mod: flash FW from arduino_alvik module

arduino_alvik/arduino_alvik.py

@@ -15,7 +15,6 @@
 
 
 class ArduinoAlvik:
-
     _update_thread_running = False
     _update_thread_id = None
     _touch_events_thread_running = False
@@ -32,9 +31,9 @@ def __init__(self):
         self.right_wheel = _ArduinoAlvikWheel(self._packeter, ord('R'))
         self._led_state = list((None,))
         self.left_led = self.DL1 = _ArduinoAlvikRgbLed(self._packeter, 'left', self._led_state,
-                                            rgb_mask=[0b00000100, 0b00001000, 0b00010000])
+                                                       rgb_mask=[0b00000100, 0b00001000, 0b00010000])
         self.right_led = self.DL2 = _ArduinoAlvikRgbLed(self._packeter, 'right', self._led_state,
-                                             rgb_mask=[0b00100000, 0b01000000, 0b10000000])
+                                                        rgb_mask=[0b00100000, 0b01000000, 0b10000000])
         self._battery_perc = None
         self._touch_byte = None
         self._behaviour = None
@@ -234,7 +233,7 @@ def _stop_update_thread(cls):
     def _wait_for_target(self, idle_time):
         start = ticks_ms()
         while True:
-            if ticks_diff(ticks_ms(), start) >= idle_time*1000 and self.is_target_reached():
+            if ticks_diff(ticks_ms(), start) >= idle_time * 1000 and self.is_target_reached():
                 break
             else:
                 # print(self._last_ack)
@@ -280,7 +279,7 @@ def rotate(self, angle: float, unit: str = 'deg', blocking: bool = True):
         uart.write(self._packeter.msg[0:self._packeter.msg_size])
         self._waiting_ack = ord('R')
         if blocking:
-            self._wait_for_target(idle_time=(angle/MOTOR_CONTROL_DEG_S))
+            self._wait_for_target(idle_time=(angle / MOTOR_CONTROL_DEG_S))
 
     def move(self, distance: float, unit: str = 'cm', blocking: bool = True):
         """
@@ -296,7 +295,7 @@ def move(self, distance: float, unit: str = 'cm', blocking: bool = True):
         uart.write(self._packeter.msg[0:self._packeter.msg_size])
         self._waiting_ack = ord('M')
         if blocking:
-            self._wait_for_target(idle_time=(distance/MOTOR_CONTROL_MM_S))
+            self._wait_for_target(idle_time=(distance / MOTOR_CONTROL_MM_S))
 
     def stop(self):
         """
@@ -1337,3 +1336,44 @@ def register_callback(self, event_name: str, callback: callable, args: tuple = N
         if event_name not in self.__class__.available_events:
             return
         super().register_callback(event_name, callback, args)
+
+
+# UPDATE FIRMWARE METHOD #
+
+def update_firmware(file_path: str):
+    """
+
+    :param file_path: path of your FW bin
+    :return:
+    """
+
+    from sys import exit
+    from stm32_flash import (
+        CHECK_STM32,
+        STM32_endCommunication,
+        STM32_startCommunication,
+        STM32_NACK,
+        STM32_eraseMEM,
+        STM32_writeMEM, )
+
+    if CHECK_STM32.value() is not 1:
+        print("Turn on your Alvik to continue...")
+        while CHECK_STM32.value() is not 1:
+            sleep_ms(500)
+
+    ans = STM32_startCommunication()
+    if ans == STM32_NACK:
+        print("Cannot establish connection with STM32")
+        exit(-1)
+
+    print('\nSTM32 FOUND')
+
+    print('\nERASING MEM')
+    STM32_eraseMEM(0xFFFF)
+
+    print("\nWRITING MEM")
+    STM32_writeMEM(file_path)
+    print("\nDONE")
+    print("\nLower Boot0 and reset STM32")
+
+    STM32_endCommunication()

examples/flash_firmware.py

@@ -0,0 +1,5 @@
+# from machine import reset
+from arduino_alvik import update_firmware
+
+update_firmware('./firmware.bin')
+# reset()

install.bat

@@ -25,6 +25,7 @@ python -m mpremote %port_string% fs cp arduino_alvik/constants.py :lib/arduino_a
 python -m mpremote %port_string% fs cp arduino_alvik/conversions.py :lib/arduino_alvik/conversions.py
 python -m mpremote %port_string% fs cp arduino_alvik/pinout_definitions.py :lib/arduino_alvik/pinout_definitions.py
 python -m mpremote %port_string% fs cp arduino_alvik/robot_definitions.py :lib/arduino_alvik/robot_definitions.py
+python -m mpremote %port_string% fs cp arduino_alvik/stm32_flash.py :lib/arduino_alvik/stm32_flash.py
 python -m mpremote %port_string% fs cp arduino_alvik/uart.py :lib/arduino_alvik/uart.py
 
 echo Installing dependencies

install.sh

@@ -50,6 +50,7 @@ $python_command -m mpremote $connect_string fs cp arduino_alvik/constants.py :li
 $python_command -m mpremote $connect_string fs cp arduino_alvik/conversions.py :lib/arduino_alvik/conversions.py
 $python_command -m mpremote $connect_string fs cp arduino_alvik/pinout_definitions.py :lib/arduino_alvik/pinout_definitions.py
 $python_command -m mpremote $connect_string fs cp arduino_alvik/robot_definitions.py :lib/arduino_alvik/robot_definitions.py
+$python_command -m mpremote $connect_string fs cp arduino_alvik/stm32_flash.py :lib/arduino_alvik/stm32_flash.py
 $python_command -m mpremote $connect_string fs cp arduino_alvik/uart.py :lib/arduino_alvik/uart.py
 
 echo "Installing dependencies"

package.json

@@ -7,11 +7,10 @@
         ["arduino_alvik/pinout_definitions.py", "github:arduino/arduino-alvik-mpy/arduino_alvik/pinout_definitions.py"],
         ["arduino_alvik/robot_definitions.py", "github:arduino/arduino-alvik-mpy/arduino_alvik/robot_definitions.py"],
         ["arduino_alvik/uart.py", "github:arduino/arduino-alvik-mpy/arduino_alvik/uart.py"],
-        ["arduino_alvik/firmware_updater.py", "github:arduino/arduino-alvik-mpy/arduino_alvik/firmware_updater.py"],
         ["arduino_alvik/stm32_flash.py", "github:arduino/arduino-alvik-mpy/arduino_alvik/stm32_flash.py"]
     ],
     "deps": [
         ["github:arduino/ucPack-mpy", "0.1.5"]
     ],
-    "version": "0.3.0"
+    "version": "0.4.0"
 }

utilities/flash_firmware.bat

@@ -24,19 +24,14 @@ if "%1"=="" (
     set "filename=%1"
 )
 
-echo Installing flash firmware utilities...
-
-python -m mpremote %port_string% fs cp ../arduino_alvik/firmware_updater.py :firmware_updater.py
-python -m mpremote %port_string% fs cp ../arduino_alvik/stm32_flash.py :stm32_flash.py
-
 echo Uploading %filename%
 
 python -m mpremote %port_string% fs cp %filename% :firmware.bin
 
 set /p userInput=Do you want to flash the firmware right now? (y/N):
 
 if /i "%userInput%"=="y" (
-    python -m mpremote %port_string% run ../arduino_alvik/firmware_updater.py
+    python -m mpremote %port_string% run ../examples/flash_firmware.py
 ) else (
     echo The firmware will not be written to the device.
 )

utilities/flash_firmware.sh

@@ -51,11 +51,6 @@ fi
 # Uncomment the following line on windows machines
 # python_command="python"
 
-echo "Installing flash firmware utilities..."
-
-$python_command -m mpremote $connect_string fs cp ../arduino_alvik/firmware_updater.py :firmware_updater.py
-$python_command -m mpremote $connect_string fs cp ../arduino_alvik/stm32_flash.py :stm32_flash.py
-
 echo "Uploading $filename..."
 
 $python_command -m mpremote $connect_string fs cp $filename :firmware.bin
@@ -64,7 +59,7 @@ echo "Do you want to flash the firmware right now? (y/N)"
 read do_flash
 
 if [ "$do_flash" == "y" ] || [ "$do_flash" == "Y" ]; then
-    $python_command -m mpremote $connect_string run ../arduino_alvik/firmware_updater.py
+    $python_command -m mpremote $connect_string run ../examples/flash_firmware.py
 else
     echo "The firmware will not be written to the device."
 fi