Add programming functionality to firmware tool

Author: usedhondacivic

.github/workflows/deploy.yml

@@ -34,7 +34,7 @@ jobs:
       - name: Setup Pages
         uses: actions/configure-pages@v5
       - name: Grab Firmware Binary
-        run: mkdir -p ./docs/_binaries && curl --clobber -L https://github.com/little-red-rover/lrr-firmware/releases/latest/download/lrr-firmware.bin -o ./docs/_binaries/lrr-firmware.bin
+        run: mkdir -p ./docs/_binaries && curl -L https://github.com/little-red-rover/lrr-firmware/releases/latest/download/lrr-firmware.bin -o ./docs/_binaries/lrr-firmware.bin
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v3
         with:

.gitignore

@@ -12,4 +12,4 @@
     - [Coming soon...](contributing.md)
 * Troubleshooting
     - [Coming soon...](troubleshooting.md)
-    - [Firmware Debugger](firmware_debug.md)
+    - [Firmware Tool](firmware_tool.md)

docs/_sidebar.md

@@ -27,7 +27,6 @@ In the cable bag:
 | ---- | ---- | ---- |
 | 4-pin JST GH 1.25mm straight across cable | 1 | ![]() |
 | 6-pin JST PH 2.0mm reversed cables | 2 | ![]() |
-| M2.5 hex wrench | 1 | ![]() |
 
 In the small parts bag:
 
@@ -37,14 +36,21 @@ In the small parts bag:
 | Motor spacing shims | 2 | ![]() |
 | Wheel spacers | 2 | ![]() |
 | M3-8 machine screw | 3 | ![]() |
-
+| M2.5 hex wrench | 1 | ![]() |
 
 ## Motor Subassembly
 
 ## Body Assembly
 
 ## First Power On
 
+## Care for Your Rover
+
+> [!WARNING]
+> **Never charge Little Red Rover unattended.**
+>
+> If something goes wrong during the charging process, lithium batteries, like the one contained in the rover, are a serious fire hazard. If the battery becomes hot, smokes, swells, or gives off an odor during charging, immediately stop charging and dipose of the battery safely.
+
 ## Next Steps
 
 Now that you have an assembled robot, head over to the [software setup](/software_installation) page to get the robot moving around!

docs/assembly.md

@@ -30,18 +30,35 @@
         }
     </style>
 
+    <script src="https://cdn.jsdelivr.net/npm/[email protected]/crypto-js.js"></script>
     <script type="module">
         import {Terminal} from 'https://cdn.jsdelivr.net/npm/[email protected]/+esm'
         import {FitAddon} from 'https://cdn.jsdelivr.net/npm/@xterm/[email protected]/+esm'
         import {ESPLoader, Transport} from "https://unpkg.com/esptool-js/bundle.js";
+
         var term = new Terminal();
         const fitAddon = new FitAddon();
         term.loadAddon(fitAddon);
         term.open(document.getElementById('terminal'));
-        // fitAddon.fit();
+        fitAddon.fit();
 
         let transport;
+        let esploader;
         let device = null;
+        let chip = null;
+
+        const espLoaderTerminal = {
+            clean() {
+                term.clear();
+            },
+            writeLine(data) {
+                term.writeln(data);
+            },
+            write(data) {
+                term.write(data);
+            },
+        };
+
         let isConsoleClosed = false;
 
         consoleStartButton.onclick = async () => {
@@ -71,10 +88,51 @@
                 await transport.setDTR(true);
             }
         };
+
+        function loadBinaryResource(url) {
+            const req = new XMLHttpRequest();
+            req.open("GET", url, false);
+
+            // XHR binary charset opt by Marcus Granado 2006 [http://mgran.blogspot.com]
+            req.overrideMimeType("text/plain; charset=x-user-defined");
+            req.send(null);
+            return req.status === 200 ? req.responseText : "";
+        }
+
+        programButton.onclick = async () => {
+            if (device === null) {
+                device = await navigator.serial.requestPort({});
+                transport = new Transport(device, true);
+            }
+
+            try {
+                let flashOptions = {
+                    transport,
+                    baudrate: 921600,
+                    terminal: espLoaderTerminal,
+                };
+                esploader = new ESPLoader(flashOptions);
+
+                chip = await esploader.main();
+
+                flashOptions = {
+                    fileArray: [{data: loadBinaryResource("./_binaries/lrr-firmware.bin"), address: 0x0}],
+                    flashSize: "keep",
+                    eraseAll: false,
+                    compress: true,
+                    calculateMD5Hash: (image) => CryptoJS.MD5(CryptoJS.enc.Latin1.parse(image)),
+                };
+                await esploader.writeFlash(flashOptions);
+            } catch (e) {
+                console.error(e);
+                term.writeln(`Error: ${e.message}`);
+            }
+        };
     </script>
 </head>
 
 <body>
+    <input type="button" id="programButton" value="Program" />
     <input type="button" id="consoleStartButton" value="Connect" />
     <input type="button" id="resetButton" value="Reset" />
     <div id="terminal"></div>

docs/firmware_tool.html

@@ -1,3 +1,3 @@
-# Firmware Flasher / Debugger
+# Firmware Tool
 
 [firmware tool](/firmware_tool.html ':include :type=iframe width=100% height=400px')

docs/firmware_debug.md renamed to docs/firmware_tool.md

@@ -75,16 +75,22 @@ Start a new terminal (Terminal -> New Terminal) and run the following command to
 
 <!-- tabs:start -->
 
+#### **Hardware Beta Testers**
+
+```bash
+git clone --recurse-submodules https://github.com/little-red-rover/lrr-fa24-beta.git
+```
+
 #### **ROS2: Humble (Recommended)**
 
 ```bash
-git clone https://github.com/little-red-rover/lrr-template-project
+git clone --recurse-submodules https://github.com/little-red-rover/lrr-template-project
 ```
 
 #### **ROS1: Noetic**
 
 ```bash
-git clone https://github.com/little-red-rover/lrr-template-project && checkout noetic
+git clone --recurse-submodules https://github.com/little-red-rover/lrr-template-project && checkout noetic
 ```