Tools¶

Installation¶

Flash¶

To install Lizard on your ESP32 run

sudo ./flash.py [<device_path>]

Note that flashing may require root access (hence the sudo). The command also does not work while the serial interface is busy communicating with another process.

Robot Brain¶

The flash.py script can also upload firmware on a Robot Brain where the microcontroller is connected to the pin header of an NVIDIA Jetson computer.

Interaction¶

Serial Monitor¶

Use the serial monitor to read the current output and interactively send Lizard commands to the microcontroller.

./monitor.py [<device_path>]

You can also use an SSH monitor to access a microcontroller via SSH:

./monitor_ssh.sh <user@host>

Note that the serial monitor cannot communicate while the serial interface is busy communicating with another process.

Configure¶

Use the configure script to send a new startup script to the microcontroller.

./configure.py <config_file> <device_path>

Note that the configure script cannot communicate while the serial interface is busy communicating with another process.

Development¶

Prepare for Development¶

Install Python requirements:

python3 -m pip install -r requirements.txt

Download owl, the language parser generator:

./get_owl.sh

Install UART drivers: https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers

Get all sub modules:

git submodule update --init --recursive

Compile Lizard¶

After making changes to the Lizard language definition or its C++ implementation, you can use the compile script to generate a new parser and executing the compilation in an Espressif IDF Docker container.

./compile.sh

To upload the compiled firmware you can use the ./flash.py command described above.

Backtrace¶

In case Lizard terminates with a backtrace printed to the serial terminal, you can use the following script to print corresponding source code lines.

./backtrace.sh <addresses>

Note that the script assumes Espressif IDF tools being installed at ~/esp/esp-tools_4.4/ and a compiled ELF file being located at build/lizard.elf.

Releasing¶

To build a new release, tag the commit with a "v" prefix, for example "v0.1.4". A GitHub action will build the binary and create a new release. After creation you can fill in a description if necessary.