Changes for open source / custom firmware

.flake8

@@ -1,7 +1,7 @@
 [flake8]
 docstring_style=sphinx
 max-line-length = 127
-ignore = D400, Q000, S311,  PLW, PLC, PLR
+ignore = D400, Q000, S311, W503,  PLW, PLC, PLR
 per-file-ignores =
     buildhat/__init__.py:F401
 exclude = docs/conf.py, docs/sphinxcontrib/cmtinc-buildhat.py, docs/sphinx_selective_exclude/*.py

buildhat/data/signature.bin

@@ -1 +1 @@
-Q#ËE]ðü]-.T~óé§¶ée[yE°V}A5ÖLºÊ}†ÉóAÙ$I!Íu¡9Nzw`ºlž@eKÏû;ç{EÚ
+ôãNÔ.2šwSm¢Q/I¦Ómï)io\~¦ŸI™Az4’ĘɅñPßã¼wê>\w¡˜LòŸV™

buildhat/data/version

@@ -1 +1 @@
-1674818421
+1737564117

buildhat/devices.py

@@ -72,7 +72,15 @@ def __init__(self, port):
     def _setup(**kwargs):
         if Device._instance:
             return
-        data = os.path.join(os.path.dirname(sys.modules["buildhat"].__file__), "data/")
+        if (
+            os.path.isdir(os.path.join(os.getcwd(), "data/"))
+            and os.path.isfile(os.path.join(os.getcwd(), "data", "firmware.bin"))
+            and os.path.isfile(os.path.join(os.getcwd(), "data", "signature.bin"))
+            and os.path.isfile(os.path.join(os.getcwd(), "data", "version"))
+        ):
+            data = os.path.join(os.getcwd(), "data/")
+        else:
+            data = os.path.join(os.path.dirname(sys.modules["buildhat"].__file__), "data/")
         firm = os.path.join(data, "firmware.bin")
         sig = os.path.join(data, "signature.bin")
         ver = os.path.join(data, "version")

buildhat/serinterface.py

@@ -378,7 +378,7 @@ def loop(self, cond, uselist, q, listevt):
                 def runit():
                     with cond:
                         cond.notify()
-                t = Timer(8.0, runit)
+                t = Timer(11.0, runit)
                 t.start()
 
             if line[0] == "P" and (line[2] == "C" or line[2] == "M"):

docs/buildhat/index.rst

@@ -28,10 +28,51 @@ power supply. For best results, use the `official Raspberry Pi Build HAT power s
 
 .. _official Raspberry Pi Build HAT power supply: http://raspberrypi.com/products/build-hat-power-supply
 
+It is now possible to use custom firmware with the library. To do this you can follow the steps below.
+
+.. code-block::
+   :caption: Using custom firmware
+
+      sudo apt install cmake python3 build-essential gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib
+
+      git clone https://github.com/raspberrypi/pico-sdk.git --recursive
+      git clone https://github.com/raspberrypi/buildhat.git --recursive
+
+      cd buildhat
+      export PICO_SDK_PATH="$(pwd)/../pico-sdk/"
+      make
+
+      cd ..
+      mkdir test
+      cd test
+      mkdir data
+
+      cp ../buildhat/firmware-pico/build/main.bin data/firmware.bin
+      cp ../buildhat/bhbl-pico/signature.bin data/signature.bin
+      cat ../buildhat/firmware-pico/version.h | sed 's/#define FWVERSION "//g; s/ .*//g' > data/version
+
+Then place your script, such as the following, within the test/ directory.
+
+.. code-block::
+   :caption: Create test.py in test directory
+
+      import time
+      from buildhat import Motor
+
+      m = Motor('A')
+      m.start()
+
+      time.sleep(5)
+
+Then use: ``python test.py`` in the test directory, to run your script with your custom firmware.
+
+Note if you want python to always reload the firmware from your **data/** directory each time
+you run your script, simply write the value: -1 to **data/version**.
+
 .. warning::
 
    The API for the Build HAT is undergoing active development and is subject
-   to change. 
+   to change.
 
 .. toctree::
    :maxdepth: 2

test/color.py

@@ -34,7 +34,7 @@ def test_caching(self):
         """Test to make sure we're not reading cached data"""
         color = ColorSensor('A')
         color.avg_reads = 1
-        color.interval = 1
+        color.interval = 10
 
         for _ in range(100):
             color.mode(2)