func Main() {
flags.Parse(flag.Args()[1:])
log.Printf("Connecting to bootloader, please, restart Crazyflie...")
dev, info, err := boot.Cold()
if err != nil {
log.Fatal(err)
}
defer dev.Close()
log.Printf("Connected to bootloader")
log.Printf("Info: %+v", info)
log.Printf("Downloading the contents of Crazyflie Flash memory...")
var fromPage, toPage int
if *full {
toPage = info.FlashPages
} else {
fromPage = info.FlashStart
toPage = boot.ConfigPageIndex
}
mem, err := boot.Dump(dev, info, fromPage, toPage)
if err != nil {
log.Fatal(err)
}
if err = ioutil.WriteFile(*output, mem, 0644); err != nil {
log.Fatalf("Unable to dump memory to file %s: %v", *output, err)
}
log.Printf("OK - Memory dump saved to %s", *output)
}
func Main() {
log.Printf("Connecting to bootloader, please, restart Crazyflie...")
dev, info, err := boot.Cold()
if err != nil {
log.Fatal(err)
}
defer dev.Close()
conf, err := boot.ReadConfig(dev, info)
if err != nil {
log.Fatal(err)
}
log.Printf("Config block: %+v", conf)
}
func Main() {
flags.Parse(flag.Args()[2:])
log.Printf("Connecting to bootloader, please, restart Crazyflie...")
dev, info, err := boot.Cold()
if err != nil {
log.Fatal(err)
}
defer dev.Close()
conf, err := boot.ReadConfig(dev, info)
if err != nil {
log.Fatal(err)
}
log.Printf("Config block: %+v", conf)
if *channel != 0 {
if *channel > cflie.MaxChannel {
log.Fatal("Max channel: %d", cflie.MaxChannel)
}
if *channel <= 0 {
log.Fatal("Channel must be positive")
}
conf.Channel = byte(*channel)
}
if *speed > 2 {
log.Fatal("Max speed: 2")
}
if *speed >= 0 {
conf.Speed = byte(*speed)
}
if err = boot.WriteConfig(dev, info, conf); err != nil {
log.Fatal("WriteConfig: ", err)
}
log.Printf("Config updated, validating")
conf2, err := boot.ReadConfig(dev, info)
if err != nil {
log.Fatal(err)
}
log.Printf("Config block: %+v", conf2)
if conf != conf2 {
log.Fatal("Config block update failed. Want: %+v, got: %+v", conf, conf2)
}
log.Printf("OK")
}
func Main() {
flags.Parse(flag.Args()[1:])
log.Printf("flags.Args: %+v", flags.Args())
if *image == "" {
log.Printf("Error: -image is not specified\n")
flag.PrintDefaults()
os.Exit(1)
}
data, err := ioutil.ReadFile(*image)
if err != nil {
log.Fatal(err)
}
log.Printf("Connecting to bootloader, please, restart Crazyflie...")
dev, info, err := boot.Cold()
if err != nil {
log.Fatal(err)
}
defer dev.Close()
log.Printf("Connected to bootloader")
log.Printf("Info: %+v", info)
padding := make([]byte, (info.PageSize-len(data)%info.PageSize)%info.PageSize)
mem := append(data, padding...)
log.Printf("Writing the image to Crazyflie Flash memory...")
fromPage := info.FlashStart
toPage := fromPage + len(mem)/info.PageSize
if toPage > boot.ConfigPageIndex {
log.Fatal("Image is too large: %d bytes. Must not exceed %d bytes",
len(data), (boot.ConfigPageIndex-info.FlashStart)*info.PageSize)
}
for page := fromPage; page < toPage; page++ {
index := (page - fromPage) * info.PageSize
err := boot.FlashPage(dev, info, page, mem[index:index+info.PageSize])
if err != nil {
log.Fatalf("Failed to flash page #%d (image spans from #%d to #%d): %v",
page, fromPage, toPage, err)
}
}
log.Printf("OK - %s has been successfully flashed", *image)
}