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"""
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:
python pyboard.py test.py
"""
import time
import serial
class PyboardError(BaseException):
pass
class Pyboard:
def __init__(self, serial_device):
self.serial = serial.Serial(serial_device)
def close(self):
self.serial.close()
def read_until(self, min_num_bytes, ending, timeout=10):
data = self.serial.read(min_num_bytes)
timeout_count = 0
while True:
if self.serial.inWaiting() > 0:
data = data + self.serial.read(self.serial.inWaiting())
time.sleep(0.01)
timeout_count = 0
elif data.endswith(ending):
break
else:
timeout_count += 1
if timeout_count >= 10 * timeout:
break
time.sleep(0.1)
return data
def enter_raw_repl(self):
self.serial.write(b'\r\x03') # ctrl-C: interrupt any running program
self.serial.write(b'\r\x01') # ctrl-A: 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 eval(self, expression):
ret = self.exec('print({})'.format(expression))
ret = ret.strip()
return ret
def exec(self, command):
command_bytes = bytes(command, encoding='ascii')
for i in range(0, len(command_bytes), 32):
self.serial.write(command_bytes[i:min(i+32, len(command_bytes))])
time.sleep(0.01)
self.serial.write(b'\x04')
data = self.serial.read(2)
if data != b'OK':
raise PyboardError('could not exec command')
data = self.read_until(2, b'\x04>')
if not data.endswith(b'\x04>'):
print(data)
raise PyboardError('timeout waiting for EOF reception')
if data.startswith(b'Traceback') or data.startswith(b' File '):
print(data)
raise PyboardError('command failed')
return data[:-2]
def execfile(self, filename):
with open(filename) as f:
pyfile = f.read()
return self.exec(pyfile)
def get_time(self):
t = str(self.eval('pyb.RTC().datetime()'), encoding='ascii')[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)
print(str(output, encoding='ascii'), end='')
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)
for file in args.files:
execfile(file, device=args.device)
if __name__ == "__main__":
main()
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