41ea651839
Using pyboard.py you can use Python running on your PC to execute commands on the connected pyboard. See examples in that file.
128 lines
3.6 KiB
Python
128 lines
3.6 KiB
Python
"""
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pyboard interface
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This module provides the Pyboard class, used to communicate with and
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control the pyboard over a serial USB connection.
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Example usage:
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import pyboard
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pyb = pyboard.Pyboard('/dev/ttyACM0')
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pyb.enter_raw_repl()
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pyb.exec('pyb.Led(1).on()')
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pyb.exit_raw_repl()
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"""
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import time
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import serial
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class Pyboard:
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def __init__(self, serial_device):
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self.serial = serial.Serial(serial_device)
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def close(self):
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self.serial.close()
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def enter_raw_repl(self):
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self.serial.write(b'\r\x01') # ctrl-A: enter raw REPL
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self.serial.write(b'\x04') # ctrl-D: soft reset
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data = self.serial.read(1)
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while self.serial.inWaiting() > 0:
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data = data + self.serial.read(self.serial.inWaiting())
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time.sleep(0.1)
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if not data.endswith(b'raw REPL; CTRL-B to exit\r\n>'):
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print(data)
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raise Exception('could not enter raw repl')
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def exit_raw_repl(self):
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self.serial.write(b'\r\x02') # ctrl-B: enter friendly REPL
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def eval(self, expression):
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ret = self.exec('print({})'.format(expression))
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ret = ret.strip()
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return ret
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def exec(self, command):
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command_bytes = bytes(command, encoding='ascii')
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for i in range(0, len(command_bytes), 10):
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self.serial.write(command_bytes[i:min(i+10, len(command_bytes))])
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time.sleep(0.01)
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self.serial.write(b'\x04')
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data = self.serial.read(2)
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if data != b'OK':
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raise Exception('could not exec command')
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data = self.serial.read(2)
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while self.serial.inWaiting() > 0:
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data = data + self.serial.read(self.serial.inWaiting())
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time.sleep(0.1)
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if not data.endswith(b'\x04>'):
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print(data)
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raise Exception('could not exec command')
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if data.startswith(b'Traceback') or data.startswith(b' File '):
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print(data)
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raise Exception('command failed')
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return data[:-2]
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def get_time(self):
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t = str(self.exec('pyb.time()'), encoding='ascii').strip().split()[1].split(':')
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return int(t[0]) * 3600 + int(t[1]) * 60 + int(t[2])
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def run_test():
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device = '/dev/ttyACM0'
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pyb = Pyboard(device)
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pyb.enter_raw_repl()
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print('opened device {}'.format(device))
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print('seconds since boot:', pyb.get_time())
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pyb.exec('def apply(l, f):\r\n for item in l:\r\n f(item)\r\n')
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pyb.exec('leds=[pyb.Led(l) for l in range(1, 5)]')
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pyb.exec('apply(leds, lambda l:l.off())')
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## USR switch test
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if True:
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for i in range(2):
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print("press USR button")
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pyb.exec('while pyb.switch(): pyb.delay(10)')
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pyb.exec('while not pyb.switch(): pyb.delay(10)')
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print('USR switch passed')
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## accel test
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if True:
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print("hold level")
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pyb.exec('accel = pyb.Accel()')
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pyb.exec('while abs(accel.x()) > 10 or abs(accel.y()) > 10: pyb.delay(10)')
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print("tilt left")
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pyb.exec('while accel.x() > -10: pyb.delay(10)')
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pyb.exec('leds[0].on()')
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print("tilt forward")
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pyb.exec('while accel.y() < 10: pyb.delay(10)')
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pyb.exec('leds[1].on()')
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print("tilt right")
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pyb.exec('while accel.x() < 10: pyb.delay(10)')
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pyb.exec('leds[2].on()')
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print("tilt backward")
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pyb.exec('while accel.y() > -10: pyb.delay(10)')
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pyb.exec('leds[3].on()')
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print('accel passed')
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print('seconds since boot:', pyb.get_time())
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pyb.exec('apply(leds, lambda l:l.off())')
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pyb.exit_raw_repl()
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pyb.close()
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if __name__ == "__main__":
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run_test()
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