystemExit(f"没有找到描述包含 {substr!r} 的适配器")
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master = pysoem.Master()
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master.open(adapter.name)
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try:
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n = master.config_init()
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except Exception as e:
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raise SystemExit(f"总线上没有发现从站（{type(e).__name__}: {e}）")
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if not n:
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raise SystemExit("总线上没有发现从站：请检查板子供电和网线")
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print(f"从站应答正常（{n} 个）")
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return master.slaves[0]
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def probe_word_layout(slave):
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"""Write 0x1234 at the scratch word and find where it lands in the
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4-byte read-back, so verification slices the right two bytes."""
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test = b"\x34\x12"
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slave.eeprom_write(SCRATCH_WORD, test)
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rb = bytes(slave.eeprom_read(SCRATCH_WORD))
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off = rb.find(test)
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if off < 0:
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raise SystemExit(f"写入探针失败: 读回 {rb.hex().upper()}")
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slave.eeprom_write(SCRATCH_WORD, b"\xff\xff") # restore erase state
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rb2 = bytes(slave.eeprom_read(SCRATCH_WORD))
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if rb2[off:off + 2] != b"\xff\xff":
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raise SystemExit(f"探针字恢复失败: {rb2.hex().upper()}")
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print(f"字节序/读回偏移探测: 写入 {test.hex()} 落在读回偏移 {off}，恢复 OK")
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return off
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def main():
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substr = sys.argv[1] if len(sys.argv) > 1 else "I226"
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img = load_image()
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slave = open_slave(substr)
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verify_off = probe_word_layout(slave)
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total = len(img) // 2
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n_written = n_fail = 0
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fails = []
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for word in range(total):
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val = struct.unpack_from("<H", img, word * 2)[0]
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if val == 0xFFFF: # erase state, nothing to write
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continue
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data = struct.pack("<H", val)
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try:
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slave.eeprom_write(word, data)
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except Exception as e:
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fails.append((word, data.hex(), f"WRITE EXC {type(e).__name__}: {e}"))
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n_fail += 1
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continue
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rb = bytes(slave.eeprom_read(word))[verify_off:verify_off + 2]
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n_written += 1
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if rb != data:
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fails.append((word, data.hex(), rb.hex()))
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n_fail += 1
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if n_written % 32 == 0:
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print(f" ... 已写 {n_written} 字")
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print(f"\n刷写完成: 成功 {n_written} 字, 失败 {n_fail} 字 "
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f"(跳过 0xFF 填充 {total - n_written - n_fail} 字)")
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if fails:
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print("失败明细 (word, 期望, 实际):")
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for w, exp, act in fails[:20]:
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print(f" word 0x{w:04X}: {exp.upper()} != {act.upper()}")
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sys.exit(3)
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# summary of key words
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for name, w in (("PDI Control", 0), ("Checksum", 7), ("VendorID lo", 8),
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("ProductCode lo", 0x0A), ("Size", 0x3E), ("Version", 0x3F)):
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val = struct.unpack_from("<H", img, w * 2)[0]
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print(f" word 0x{w:02X} {name} = 0x{val:04X}")
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print("\n>>> 请给板子断电重新上电（ESC 重新加载 EEPROM 配置），")
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print(">>> 然后运行 run_scan.bat I226 验证身份字。")
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if __name__ == "__main__":
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main()
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