Reset to firmware The parameter cpuid shall correspond to the device to reset. Return true if the reset has been done
(self, target_id)
| 184 | return self._update_info() |
| 185 | |
| 186 | def reset_to_firmware(self, target_id): |
| 187 | """ Reset to firmware |
| 188 | The parameter cpuid shall correspond to the device to reset. |
| 189 | |
| 190 | Return true if the reset has been done |
| 191 | """ |
| 192 | # The fake CPU ID is legacy from the Crazyflie 1.0 |
| 193 | # In order to reset the CPU id had to be sent, but this |
| 194 | # was removed before launching it. But the length check is |
| 195 | # still in the bootloader. So to work around this bug so |
| 196 | # some extra data needs to be sent. |
| 197 | fake_cpu_id = (1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12) |
| 198 | # Send the reset to bootloader request |
| 199 | pk = CRTPPacket() |
| 200 | pk.set_header(0xFF, 0xFF) |
| 201 | pk.data = (target_id, 0xFF) + fake_cpu_id |
| 202 | self.link.send_packet(pk) |
| 203 | |
| 204 | # Wait to ack the reset ... |
| 205 | pk = None |
| 206 | while True: |
| 207 | pk = self.link.receive_packet(2) |
| 208 | if not pk: |
| 209 | return False |
| 210 | |
| 211 | if (pk.header == 0xFF and struct.unpack( |
| 212 | 'B' * len(pk.data), pk.data)[:2] == (target_id, 0xFF)): |
| 213 | # Difference in CF1 and CF2 (CPU ID) |
| 214 | if target_id == 0xFE: |
| 215 | pk.data = (target_id, 0xF0, 0x01) |
| 216 | else: |
| 217 | pk.data = (target_id, 0xF0) + fake_cpu_id |
| 218 | self.link.send_packet(pk) |
| 219 | break |
| 220 | |
| 221 | time.sleep(0.1) |
| 222 | |
| 223 | def open_bootloader_uri(self, uri=None): |
| 224 | if self.link: |
nothing calls this directly
no test coverage detected