Add support for V0.5 piggyboard

esp.py

@@ -9,13 +9,19 @@ def __init__(self,
                  nand: bool = False,
                  xavier: bool = False,
                  orin: bool = False,
+                 v05: bool = False,
                  device: Optional[str] = None,
                  ) -> None:
         print('Initializing ESP...')
         self.en = 436 if xavier else 492 if orin else 216
         self.g0 = 428 if xavier else 460 if orin else 50
         self.gpio_en = f'gpio{self.en}' if not orin else 'PAC.06'
         self.gpio_g0 = f'gpio{self.g0}' if not orin else 'PR.04'
+
+        if orin and v05:
+            self.en, self.g0 = self.g0, self.en
+            self.gpio_en, self.gpio_g0 = self.gpio_g0, self.gpio_en
+
         if device is None:
             self.device = '/dev/ttyTHS' + ('0' if xavier else '0' if orin else '1')
         else:

flash.py

@@ -6,11 +6,12 @@
 
 
 def help() -> None:
-    print(f'{sys.argv[0]} [nano | xavier | orin] [nand]')
+    print(f'{sys.argv[0]} [nano | xavier | orin] [nand | v05]')
     print(f'   nano          flashing Jetson Nano (default)')
     print(f'   xavier        flashing Jetson Xavier')
     print(f'   orin          flashing Jetson Orin')
     print(f'   nand          Robot Brain has piggyboard with NAND gate (eg. older version)')
+    print(f'   v05           Robot Brain has piggyboard with V0.5 or higher (eg. newer version)')
     print(f'   usb           use /dev/tty.SLAB_USBtoUART as serial device')
     print(f'   /dev/<name>   use /dev/<name> as serial device')
 
@@ -25,7 +26,7 @@ def help() -> None:
 for p in sys.argv:
     if p.startswith('/dev/'):
         device = p
-esp = Esp(nand='nand' in sys.argv, xavier='xavier' in sys.argv, orin='orin' in sys.argv, device=device)
+esp = Esp(nand='nand' in sys.argv, xavier='xavier' in sys.argv, orin='orin' in sys.argv, v05='v05' in sys.argv, device=device)
 
 with esp.pin_config(), esp.flash_mode():
     print('Flashing...')