Merge pull request #7 from zauberzeug/orin

Add support for Jetson Orin

esp.py

@@ -1,15 +1,23 @@
 from contextlib import contextmanager
+from time import sleep
 from typing import Optional, Union
 
 
 class Esp:
 
-    def __init__(self, nand: bool = False, xavier: bool = False, device: Optional[str] = None) -> None:
+    def __init__(self,
+                 nand: bool = False,
+                 xavier: bool = False,
+                 orin: bool = False,
+                 device: Optional[str] = None,
+                 ) -> None:
         print('Initializing ESP...')
-        self.en = 436 if xavier else 216
-        self.g0 = 428 if xavier else 50
+        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 device is None:
-            self.device = '/dev/ttyTHS' + ('0' if xavier else '1')
+            self.device = '/dev/ttyTHS' + ('0' if xavier else '0' if orin else '1')
         else:
             self.device = device
         self.on = 1 if nand else 0
@@ -20,31 +28,35 @@ def write(self, path: str, value: Union[str, int]) -> None:
             print(f'echo {value:3} > /sys/class/gpio/{path}')
             with open(f'/sys/class/gpio/{path}', 'w') as f:
                 f.write(f'{value}\n')
-        except:
+        except Exception:
             print(f'could not write {value} to {path}')
 
     @contextmanager
     def pin_config(self) -> None:
         print('Configuring pins...')
         self.write('export', self.en)
         self.write('export', self.g0)
-        self.write(f'gpio{self.en}/direction', 'out')
-        self.write(f'gpio{self.g0}/direction', 'out')
+        self.write(f'{self.gpio_en}/direction', 'out')
+        self.write(f'{self.gpio_g0}/direction', 'out')
         yield
         self.write('unexport', self.en)
         self.write('unexport', self.g0)
 
     @contextmanager
     def flash_mode(self):
         print('Bringing microcontroller into flash mode...')
-        self.write(f'gpio{self.en}/value', self.on)
-        self.write(f'gpio{self.g0}/value', self.on)
-        self.write(f'gpio{self.en}/value', self.off)
+        self.write(f'{self.gpio_en}/value', self.on)
+        sleep(0.5)
+        self.write(f'{self.gpio_g0}/value', self.on)
+        sleep(0.5)
+        self.write(f'{self.gpio_en}/value', self.off)
         yield
         self.activate()
 
     def activate(self) -> None:
         print('Bringing microcontroller into normal operation mode...')
-        self.write(f'gpio{self.g0}/value', self.off)
-        self.write(f'gpio{self.en}/value', self.on)
-        self.write(f'gpio{self.en}/value', self.off)
+        self.write(f'{self.gpio_g0}/value', self.off)
+        sleep(0.5)
+        self.write(f'{self.gpio_en}/value', self.on)
+        sleep(0.5)
+        self.write(f'{self.gpio_en}/value', self.off)

flash.py

@@ -6,9 +6,10 @@
 
 
 def help() -> None:
-    print(f'{sys.argv[0]} [nano | xavier] [nand]')
+    print(f'{sys.argv[0]} [nano | xavier | orin] [nand]')
     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'   usb           use /dev/tty.SLAB_USBtoUART as serial device')
     print(f'   /dev/<name>   use /dev/<name> as serial device')
@@ -24,7 +25,7 @@ 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, device=device)
+esp = Esp(nand='nand' in sys.argv, xavier='xavier' in sys.argv, orin='orin' in sys.argv, device=device)
 
 with esp.pin_config(), esp.flash_mode():
     print('Flashing...')