1# Copyright (c) 2023, Auterion AG
 2# SPDX-License-Identifier: BSD-3-Clause
 3
 4"""
 5.. include:: skynode.md
 6"""
 7
 8from __future__ import annotations
 9import time
10from pathlib import Path
11from .fmu import debug as fmu_debug, Fmu, _arguments
12
13import emdbg
14
15class Skynode(Fmu):
16    """
17    Skynode Debug Bench with Logic Analyzer and Power relay
18    """
19    def __init__(self, elf: Path,
20                 gdb: "emdbg.debug.remote.gdb.Interface",
21                 nsh: "emdbg.serial.protocol.Nsh" = None,
22                 power: "emdbg.power.base.Base" = None,
23                 io: "emdbg.io.digilent.Digilent" = None):
24        super().__init__(elf, gdb, nsh, power, io)
25
26        if self.io is not None:
27            self.sdio_cmd = self.io.gpio(0)
28            self.sdio_clk = self.io.gpio(1)
29
30    def disturb_sdcard_cmd_line(self, count: int = 15, delay: float = 0.1):
31        """
32        Toggle the CMD line of the SDIO interface via the Digilent scope to
33        trigger an SDCard access failure.
34        """
35        self.sdio_cmd.set_output(self.sdio_cmd.Config.OpenDrain, self.sdio_cmd.Level.Low)
36        time.sleep(1)
37        for _ in range(count):
38            self.sdio_cmd.high()
39            time.sleep(delay)
40            self.sdio_cmd.low()
41            time.sleep(delay)
42        self.sdio_cmd.set_input()
43
44    def disturb_sdcard_clk_line(self, count: int = 5, delay: float = 0.1):
45        """
46        Toggle the CLK line of the SDIO interface via the Digilent scope to
47        trigger an SDCard access failure.
48        """
49        self.sdio_clk.set_output(self.sdio_clk.Config.PushPull)
50        for _ in range(count):
51            self.sdio_clk.low()
52            time.sleep(delay)
53            self.sdio_clk.high()
54            time.sleep(delay)
55        self.sdio_clk.set_input()
56
57
58# -----------------------------------------------------------------------------
59def debug(px4_directory: Path, target: Path, serial: str = None,
60          digilent: str = None, ui: str = None, commands: list[str] = None,
61          with_rpyc: bool = False, keep_power_on: bool = True,
62          upload: bool = True, backend: str = None) -> Skynode:
63    """
64    Configures `px4_debug.bench.fmu.bench()` with a YRelay as power connection.
65    """
66    power = emdbg.power.yocto_relay(channel=1, inverted=True)
67    return fmu_debug(px4_directory, target, serial, digilent, power, ui,
68                     commands, with_rpyc, keep_power_on, upload, backend,
69                     _FmuClass=Skynode)
70
71
72# -----------------------------------------------------------------------------
73if __name__ == "__main__":
74    def _modifier(parser):
75        parser.add_argument(
76            "--turn-off",
77            default=False,
78            action="store_true",
79            help="Turn Skynode off via relay after debugging.")
80    args, backend = _arguments("Debug Skynode FMU", _modifier)
81
82    with debug(args.px4_dir, args.target, ui=args.ui, commands=args.commands,
83               backend=backend, keep_power_on=not args.turn_off) as gdb_call:
84        exit(gdb_call)