#!/usr/bin/env python """ pyboard interface This module provides the Pyboard class, used to communicate with and control the pyboard over a serial USB connection. Example usage: import pyboard pyb = pyboard.Pyboard('/dev/ttyACM0') pyb.enter_raw_repl() pyb.exec('pyb.LED(1).on()') pyb.exit_raw_repl() To run a script from the local machine on the board and print out the results: import pyboard pyboard.execfile('test.py', device='/dev/ttyACM0') This script can also be run directly. To execute a local script, use: ./pyboard.py test.py Or: python pyboard.py test.py """ import sys import time import serial def stdout_write_bytes(b): sys.stdout.buffer.write(b) class PyboardError(BaseException): pass class Pyboard: def __init__(self, serial_device): self.serial = serial.Serial(serial_device, baudrate=115200, interCharTimeout=1) def close(self): self.serial.close() def read_until(self, min_num_bytes, ending, timeout=10, data_consumer=None): data = self.serial.read(min_num_bytes) if data_consumer: data_consumer(data) timeout_count = 0 while True: if data.endswith(ending): break elif self.serial.inWaiting() > 0: new_data = self.serial.read(1) data = data + new_data if data_consumer: data_consumer(new_data) #time.sleep(0.01) timeout_count = 0 else: timeout_count += 1 if timeout is not None and timeout_count >= 10 * timeout: break time.sleep(0.1) return data def enter_raw_repl(self): self.serial.write(b'\r\x03\x03') # ctrl-C twice: interrupt any running program self.serial.write(b'\r\x01') # ctrl-A: enter raw REPL data = self.read_until(1, b'to exit\r\n>') if not data.endswith(b'raw REPL; CTRL-B to exit\r\n>'): print(data) raise PyboardError('could not enter raw repl') self.serial.write(b'\x04') # ctrl-D: soft reset data = self.read_until(1, b'to exit\r\n>') if not data.endswith(b'raw REPL; CTRL-B to exit\r\n>'): print(data) raise PyboardError('could not enter raw repl') def exit_raw_repl(self): self.serial.write(b'\r\x02') # ctrl-B: enter friendly REPL def follow(self, timeout, data_consumer=None): # wait for normal output data = self.read_until(1, b'\x04', timeout=timeout, data_consumer=data_consumer) if not data.endswith(b'\x04'): raise PyboardError('timeout waiting for first EOF reception') data = data[:-1] # wait for error output data_err = self.read_until(2, b'\x04>', timeout=timeout) if not data_err.endswith(b'\x04>'): raise PyboardError('timeout waiting for second EOF reception') data_err = data_err[:-2] # return normal and error output return data, data_err def exec_raw(self, command, timeout=10, data_consumer=None): if isinstance(command, bytes): command_bytes = command else: command_bytes = bytes(command, encoding='utf8') # write command for i in range(0, len(command_bytes), 256): self.serial.write(command_bytes[i:min(i + 256, len(command_bytes))]) time.sleep(0.01) self.serial.write(b'\x04') # check if we could exec command data = self.serial.read(2) if data != b'OK': raise PyboardError('could not exec command') return self.follow(timeout, data_consumer) def eval(self, expression): ret = self.exec('print({})'.format(expression)) ret = ret.strip() return ret def exec(self, command): ret, ret_err = self.exec_raw(command) if ret_err: raise PyboardError('exception', ret, ret_err) return ret def execfile(self, filename): with open(filename, 'rb') as f: pyfile = f.read() return self.exec(pyfile) def get_time(self): t = str(self.eval('pyb.RTC().datetime()'), encoding='utf8')[1:-1].split(', ') return int(t[4]) * 3600 + int(t[5]) * 60 + int(t[6]) def execfile(filename, device='/dev/ttyACM0'): pyb = Pyboard(device) pyb.enter_raw_repl() output = pyb.execfile(filename) stdout_write_bytes(output) pyb.exit_raw_repl() pyb.close() def run_test(device): pyb = Pyboard(device) pyb.enter_raw_repl() print('opened device {}'.format(device)) pyb.exec('import pyb') # module pyb no longer imported by default, required for pyboard tests print('seconds since boot:', pyb.get_time()) pyb.exec('def apply(l, f):\r\n for item in l:\r\n f(item)\r\n') pyb.exec('leds=[pyb.LED(l) for l in range(1, 5)]') pyb.exec('apply(leds, lambda l:l.off())') ## USR switch test pyb.exec('switch = pyb.Switch()') for i in range(2): print("press USR button") pyb.exec('while switch(): pyb.delay(10)') pyb.exec('while not switch(): pyb.delay(10)') print('USR switch passed') ## accel test if True: print("hold level") pyb.exec('accel = pyb.Accel()') pyb.exec('while abs(accel.x()) > 10 or abs(accel.y()) > 10: pyb.delay(10)') print("tilt left") pyb.exec('while accel.x() > -10: pyb.delay(10)') pyb.exec('leds[0].on()') print("tilt forward") pyb.exec('while accel.y() < 10: pyb.delay(10)') pyb.exec('leds[1].on()') print("tilt right") pyb.exec('while accel.x() < 10: pyb.delay(10)') pyb.exec('leds[2].on()') print("tilt backward") pyb.exec('while accel.y() > -10: pyb.delay(10)') pyb.exec('leds[3].on()') print('accel passed') print('seconds since boot:', pyb.get_time()) pyb.exec('apply(leds, lambda l:l.off())') pyb.exit_raw_repl() pyb.close() def main(): import argparse cmd_parser = argparse.ArgumentParser(description='Run scripts on the pyboard.') cmd_parser.add_argument('--device', default='/dev/ttyACM0', help='the serial device of the pyboard') cmd_parser.add_argument('--test', action='store_true', help='run a small test suite on the pyboard') cmd_parser.add_argument('files', nargs='*', help='input files') args = cmd_parser.parse_args() if args.test: run_test(device=args.device) if len(args.files) == 0: try: pyb = Pyboard(args.device) ret, ret_err = pyb.follow(timeout=None, data_consumer=stdout_write_bytes) pyb.close() except PyboardError as er: print(er) sys.exit(1) except KeyboardInterrupt: sys.exit(1) if ret_err: stdout_write_bytes(ret_err) sys.exit(1) for filename in args.files: try: pyb = Pyboard(args.device) pyb.enter_raw_repl() with open(filename, 'rb') as f: pyfile = f.read() ret, ret_err = pyb.exec_raw(pyfile, timeout=None, data_consumer=stdout_write_bytes) pyb.exit_raw_repl() pyb.close() except PyboardError as er: print(er) sys.exit(1) except KeyboardInterrupt: sys.exit(1) if ret_err: stdout_write_bytes(ret_err) sys.exit(1) if __name__ == "__main__": main()