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sumorobot-firmware
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Add FW update functionality 

* refactor code
This commit is contained in:
silbo 2020-08-23 20:27:22 +02:00
parent 51f979f90e
commit fc11ffdad4
4 changed files with 75 additions and 38 deletions
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16
Makefile
View File

@ -1,8 +1,18 @@
#!/bin/bash
#SERIAL_PORT=/dev/ttyUSB0
SERIAL_PORT=/dev/tty.usbserial-1420
#SERIAL_PORT=/dev/tty.SLAB_USBtoUART
SERIAL_PORT=/dev/ttyUSB0
ifeq (,$(wildcard $(SERIAL_PORT)))
SERIAL_PORT=/dev/tty.usbserial-1410
endif
ifeq (,$(wildcard $(SERIAL_PORT)))
SERIAL_PORT=/dev/tty.usbserial-1420
endif
ifeq (,$(wildcard $(SERIAL_PORT)))
SERIAL_PORT=/dev/tty.SLAB_USBtoUART
endif
all: flash delay config update reset

34
boot.py
View File

@ -1,5 +1,33 @@
import os
import machine
from utime import sleep_ms
# Give time to cancel boot script
print("Press Ctrl-C to stop boot script...")
sleep_ms(500)
# Give time to cancel this boot script
print("Press Ctrl-C to stop new boot script...")
sleep_ms(1000)
root_files = os.listdir()
update_files = ['boot.py.new', 'main.py.new', 'hal.py.new']
files_to_update = []
# Check for FW updates and verify new FW files
for file in update_files:
if file in root_files:
print("boot.py: trying to update " + file)
# Try to load the user code
try:
with open(file, 'r') as code:
compile(code.read(), "snippet", 'exec')
files_to_update.append(file)
except:
print("boot.py: " + file + " compilation failed")
files_to_update.clear()
break
# If valid updates replace with new FW
for file in files_to_update:
os.rename(file, file.replace('.new', ''))
# If updates, reboot to load new FW
if len(files_to_update) != 0:
machine.reset()

48
hal.py
View File

@ -34,7 +34,7 @@ class Sumorobot(object):
# LED sensor feedback
self.sensor_feedback = True
# Bottom status LED
self.status_led = Pin(self.config["status_led_pin"], Pin.OUT)
self.status_led = Pin(self.config['status_led_pin'], Pin.OUT)
# Bottom status LED is in reverse polarity
self.status_led.value(1)
# Sensor LEDs
@ -96,7 +96,7 @@ class Sumorobot(object):
# When the SumoRobot is not moving
if self.prev_speed[LEFT] == 0 and self.prev_speed[RIGHT] == 0:
# Calculate battery voltage
battery_voltage = round(self.config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2)
battery_voltage = round(self.config['battery_coeff'] * (self.adc_battery.read() * 3.3 / 4096), 2)
# Map battery voltage to percentage
temp_battery_level = 0.0 + ((100.0 - 0.0) / (4.2 - 3.2)) * (battery_voltage - 3.2)
# When battery level changed more than 5 percent
@ -122,7 +122,7 @@ class Sumorobot(object):
# Get the sonar value
self.sonar_value = self.get_sonar_value()
# When the sonar value is small and the ping actually returned
if self.sonar_value < self.config["sonar_threshold"] and self.sonar_value > 0:
if self.sonar_value < self.config['sonar_threshold'] and self.sonar_value > 0:
# When not maximum score
if self.sonar_score < 5:
# Increase the sonar score
@ -145,15 +145,15 @@ class Sumorobot(object):
# Function to update the config file
def update_config_file(self):
# Update the config file
with open("config.part", "w") as config_file:
with open('config.part', 'w') as config_file:
config_file.write(ujson.dumps(self.config))
os.rename("config.part", "config.json")
os.rename('config.part', 'config.json')
# Function to update line calibration and write it to the config file
def calibrate_line_values(self):
# Read the line sensor values
self.config["left_line_value"] = self.adc_line_left.read()
self.config["right_line_value"] = self.adc_line_right.read()
self.config['left_line_value'] = self.adc_line_left.read()
self.config['right_line_value'] = self.adc_line_right.read()
# Function to get light inensity from the phototransistors
def get_line(self, line):
@ -173,9 +173,9 @@ class Sumorobot(object):
# Define feedback LED
led = LEFT_LINE if line == LEFT else RIGHT_LINE
# Define config prefix
prefix = "left" if line == LEFT else "right"
prefix = 'left' if line == LEFT else 'right'
# Check for line
value = abs(self.get_line(line) - self.config[prefix + "_line_value"]) > self.config[prefix + "_line_threshold"]
value = abs(self.get_line(line) - self.config[prefix + '_line_value']) > self.config[prefix + '_line_threshold']
# Show LED feedback
self.set_led(led, value)
# Update last line direction if line was detected
@ -201,10 +201,10 @@ class Sumorobot(object):
self.pwm[servo].duty(0)
else:
# Define config prefix
prefix = "left" if servo == LEFT else "right"
prefix = 'left' if servo == LEFT else 'right'
# -100 ... 100 to min_tuning .. max_tuning
min_tuning = self.config[prefix + "_servo_min_tuning"]
max_tuning = self.config[prefix + "_servo_max_tuning"]
min_tuning = self.config[prefix + '_servo_min_tuning']
max_tuning = self.config[prefix + '_servo_max_tuning']
self.pwm[servo].duty(int((speed + 100) / 200 * (max_tuning - min_tuning) + min_tuning))
def move(self, dir):
@ -251,20 +251,20 @@ class Sumorobot(object):
def get_sensor_scope(self):
# TODO: implement sensor value caching
return str(self.get_sonar_value()) + ',' + \
str(self.get_line(LEFT)) + ',' + \
str(self.get_line(RIGHT)) + ',' + \
str(self.bat_charge.value()) + ',' + \
str(self.get_battery_level())
return str(self.get_sonar_value()) + ',' \
+ str(self.get_line(LEFT)) + ',' \
+ str(self.get_line(RIGHT)) + ',' \
+ str(self.bat_charge.value()) + ',' \
+ str(self.get_battery_level())
def get_configuration_scope(self):
return str(self.config["sumorobot_name"]) + ',' + \
str(self.config["firmware_version"]) + ',' + \
str(self.config["left_line_value"]) + ',' + \
str(self.config["right_line_value"]) + ',' + \
str(self.config["left_line_threshold"]) + ',' + \
str(self.config["right_line_threshold"]) + ',' + \
str(self.config["sonar_threshold"])
return str(self.config['sumorobot_name']) + ',' \
+ str(self.config['firmware_version']) + ',' \
+ str(self.config['left_line_value']) + ',' \
+ str(self.config['right_line_value']) + ',' \
+ str(self.config['left_line_threshold']) + ',' \
+ str(self.config['right_line_threshold']) + ',' \
+ str(self.config['sonar_threshold'])
def sleep(self, delay):
# Check for valid delay

15
main.py
View File

@ -1,4 +1,3 @@
import os
import ujson
import struct
import _thread
@ -15,7 +14,7 @@ _IRQ_CENTRAL_DISCONNECT = const(2)
_IRQ_GATTS_READ_REQUEST = const(4)
# Open and parse the config file
with open("config.json", "r") as config_file:
with open('config.json', 'r') as config_file:
config = ujson.load(config_file)
# Initialize the SumoRobot object
@ -48,7 +47,7 @@ def process():
# Try to execute the Python code
try:
python_code = compile(python_code, "snippet", "exec")
python_code = compile(python_code, "snippet", 'exec')
exec(python_code)
except:
print("main.py: the code sent had errors")
@ -108,19 +107,19 @@ def ble_handler(event, data):
temp_python_code += cmd
else:
temp_python_code = b''
print('main.py: unknown cmd=', cmd)
print("main.py: unknown cmd=" + cmd)
conn_handle = None
temp_python_code = b''
python_code = b''
# When user code (code.py) exists
if 'code.py' in os.listdir():
print('main.py: trying to load code.py')
if 'code.py' in root_files:
print("main.py: trying to load code.py")
# Try to load the user code
try:
with open("code.py", "r") as code:
python_code = compile(code.read(), "snippet", "exec")
with open('code.py', 'r') as code:
python_code = compile(code.read(), "snippet", 'exec')
except:
print("main.py: code.py compilation failed")