reset MCU only in ROSbot 2R and 2 PRO

robots/_rosbot_2_reset_mcu/reset-mcu.py

@@ -0,0 +1,48 @@
+#!/usr/bin/python3
+import sh
+import time
+from periphery import GPIO
+
+def exit_bootloader_mode(boot0_pin_number, reset_pin_number):
+    boot0_pin = GPIO(boot0_pin_number, "out")
+    reset_pin = GPIO(reset_pin_number, "out")
+    boot0_pin.write(False)
+    reset_pin.write(True)
+    time.sleep(0.2)
+    reset_pin.write(False)
+    time.sleep(0.2)
+
+
+def main():
+    sys_arch = sh.uname('-m')
+    print(f"System architecture: {sys_arch}")
+
+    boot0_pin_number = None
+    reset_pin_number = None
+
+    if sys_arch.stdout == b'armv7l\n':
+        # Setups ThinkerBoard pins
+        print("Device: ThinkerBoard\n")
+        boot0_pin_number = 164
+        reset_pin_number = 184
+
+    elif sys_arch.stdout == b'x86_64\n':
+        # Setups UpBoard pins
+        print("Device: UpBoard\n")
+        boot0_pin_number = 17
+        reset_pin_number = 18
+
+    elif sys_arch.stdout == b'aarch64\n':
+        # Setups RPi pins
+        print("Device: RPi\n")
+        boot0_pin_number = 17
+        reset_pin_number = 18
+
+    else:
+        raise Exception("Unknown device...")
+
+    exit_bootloader_mode(boot0_pin_number, reset_pin_number)
+
+
+if __name__ == "__main__":
+    main()

robots/_rosbot_2_reset_mcu/reset-mcu.service

@@ -0,0 +1,10 @@
+[Unit]
+Description=Reset MCU in ROSbot 2R / 2 PRO on startup
+
+[Service]
+Type=simple
+ExecStart=/usr/local/sbin/reset-mcu.py
+RemainAfterExit=no
+
+[Install]
+WantedBy=multi-user.target

robots/rosbot_2_pro/custom_config.sh

@@ -2,4 +2,10 @@
 
 # If a particular robot requires any extra custom configuration steps, they should be included in this file.
 
-echo "no additional custom configuration for ROSbot 2R"
+echo "enable reset MCU service"
+
+cp ../_rosbot_2_reset_mcu/reset-mcu.py /usr/local/sbin/reset-mcu.py
+cp ../_rosbot_2_reset_mcu/reset-mcu.service /etc/systemd/system/reset-mcu.service
+
+systemctl enable reset-mcu.service
+systemctl start reset-mcu.service

robots/rosbot_2r/custom_config.sh

@@ -2,4 +2,10 @@
 
 # If a particular robot requires any extra custom configuration steps, they should be included in this file.
 
-echo "no additional custom configuration for ROSbot 2R"
+echo "enable reset MCU service"
+
+cp ../_rosbot_2_reset_mcu/reset-mcu.py /usr/local/sbin/reset-mcu.py
+cp ../_rosbot_2_reset_mcu/reset-mcu.service /etc/systemd/system/reset-mcu.service
+
+systemctl enable reset-mcu.service
+systemctl start reset-mcu.service