add python script to set the node id

doc/setting_node_ids.md

@@ -74,7 +74,7 @@ Run `halt`. This seems to be important, we don’t want the processor doing weir
 Read all 32 bit option bytes registers:
 
 ```
-mdw 0x1ffff800 4
+> mdw 0x1ffff800 4
 0x1ffff800: 00ff55aa 00ff00ff 00ff00ff 00ff00ff 
 ```
 
@@ -83,47 +83,47 @@ We can see 0x1ffff804 is 00ff, which is our nData0:Data0.
 Check that the flash is locked:
 
 ```
-mdw 0x40022010
+> mdw 0x40022010
 0x40022010: 00000080 
 ```
 
 Unlock the flash directly performing the unlocking sequence on the FLASH_KEYR
 (0x40022004) register.
 
 ```
-mww 0x40022004 0x45670123
-mww 0x40022004 0xCDEF89AB
+> mww 0x40022004 0x45670123
+> mww 0x40022004 0xCDEF89AB
 ```
 
 Reassure that the flash is unlocked. Read the FLASH_CR:
 
 ```
-mdw 0x40022010
+> mdw 0x40022010
 0x40022010: 00000000 
 ```
 
 Unlock option bytes for writing (which is described in the reference manual as
 setting the OPTWRE bit in the FLASH_CR).
 
 ```
-mww 0x40022008 0x45670123
-mww 0x40022008 0xCDEF89AB
-mdw 0x40022010           
+> mww 0x40022008 0x45670123
+> mww 0x40022008 0xCDEF89AB
+> mdw 0x40022010
 0x40022010: 00000200
 ```
 
 Clear option bytes (they are stored in the FLASH after all).
 
 ```
-mww 0x40022010 0x00000220
-mww 0x40022010 0x00000260
+> mww 0x40022010 0x00000220
+> mww 0x40022010 0x00000260
 ```
 
 Enable programming by setting FLASH_CR.OPTPG:
 
 ```
-mww 0x40022010 0x00000210
-mdw 0x40022010
+> mww 0x40022010 0x00000210
+> mdw 0x40022010
 0x40022010: 00000210
 ```
 
@@ -140,20 +140,20 @@ ID in the high byte (e.g., 0xfb).
 - Solar Module 2 Node ID 0x14: 0xe
 
 ```
-mwh 0x1ffff800 0x55AA
-mwh 0x1ffff802 0x00ff
-mwh 0x1ffff804 0xfb04       // set node id here
-mwh 0x1ffff806 0x00ff
-mwh 0x1ffff808 0x00ff
-mwh 0x1ffff80a 0x00ff
-mwh 0x1ffff80c 0x00ff
-mwh 0x1ffff80e 0x00ff 
+> mwh 0x1ffff800 0x55AA
+> mwh 0x1ffff802 0x00ff
+> mwh 0x1ffff804 0xfb04       // set node id here
+> mwh 0x1ffff806 0x00ff
+> mwh 0x1ffff808 0x00ff
+> mwh 0x1ffff80a 0x00ff
+> mwh 0x1ffff80c 0x00ff
+> mwh 0x1ffff80e 0x00ff
 ```
 
 Now we can check this worked:
 
 ```
-mdw 0x1ffff800 4
+> mdw 0x1ffff800 4
 0x1ffff800: 00ff55aa 00fffb04 00ff00ff 00ff00ff 
 ```
 

flash_node_id.py

@@ -0,0 +1,146 @@
+#!/usr/bin/env python3
+"""Flash a node id to OreSat firmware card."""
+
+import subprocess
+import sys
+import warnings
+warnings.filterwarnings("ignore", category=DeprecationWarning)
+from argparse import ArgumentParser
+from telnetlib import Telnet
+from threading import Thread
+from time import sleep
+
+NODE_IDS = {
+    ("battery", 1): 0x04,
+    ("battery", 2): 0x08,
+    ("solar_module", 1): 0x0C,
+    ("solar_module", 2): 0x10,
+    ("solar_module", 3): 0x14,
+    ("solar_module", 4): 0x18,
+    ("solar_module", 5): 0x1C,
+    ("solar_module", 6): 0x20,
+    ("solar_module", 7): 0x24,
+    ("solar_module", 8): 0x28,
+    ("adcs", 1): 0x38,
+    ("reactiom_wheel", 1): 0x3C,
+    ("reactiom_wheel", 2): 0x40,
+    ("reactiom_wheel", 3): 0x44,
+    ("reactiom_wheel", 4): 0x48,
+}
+
+CONFIG_PATH = {
+    "battery": "boards/BATTERY_V3/oocd.cfg",
+    "solar_module": "boards/SOLAR_V4/oocd.cfg",
+    "adcs": "boards/ORESAT_ADCS_V1_2/oocd.cfg",
+    "reactiom_wheel": "boards/ORESAT_RWB_V4/oocd.cfg",
+}
+
+CARD_ALIASES = {
+    "battery": ["bat"],
+    "solar_module": ["solar"],
+    "adcs": ["imu"],
+    "reactiom_wheel": ["rw"],
+}
+
+parser = ArgumentParser(description="Flash the node id to a OreSat firmware card")
+parser.add_argument("card")
+parser.add_argument("-n", "--number", type=int, default=1)
+parser.add_argument("-o", "--host", default="localhost")
+parser.add_argument("-p", "--port", default="4444")
+args = parser.parse_args()
+
+node_id = 0x1
+card = args.card.lower().replace("-", "_")
+
+for key, values in CARD_ALIASES.items():
+    if card == key:
+        break
+    elif card in values:
+        card = key
+        break
+else:
+    print(f"failed to find card with name or alias of {args.card}")
+    sys.exit(1)
+
+try:
+    node_id = NODE_IDS[(card, args.number)]
+except KeyError:
+    print(f"failed to find card with name {args.card} and number {args.number}")
+    sys.exit(1)
+
+proc = None
+failed = False
+
+inv_node_id = 255 - node_id
+value = hex(inv_node_id << 8 | node_id)
+
+
+def run_openocd():
+    print("starting openocd")
+    global proc
+    config_path = CONFIG_PATH[card]
+    proc = subprocess.Popen(
+        ["openocd", "-f", f"{config_path}"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.STDOUT,
+    )
+
+
+thread = Thread(target=run_openocd)
+thread.start()
+
+sleep(2)
+
+
+def telnet_write(tn: Telnet, msg: str):
+    tn.write(f"{msg}\r\n".encode())
+    sleep(0.1)
+
+
+try:
+    with Telnet(args.host, args.port) as tn:
+        print("connect with telnet")
+        sleep(2)
+        # stop the firmware
+        print("halting firmware")
+        tn.write(b"halt\r\n")
+
+        # unlock flash
+        print("unlock flash")
+        telnet_write(tn, "mww 0x40022004 0x45670123")
+        telnet_write(tn, "mww 0x40022004 0xCDEF89AB")
+
+        # unlock option bytes for writing
+        print("unlock option bytes")
+        telnet_write(tn, "mww 0x40022008 0x45670123")
+        telnet_write(tn, "mww 0x40022008 0xCDEF89AB")
+
+        # clear option bytes
+        print("clear option bytes")
+        telnet_write(tn, "mww 0x40022010 0x00000220")
+        telnet_write(tn, "mww 0x40022010 0x00000260")
+
+        # enable programing
+        print("enable programing")
+        telnet_write(tn, "mww 0x40022010 0x00000210")
+
+        # write node_id
+        print("write node_id")
+        telnet_write(tn, "mwh 0x1ffff800 0x55AA")
+        telnet_write(tn, "mwh 0x1ffff802 0x00ff")
+        telnet_write(tn, f"mwh 0x1ffff804 {value}")  # node id set here
+        telnet_write(tn, "mwh 0x1ffff806 0x00ff")
+        telnet_write(tn, "mwh 0x1ffff808 0x00ff")
+        telnet_write(tn, "mwh 0x1ffff80a 0x00ff")
+        telnet_write(tn, "mwh 0x1ffff80c 0x00ff")
+        telnet_write(tn, "mwh 0x1ffff80e 0x00ff")
+except OSError:
+    print("Failed to write node id due to a telnet connection error")
+    failed = True
+
+sleep(0.5)
+proc.terminate()
+thread.join()
+
+if not failed:
+    print("node id was flashed")