61 lines
2.1 KiB
Python
61 lines
2.1 KiB
Python
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"""Methods to interact with the Raspberry Pi Pico directly.
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Much of this code is a partial Python implementation of picotool.
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"""
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import struct
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import usb.core
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PICO_VENDOR = 0x2e8a
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PICO_PRODUCT = 0x0003
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PICOBOOT_CMD_STRUCT = '<LLBBxxL'
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PICOBOOT_CMD_REBOOT_SUFFIX_STRUCT = 'LLL4x'
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PICO_MAGIC = 0x431fd10b
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PICO_SRAM_END = 0x20042000
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PICO_TOKEN = 0
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# only a partial implementation...
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PICO_COMMANDS = {
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'REBOOT': 0x2,
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}
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def get_bootsel_out_endpoint() -> usb.core.Endpoint:
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"""Retrieve the USB endpoint for purposes of interacting with a Pico in BOOTSEL mode."""
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# get the device and claim it from whatever else might have in the kernel
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pico_device = usb.core.find(idVendor=PICO_VENDOR, idProduct=PICO_PRODUCT)
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if not pico_device:
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raise ValueError("Pico board in BOOTSEL mode could not be found!")
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if pico_device.is_kernel_driver_active(0):
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pico_device.detach_kernel_driver(0)
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pico_configuration = pico_device.get_active_configuration()
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# two interfaces are present, we want the direct rather than mass storage
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# pico_bootsel_interface = pico_configuration[(1, 0)]
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pico_bootsel_interface = usb.util.find_descriptor(pico_configuration,
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custom_match=lambda e: e.bInterfaceClass == 0xff)
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out_endpoint = usb.util.find_descriptor(pico_bootsel_interface,
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custom_match=lambda e: (usb.util.endpoint_direction(e.bEndpointAddress) ==
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usb.util.ENDPOINT_OUT))
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return out_endpoint
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def reboot() -> None:
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"""Reboot a Pico in BOOTSEL mode."""
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global PICO_TOKEN
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endpoint = get_bootsel_out_endpoint()
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# set up the data
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PICO_TOKEN += 1
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command_size = 12
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transfer_len = 0
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boot_start = 0
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boot_end = PICO_SRAM_END
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boot_delay_ms = 500
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endpoint.write(struct.pack(PICOBOOT_CMD_STRUCT + PICOBOOT_CMD_REBOOT_SUFFIX_STRUCT,
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PICO_MAGIC, PICO_TOKEN, PICO_COMMANDS['REBOOT'], command_size, transfer_len,
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boot_start, boot_end, boot_delay_ms))
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