Comments (13)
dlech
commented on June 9, 2024
4
LEGO has released some documentation: https://lego.github.io/MINDSTORMS-Robot-Inventor-hub-API/index.html
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pitust
commented on June 9, 2024
i made a functioning disassembler for micropython. Should i post is somewhere in this repo or put it somewhere else? It can be used to disassemble correctly all of hub_runtime.mpy.
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gpdaniels
commented on June 9, 2024
😲 Wow that's amazing!
I'm more than happy to add it to this repo or just add links to your repo, is it written in python?
I was at some point going to add a decompiler directory to the top level of this repo for this kind of work. At some point I'll also add the experiments I've been doing trying to extract useful information from the hub firmware files.
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pitust
commented on June 9, 2024
It is written in typescript, not in python, but it depends on some micropython source files... Yes, it is an absolute mess.
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pitust
commented on June 9, 2024
See #10
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4doom4
commented on June 9, 2024
Is there a list of all functions somewhere? I manually tried to call each function and recorded what they did and how to call them.
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gpdaniels
commented on June 9, 2024
There's the official documentation which has some of the functions in it, but not most.
I've been using this dump-api.py script to extract information from the hub, but the limited ram on the hub makes it harder than it needs to be. Also there's no way of determining the arguments of the functions or classes from the dump.
A better approach would probably be to decompile the files and extract the functions and their argument counts / named arguments. However, this won't get the functions that are baked into the firmware, so something needs to be done about that too.
TLDR: Nope, no list of functions yet.
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pitust
commented on June 9, 2024
Just to add to this, the internal hub module is actually native code and written in C.
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4doom4
commented on June 9, 2024
if you want I could paste somewhere my function reference when I am done. I am currently a bit stuck in the async part with VirtualMachine from runtime. I am trying to run code async but even though asyncio seems to be there somehow I am not sure how to control it
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gpdaniels
commented on June 9, 2024
Sounds good, there's also a goal to add the official api docs here: #9 which I have yet to get to.
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4doom4
commented on June 9, 2024
This is what I have so far. I will continue to post here:
hub
BT_VCP() - returns BT_VCP(0)
any - ???
close - ???
read - ???
readinto - ???
readline - ???
send - ???
write - ???
__bases__ - ???
__del__ - ???
callback - ???
isconnected - ???
readlines - ???
recv - ???
setinterrupt
Image(image str) / () - returns Image object of image str i.e. '00090:09020:' or empty image object
ALL_ARROWS - pre-defined image on 5x5 display
ALL_CLOCKS - pre-defined image on 5x5 display
ANGRY - pre-defined image on 5x5 display
ARROW_E - pre-defined image on 5x5 display
ARROW_N - pre-defined image on 5x5 display
ARROW_NE - pre-defined image on 5x5 display
ARROW_NW - pre-defined image on 5x5 display
ARROW_S - pre-defined image on 5x5 display
ARROW_SE - pre-defined image on 5x5 display
ARROW_SW - pre-defined image on 5x5 display
ARROW_W - pre-defined image on 5x5 display
ASLEEP - pre-defined image on 5x5 display
BUTTERFLY - pre-defined image on 5x5 display
CHESSBOARD - pre-defined image on 5x5 display
CLOCK1 - pre-defined image on 5x5 display
CLOCK10 - pre-defined image on 5x5 display
CLOCK11 - pre-defined image on 5x5 display
CLOCK12 - pre-defined image on 5x5 display
CLOCK2 - pre-defined image on 5x5 display
CLOCK3 - pre-defined image on 5x5 display
CLOCK4 - pre-defined image on 5x5 display
CLOCK5 - pre-defined image on 5x5 display
CLOCK6 - pre-defined image on 5x5 display
CLOCK7 - pre-defined image on 5x5 display
CLOCK8 - pre-defined image on 5x5 display
CLOCK9 - pre-defined image on 5x5 display
CONFUSED - pre-defined image on 5x5 display
COW - pre-defined image on 5x5 display
DIAMOND - pre-defined image on 5x5 display
DIAMOND_SMALL - pre-defined image on 5x5 display
DUCK - pre-defined image on 5x5 display
FABULOUS - pre-defined image on 5x5 display
GHOST - pre-defined image on 5x5 display
GIRAFFE - pre-defined image on 5x5 display
GO_DOWN - pre-defined image on 5x5 display
GO_LEFT - pre-defined image on 5x5 display
GO_RIGHT - pre-defined image on 5x5 display
GO_UP - pre-defined image on 5x5 display
HAPPY - pre-defined image on 5x5 display
HEART - pre-defined image on 5x5 display
HEART_SMALL - pre-defined image on 5x5 display
HOUSE - pre-defined image on 5x5 display
MEH - pre-defined image on 5x5 display
MUSIC_CROTCHET - pre-defined image on 5x5 display
MUSIC_QUAVER - pre-defined image on 5x5 display
MUSIC_QUAVERS - pre-defined image on 5x5 display
NO - pre-defined image on 5x5 display
PACMAN - pre-defined image on 5x5 display
PITCHFORK - pre-defined image on 5x5 display
RABBIT - pre-defined image on 5x5 display
ROLLERSKATE - pre-defined image on 5x5 display
SAD - pre-defined image on 5x5 display
SILLY - pre-defined image on 5x5 display
SKULL - pre-defined image on 5x5 display
SMILE - pre-defined image on 5x5 display
SNAKE - pre-defined image on 5x5 display
SQUARE - pre-defined image on 5x5 display
SQUARE_SMALL - pre-defined image on 5x5 display
STICKFIGURE - pre-defined image on 5x5 display
SURPRISED - pre-defined image on 5x5 display
SWORD - pre-defined image on 5x5 display
TARGET - pre-defined image on 5x5 display
TORTOISE - pre-defined image on 5x5 display
TRIANGLE - pre-defined image on 5x5 display
TRIANGLE_LEFT - pre-defined image on 5x5 display
TSHIRT - pre-defined image on 5x5 display
UMBRELLA - pre-defined image on 5x5 display
XMAS - pre-defined image on 5x5 display
YES - pre-defined image on 5x5 display
get_pixel(Image object, int, int) - retrives the intensity of the pixel at x,y
height(Image object) - height of image object
set_pixel(Image object,int,int,int) - set pixel at x, y with intensity between 0 and 9
shift_down(Image object,int) - shift down all pixels of the image obect by N rows. returns a new image object
shift_left(Image object,int) - shift left all pixels of the image obect by N rows. returns a new image object
shift_right(Image object,int) - shift right all pixels of the image obect by N rows. returns a new image object
shift_up(Image object,int) - shift up all pixels of the image obect by N rows. returns a new image object
width(Image object) - width of image object
USB_VCP
any - ???
close - ???
read - ???
readinto - ???
readline - ???
send - ???
write - ???
__bases__ - ???
__del__ - ???
CTS - ???
RTS - ???
callback - ???
init - ???
isconnected - ???
readlines - ???
recv - ???
setinterrupt - ???
battery
temperature() - shows battery temp
voltage() - shows voltage (charge_voltage in info)
info() - dict of:
temperature,charge_voltage,charge_current,
charge_voltage_filtered,error_state,
charger_state,battery_capacity_left
current() - current voltage pulled (charge_current in info)
charger_detect() - if cable is plugged in (charger_state in info)
capacity_left() - percent battery left (battery_capacity_left in info)
BATTERY_BAD_BATTERY - returns -5
BATTERY_HUB_TEMPERATURE_CRITICAL_OUT_OF_RANGE - returns -2
BATTERY_NO_ERROR - returns 0
BATTERY_TEMPERATURE_OUT_OF_RANGE - returns -2
BATTERY_TEMPERATURE_SENSOR_FAIL - returns -3
BATTERY_VOLTAGE_TOO_LOW - returns -5
CHARGER_STATE_CHARGING_COMPLETED - returns 2
CHARGER_STATE_CHARGING_ONGOING - returns 1
CHARGER_STATE_DISCHARGING - returns 0
CHARGER_STATE_FAIL - returns -1
USB_CH_PORT_CDP - returns 2
USB_CH_PORT_DCP - returns 3
USB_CH_PORT_NONE - returns 0
USB_CH_PORT_SDP - returns 0
ble
callback - callback if bluetooth is connected
connect(int) - no idea how to connect via int
mac() - show mac address of hub
rssi() - power level of hub
scan(int) - when called scanning seems to happen. no idea what the int does
scan_result() - results of bluetooth scan
bluetooth
discoverable() - is hub discoverable
info() - dict of:
mac_addr, service_uuid, name,
iap {
device_version,authentication_revision,
device_id, certificate_serial_no,
protocol_major_version, protocol_minor_version
}, known_devices, device_uuid
button
center,left,right
callback - callback function if button triggered
is_pressed() - shows current state
on_change(function name) - calls the function which needs 1 argument for time (0 pressed, <time> until release)
presses() - counts presses since last call
was_pressed() - returns 1 if it was pressed since last call
display
clear() - clears the display
callback(func ref / None) - callback function when display draws new image or clears (rotation wont trigger)
pixel(int,int) - give pixel intensity at x,y
rotation(int) - rotate the display by 90,180,270,...
show(image object) - shows the image object i.e hub.Image('00000:00900:09990:99999:00000')
file_transfer(str, int) - ???
info() - info about the hub:
1ms_tick_min, 1ms_tick_on_time, product_variant, 1ms_tick_miss,
1ms_tick_max, 1ms_tick_total, hardware_version, device_uuid
led(int,int,int) = sets the r,g,b value of the led (white is (255, 70, 35))
led() - returns current led color
motion
BACK - is str -> back
DOUBLETAPPED - is str -> doubletapped
DOWN - is str -> down
FREEFALL - is str -> freefall
FRONT - is str -> front
LEFTSIDE - is str -> leftside
NONE - is str -> NULL
RIGHTSIDE - is str -> rightside
SHAKE - is str -> shake
TAPPED - is str -> tapped
UP - is str -> up
accelerometer () - int of x, y, z acceleration
accelerometer_filter () - int of x, y, z acceleration less noisy
callback(func ref / None) - callback function when any of the all caps state happen. sender has state
gesture - listen for any of the all caps state
gyroscope() - int of x, y, z gyroscope
gyroscope_filter - int of x, y, z gyroscope less noisy
orientation() - orientation of the hub: 'front', 'back', 'leftside', 'rigtside', 'up', 'down'
position() - position in angle for example to calculate the orientation
preset_yaw(int) - set yaw
reset_yaw() - reset yaw
was_gesture(any of the all caps state) - was the hub in such an orientation. reset after called
port
A - returns object -> Port(A)
ATTACHED - returns 1 (but what is attached?!?!)
B - returns object -> Port(B)
C - returns object -> Port(C)
D - returns object -> Port(D)
DETACHED - returns 0 (but what is detached?!?!)
E - returns object -> Port(E)
F - returns object -> Port(F)
MODE_DEFAULT - returns 0
MODE_FULL_DUPLEX - returns 1
MODE_GPIO - returns 3
MODE_HALF_DUPLEX - returns 2
power_off() - turns off the hub
repl_restart() - froze the hub but by name should restart the rpl
sound
SOUND_SAWTOOTH - returns 3
SOUND_SIN - returns 0
SOUND_SQUARE - returns 1
SOUND_TRIANGLE - returns 2
beep(int,int) - first argument is sound in herz, second is time in ms. works async
callback(func ref / None) - callback function when sound is played. sender is 0
play(path) - plays any file in extra_files:
['Affirmative', 'Damage', 'Exterminate', 'Fire', 'Grab', 'Hammer', 'Laser', 'Laugh', 'Mission Accomplished', 'Punch', 'Scanning', 'Seek and Destroy', 'Shut Down', 'Target Acquired', 'Target Destroyed', 'Whirl', '1234', 'Delivery', 'Dizzy', 'Goodbye', 'Hello', 'Hi', 'Hi 5', 'Humming', 'Chuckle', 'Like', 'No', 'Ouch', 'Sad', 'Scared', 'Tadaa', 'Wow', 'Yes', 'Yipee', 'Yuck', 'Activate', 'Kick', 'Shake', 'Deactivate', 'Initialize', 'Brick Eating', 'Horn', 'Hydraulics Down', 'Hydraulics Up', 'Reverse', 'Revving', 'Shooting', 'Play', 'Countdown', 'Countdown Tick', 'Error', 'Ping', 'Success Chime', 'Bowling', 'Celebrate', 'Explosion', 'Goal', 'Hit', 'Slam Dunk', 'Strike']
volume(int) / () - if nothing is pased returns volume. otherwise set volume from 0 to 10 (10 max)
status - returns status of hub for example:
'gyroscope': (0, -1, 0), 'position': (-30, 0, 0), 'accelerometer': (-7, -3, 991), 'port': {'C': [], 'D': [], 'B': [], 'E': [], 'A': [], 'F': []}, 'display': '09000:09900:09990:09900:09000'
supervision
info() - info about the hub state
{'continous_current_too_high': False, 'peek_current_too_high': False, 'temperature_too_high': False, 'continuous_current': 110, 'temperature_way_too_high': False}
temperature() - temperature of the environment. different measure than hub.battery.temperature
firmware
appl_checksum() - returns 1231192444
appl_image_initialise() - returns nothing
appl_image_read(int) - returns a bytearray
appl_image_store(str) - returns length of str
bootloader_version() - returns version of bootloader
erase_superblock - didn't dare to execute
ext_flash_erase - didn't dare to execute
ext_flash_read_length - didn't dare to execute
flash_read - didn't dare to execute
flash_write - didn't dare to execute
info - gets firmware info
{'appl_checksum': 1231192444, 'new_appl_image_stored_checksum': 0, 'appl_calc_checksum': 1231192444, 'new_appl_valid': False, 'new_appl_image_calc_checksum': 0, 'new_image_size': 0, 'currently_stored_bytes': 9, 'upload_finished': False, 'spi_flash_size': '32 MBytes', 'valid': 0}
util.animations
Image - Image class see hub.Image
hub - see hub
shift_left - see hub.Image.shift_left
shift_right -see hub.Image.shift_left
utime - see micropython utime module
get_color_percentage([int,int,int], [int,int,int]) - two rgb values 255 base maybe?!
color_percentage([int,int,int], int) - reduce rgb color by percent
DIM_WHITE - returns color rgb (135, 25, 10)
BLACK -returns color rgb (0, 0, 0)
DISPLAY_WIDTH - returns 5
DISPLAY_HEIGHT - returns 5
chain_animations(list/str) - returns a generator for each element of list or str
shift_out_to_left(Image object) - returns generator with new image object shifting the original out to the left
shift_out_to_right(Image object) - returns generator with new image object shifting the original out to the right
shift_out_to_top(Image object) - returns generator with new image object shifting the original out to the top
shift_out_to_bottom(Image object) - returns generator with new image object shifting the original out to the bottom
shift_in_from_left(Image object) - returns generator with new image object shifting the original from to the left
shift_in_from_right(Image object) - returns generator with new image object shifting the original from to the right
shift_in_from_top(Image object) - returns generator with new image object shifting the original in from the top
shift_in_from_bottom(Image object) - returns generator with new image object shifting the original in from the bottom
shift_in_from_bottom_left(Image object) - returns generator with new image object shifting the original in from the bottom left
shift_in_from_top_right(Image object) - returns generator with new image object shifting the original in from the top right
streaming_animation() - returns an animation sequence of image objects
download_animation() - returns an animation sequence of image objects
bt_animation - returns a generator containing an animation sequence of image objects
BOOTUP_FRAMES - tuple of image objects
bootup_animation() - plays the bootup animation
SHUTDOWN_FRAMES -returns an animation sequence of image objects
shutdown_animation - plays the shutdown animation
led_fade_to([int,int,int], int) - rgb and some int returns a generator. will fade the LED for example when used in a loop with sleep:
for b in utils.animations.led_fade_to([244,2,1],1000):
sleep(0.2)
led_fade_in_out - same as led_fade_to but other way around
util.color
get_color_percentage - see util.animations.get_color_percentage
color_percentage - see util.animations.get_color_percentage
DIM_WHITE - (135, 25, 10)
BLACK -(0, 0, 0)
VIOLET - (255, 8, 23)
BLUE - (0, 0, 80)
AZURE - (0, 57, 57)
GREEN - (0, 195, 0)
YELLOW - (255, 35, 0)
RED - (255, 0, 0)
WHITE - (255, 70, 35)
rgb_percentage(int,int,int,int) - rgb to which a percentage is applied to return a dimmer color
get_rgb_percentage - not sure how to use
util.constant
BT_VCP - see above
Image - see above
USB_VCP - see above
hub - see above
PORTS - returns a list of available ports:
{'C': Port(C), 'B': Port(B), 'D': Port(D), 'E': Port(E), 'A': Port(A), 'F': Port(F)}
LPF2_FLIPPER_MOTOR_SMALL - returns 65
LPF2_FLIPPER_MOTOR_MEDIUM - returns 48
LPF2_FLIPPER_MOTOR_LARGE - returns 49
LPF2_FLIPPER_COLOR - returns 61
LPF2_FLIPPER_DISTANCE - returns 62
LPF2_FLIPPER_FORCE - returns 63
LPF2_ACCELERATION - returns 57
LPF2_GYRO - returns 58
LPF2_ORIENTATION - returns 59
LPF2_STONE_GREY_MOTOR_MEDIUM - returns 75
LPF2_STONE_GREY_MOTOR_LARGE - returns 76
MOTOR_TYPES - returns (65, 48, 49, 75, 76)
NO_STATUS - returns -1
SUCCESS - returns 0
INTERRUPTED - returns 1
STALLED - returns 2
FLOAT - returns 0
BRAKE - returns 1
HOLD - returns 2
NO_KEY - returns -1
NUMBER - returns 0
STRING - returns 1
BOOLEAN - returns 2
VAR_DEFAULTS - returns {0: 0, 1: '', 2: False}
LONG_PRESS_MS - returns 3000
INACTIVE_SHUTDOWN_MS - returns 300000
INACTIVE_SHUTDOWN_BT_MS - returns 1200000
TIMER_PACE_HIGH - returns 16
TIMER_PACE_LOW - 48
Sounds
NAVIGATION - returns 'sounds/menu_click'
NAVIGATION_FAST - returns 'sounds/menu_fastback'
PROGRAM_START - returns 'sounds/menu_program_start'
PROGRAM_STOP - returns 'sounds/menu_program_stop'
STARTUP - returns 'sounds/startup'
SHUTDOWN - returns 'sounds/menu_shutdown'
DEFAULT_IMAGE - returns (Image('09090:99999:99999:09990:00900:'), Image('09000:09900:09990:09900:09000:'))
SLOTS_IMAGE - returns long series of image objects
LOCAL_NAME - returns '/local_name.txt'
DATA_DIR - returns '/data'
LINEGRAPH_DIR - returns '/data/linegraph'
util.error_handler
b2a_base64(str) - base64 encoder
hub - see above
sys - micropython
uio - micropython
ure - micropython
version - see version.py
BLACK - returns (0, 0, 0)
RED - return (255, 0, 0)
error_handler - 'ErrorHandler' object
notifications - see protocol/notifications.mpy
log_critical_error(int/str) - writes to logfile
get_event_loop() - get the current eventloop returns EventLoop object
PROGRAM_EXECUTION_ERROR - returns 0
PROGRAM_EXECUTION_MEMORY_ERROR - returns 1
ErrorHandler - returns ErrorHandler object
from spike-prime.
4doom4
commented on June 9, 2024
a little more:
util.log
gc - micropython
sys - micropython
uio - micropython
uos - micropython
utime - micropython
log_critical_error(int/str) - writes to logfile (all the rest deleted)
log_to_file - defines log file
_LOG_FILE - default logiles -> './runtime.log'
cat_log() - returns content of logfile
clear_log() - deletes logfile
_write_to_log(str) - write to log file (all the rest deleted)
timed_fn_buffer - returns an empty list
timed_function - takes a function for something?!?!
util.motor
dir_to_speed(int,int) - ???
clamp_speed(int) - ???
clamp_power(int) - ???
util.print_override
BT_VCP - see above
USB_VCP - see above
b2a_base64 - see above
ticks_diff(int,int) - difference between the two ints
ticks_ms - ticks for time measurement
uio - micrpythin
JSONRPC - JSON-RPC class
emit - ???
stream - ???
add_method - ???
resume_suspended_msg - ???
parse_chunk - ???
methods - ???
pending - ???
parse_buffer - ???
reply - ???
error - ???
_handle_message - ???
suspend_current_message - ???
_pop_suspend_message - ???
clear_methods - ???
emit_large - ???
call - ???
cancel_call - ???
_NOT_CONNECTED_ERROR - returns 'The programming app is not connected to the hub.'
spikeprint(str) - print to mindstorms / spike console
util.resetter
hub - see above
schedule(func, arg) - calls a function with an argument but not async. same as micropython.schedule
sleep_ms(int) - sleep function
ticks_diff(int,int) - difference between the two ints
ticks_ms() - ticks for time measurement
_STARTED_AT - ticks in ms when started
wait_until_ready_after_restart() - ???
RTTimer - class
start - ???
repl_reset - ???
__repl_reset - ???
util.rotation
hub - see above
_CURRENT_ROTATION - returns 0
dir_to_rotation(int) - returns 90????
rotate_hub_display(int) - rotate display by angle of 90, 180
rotate_hub_display_to_value - i tried many int values but nothing works
rotate_hub_display_to_orientation(int) - takes 3, 93, 183, etc. ?!?!
util.schedule
micropython - micropython
mp_schedule(func, arg) - calls a function with an argument but not async. same as micropython.schedule
util.scratch
compare(float,float) - difference
math - micropython
tan(float) - tan of float
ure - micropython
color - util/color.py
NO_KEY - returns -1
NUMBER - returns 0
BOOLEAN - returns 2
VAR_DEFAULTS - returns {0: 0, 1: '', 2: False}
orientation_to_number(int/str) - probably some string. i tried many int
to_number(str) - conv str to float
to_boolean(arg) - convert arg to bool i.e.'false','0' -> False or 'True', 'true', '1', 'hello' -> True
is_int(arg) - returns true if arg int
convert_brightness(int) - converts increments of ten back to brightness 10 -> 1, 40 -> 4, 50 -> 4, 100 -> 9
adjust_brightness(int,int) - does something with two increments of 10 and returns brightness
partition_image_str(str) - brings string in image format of five char + :
convert_image(str) - convert str to image string
convert_animation_frame(list of int) - converts list to image str
clamp(int) - clamps int to max 100 (if int > 100 return 100)
wrap_clamp - wraps the clamp value around to restart at 0
color_to_number(str) - returns a number for different colors like 'green' -> 5
number_to_color(int) - returns color name for number like 5 -> 'green'
number_color_to_rgb - returns the rgb for a number like 5 -> (0, 195, 0) (which is green)
ORIENTATIONS - possible orientations: ('', 'front', 'back', 'up', 'down', 'rightside', 'leftside')
number_to_orientation(int) - returns the str based on the position in ORIENTATIONS
sanitize_ports(str) - returns a port letter which is ensured to be available
PAIR_REGEX - returns a regex object
sanitize_movement_ports(str) - does something to the str to make sure the movement port is returned but what is a movement port?
percent_to_int(int,int) - first is the percent and the second is the number of which you want the percent
percent_to_frequency(int,int,int,int) - ???
note_to_frequency(int) - returns the frequence for some notes which are in int.
60 - C - 261hz
61 - C# - 277hz
62 - D - 293hz
etc.
get_variable - gets attribute vars from some class which supports it
pitch_to_freq(int,int,int,int)- convers the pitch to frequency
util.sensors
hub - see above
LPF2_FLIPPER_MOTOR_SMALL - see above
LPF2_FLIPPER_MOTOR_MEDIUM - see above
LPF2_FLIPPER_MOTOR_LARGE - see above
LPF2_FLIPPER_COLOR - see above
LPF2_FLIPPER_DISTANCE - see above
LPF2_FLIPPER_FORCE - see above
LPF2_STONE_GREY_MOTOR_MEDIUM - see above
LPF2_STONE_GREY_MOTOR_LARGE - see above
update_sensor_data() - forces update
update_battery_status() - forces battery status update
orientation_to_number(str) - takes the orientation string from util.scratch.ORIENTATIONS and returns the index
get_time - time since util.time.start_time()
_DEFAULT_MODE - returns
{48: [(1, 0), (2, 2), (3, 1), (0, 0)], 65: [(1, 0), (2, 2), (3, 1), (1, 0)], 49: [(1, 0), (2, 2), (3, 1), (0, 0)], 75: [(1, 0), (2, 2), (3, 1), (0, 0)], 76: [(1, 0), (2, 2), (3, 1), (0, 0)], 61: [(1, 0), (0, 0), (5, 0), (5, 1), (5, 2)], 62: [(0, 0)], 63: [(0, 0), (1, 0), (4, 0)]}
_REVERSE_MODES - returns
{48: [3, 0, 1, 2], 65: [3, 0, 1, 2], 49: [3, 0, 1, 2], 75: [3, 0, 1, 2], 76: [3, 0, 1, 2], 61: [1, 0, 2, 3, 4], 62: [0], 63: [0, 1, -1, -1, 2]}
_PORTS - returns
[Port(A), Port(B), Port(C), Port(D), Port(E), Port(F)]
_PORT_TYPE - returns
[0, 0, 0, 0, 0, 0]
_EVENT_MODE - returns
[[], [], [], [], [], []]
register_ports - ???
_SYNC_DISPLAY - returns False
_NO_DATA - returns ()
sensor_data - returns information about the hub gyro and ports i.e. [[0, ()], [0, ()], [0, ()], [0, ()], [0, ()], [0, ()], (-15, 8, 996), (0, -1, 0), (10, 0, 0), '', 0]
_MOTOR_TYPES - returns [65, 48, 49, 75, 76]
_is_motor(str) - probably uses port object to see if a motor is attached?!
_PORT_INDEX_MAP - returns ['A', 'B', 'C', 'D', 'E', 'F', 'ACCELEROMETER', 'GYROSCOPE', 'POSITION', 'ORIENTATION', 'TIMER']
get_sensor_value - ???
is_type(int) - ???
battery_status - returns [8.147, 100, False]
_type_change_handler - ???
reset_to_default_mode - ???
set_display_sync - ???
current_motion - ???
util.storage
EEXIST - returns 17
ENOENT - returns 2
uos - micropython
urandom - micropython
ure - micropython
LOCAL_NAME - returns '/local_name.txt'
get_storage_information() - returns a dict of folders and files, theire size, modification, etc.
read_local_name - returns 'LEGO Hub'
__STORAGE_PATH__ - returns './projects'
__META_PATH__ - returns './projects/.slots'
__PROGRAM_PATH__ - returns './projects/{0}'
__PROGRAM_PATH_EXT__ - returns './projects/{0}.py'
__FORCE_RESET_PATH__ - returns './reset
PROGRAM_TYPE_PYTHON - returns 'python'
PROGRAM_TYPE_SCRATCH - returns 'scratch'
open_program(file) - opens a file using the io module
close_program(file) - closes a file
get_program_project_id(int) - project id from number of program
get_program_type(int) - project type from number of program
get_path(int) - project path to file from number of program
clear_slot - didnt try it
generate_project_id() - generates an id for a compatible project
get_used_slots() - show all the used slots in the programmer
read_program(int) - reads code from a program in a slot
_BT_PREFIX - returns 'LEGO Hub@'
write_local_name(str) - not sure
move_slot - didnt try it
_move_slot_lookup - didnt try it
_ensure_folder_exists() - ???
_get_metadata() - gets the project/.slot data
_set_metadata() - didnt try it put probably sets the project/.slot data
set_force_reset - didnt try it
pop_force_reset - didnt try it
_file_to_slotid - probably moves a python file from disk to a slot in the hub
util.time
ticks_diff - see above
ticks_ms - see above
get_time - time since util.time.start_time()
_STARTED_AT - when was the timer started
_RUNNING - is the timer running
_STOPPED_AT - when was it stopped
reset_time() - reset the timer
start_time() - start the timer
stop_time() - stop the timer
from spike-prime.
pitust
commented on June 9, 2024
All the internals (firmware and hub), with my analysis on there:
hub
BT_VCP() - class, the bluetooth connection to whatever is paired
any - are there bytes available?
close - no-op
read - no-op?
readinto - takes a byte array, and fills it with available data
readline - ???
send - write to the bluetooth connection
write - write to the bluetooth connection
callback - ???
isconnected - tells you whether the bluetooth is connected
readlines - ???
recv - fill up the given bytearray
setinterrupt - sets the interrupt key, aka the key to press to cause a `KeyboardInterrupt`. Defaults to `0x03` (control-C)
Image(image str) / () - returns Image object of image str i.e. '00090:09020:' or empty image object
ALL_ARROWS - pre-defined image on 5x5 display
ALL_CLOCKS - pre-defined image on 5x5 display
ANGRY - pre-defined image on 5x5 display
ARROW_E - pre-defined image on 5x5 display
ARROW_N - pre-defined image on 5x5 display
ARROW_NE - pre-defined image on 5x5 display
ARROW_NW - pre-defined image on 5x5 display
ARROW_S - pre-defined image on 5x5 display
ARROW_SE - pre-defined image on 5x5 display
ARROW_SW - pre-defined image on 5x5 display
ARROW_W - pre-defined image on 5x5 display
ASLEEP - pre-defined image on 5x5 display
BUTTERFLY - pre-defined image on 5x5 display
CHESSBOARD - pre-defined image on 5x5 display
CLOCK1 - pre-defined image on 5x5 display
CLOCK10 - pre-defined image on 5x5 display
CLOCK11 - pre-defined image on 5x5 display
CLOCK12 - pre-defined image on 5x5 display
CLOCK2 - pre-defined image on 5x5 display
CLOCK3 - pre-defined image on 5x5 display
CLOCK4 - pre-defined image on 5x5 display
CLOCK5 - pre-defined image on 5x5 display
CLOCK6 - pre-defined image on 5x5 display
CLOCK7 - pre-defined image on 5x5 display
CLOCK8 - pre-defined image on 5x5 display
CLOCK9 - pre-defined image on 5x5 display
CONFUSED - pre-defined image on 5x5 display
COW - pre-defined image on 5x5 display
DIAMOND - pre-defined image on 5x5 display
DIAMOND_SMALL - pre-defined image on 5x5 display
DUCK - pre-defined image on 5x5 display
FABULOUS - pre-defined image on 5x5 display
GHOST - pre-defined image on 5x5 display
GIRAFFE - pre-defined image on 5x5 display
GO_DOWN - pre-defined image on 5x5 display
GO_LEFT - pre-defined image on 5x5 display
GO_RIGHT - pre-defined image on 5x5 display
GO_UP - pre-defined image on 5x5 display
HAPPY - pre-defined image on 5x5 display
HEART - pre-defined image on 5x5 display
HEART_SMALL - pre-defined image on 5x5 display
HOUSE - pre-defined image on 5x5 display
MEH - pre-defined image on 5x5 display
MUSIC_CROTCHET - pre-defined image on 5x5 display
MUSIC_QUAVER - pre-defined image on 5x5 display
MUSIC_QUAVERS - pre-defined image on 5x5 display
NO - pre-defined image on 5x5 display
PACMAN - pre-defined image on 5x5 display
PITCHFORK - pre-defined image on 5x5 display
RABBIT - pre-defined image on 5x5 display
ROLLERSKATE - pre-defined image on 5x5 display
SAD - pre-defined image on 5x5 display
SILLY - pre-defined image on 5x5 display
SKULL - pre-defined image on 5x5 display
SMILE - pre-defined image on 5x5 display
SNAKE - pre-defined image on 5x5 display
SQUARE - pre-defined image on 5x5 display
SQUARE_SMALL - pre-defined image on 5x5 display
STICKFIGURE - pre-defined image on 5x5 display
SURPRISED - pre-defined image on 5x5 display
SWORD - pre-defined image on 5x5 display
TARGET - pre-defined image on 5x5 display
TORTOISE - pre-defined image on 5x5 display
TRIANGLE - pre-defined image on 5x5 display
TRIANGLE_LEFT - pre-defined image on 5x5 display
TSHIRT - pre-defined image on 5x5 display
UMBRELLA - pre-defined image on 5x5 display
XMAS - pre-defined image on 5x5 display
YES - pre-defined image on 5x5 display
get_pixel(Image object, int, int) - retrives the intensity of the pixel at x,y
height(Image object) - height of image object
set_pixel(Image object,int,int,int) - set pixel at x, y with intensity between 0 and 9
shift_down(Image object,int) - shift down all pixels of the image obect by N rows. returns a new image object
shift_left(Image object,int) - shift left all pixels of the image obect by N rows. returns a new image object
shift_right(Image object,int) - shift right all pixels of the image obect by N rows. returns a new image object
shift_up(Image object,int) - shift up all pixels of the image obect by N rows. returns a new image object
width(Image object) - width of image object
USB_VCP - same as BT_VCP but for USB
battery
temperature() - shows battery temp
voltage() - shows voltage (charge_voltage in info)
info() - dict of:
temperature,charge_voltage,charge_current,
charge_voltage_filtered,error_state,
charger_state,battery_capacity_left
current() - current voltage pulled (charge_current in info)
charger_detect() - if cable is plugged in (charger_state in info)
capacity_left() - percent battery left (battery_capacity_left in info)
BATTERY_BAD_BATTERY - returns -5
BATTERY_HUB_TEMPERATURE_CRITICAL_OUT_OF_RANGE - returns -2
BATTERY_NO_ERROR - returns 0
BATTERY_TEMPERATURE_OUT_OF_RANGE - returns -2
BATTERY_TEMPERATURE_SENSOR_FAIL - returns -3
BATTERY_VOLTAGE_TOO_LOW - returns -5
CHARGER_STATE_CHARGING_COMPLETED - returns 2
CHARGER_STATE_CHARGING_ONGOING - returns 1
CHARGER_STATE_DISCHARGING - returns 0
CHARGER_STATE_FAIL - returns -1
USB_CH_PORT_CDP - returns 2
USB_CH_PORT_DCP - returns 3
USB_CH_PORT_NONE - returns 0
USB_CH_PORT_SDP - returns 0
ble
callback - callback if bluetooth is connected
connect(int) - no idea how to connect via int
mac() - show mac address of hub
rssi() - power level of hub
scan(int) - when called scanning seems to happen. no idea what the int does
scan_result() - results of bluetooth scan
bluetooth
discoverable() - is hub discoverable
info() - dict of:
mac_addr, service_uuid, name,
iap {
device_version,authentication_revision,
device_id, certificate_serial_no,
protocol_major_version, protocol_minor_version
}, known_devices, device_uuid
button
center,left,right
callback - callback function if button triggered
is_pressed() - shows current state
on_change(function name) - calls the function which needs 1 argument for time (0 pressed, <time> until release)
presses() - counts presses since last call
was_pressed() - returns 1 if it was pressed since last call
display
clear() - clears the display
callback(func ref / None) - callback function when display draws new image or clears (rotation wont trigger)
pixel(int,int) - give pixel intensity at x,y
rotation(int) - rotate the display by 90,180,270,...
show(image object) - shows the image object i.e hub.Image('00000:00900:09990:99999:00000')
file_transfer(str, int) - used for file transfers from the app to the hub
info() - info about the hub:
1ms_tick_min, 1ms_tick_on_time, product_variant, 1ms_tick_miss,
1ms_tick_max, 1ms_tick_total, hardware_version, device_uuid
led(int,int,int) = sets the r,g,b value of the led (white is (255, 70, 35))
led() - returns current led color
motion
BACK - is str -> back
DOUBLETAPPED - is str -> doubletapped
DOWN - is str -> down
FREEFALL - is str -> freefall
FRONT - is str -> front
LEFTSIDE - is str -> leftside
NONE - is str -> NULL
RIGHTSIDE - is str -> rightside
SHAKE - is str -> shake
TAPPED - is str -> tapped
UP - is str -> up
accelerometer () - int of x, y, z acceleration
accelerometer_filter () - int of x, y, z acceleration less noisy
callback(func ref / None) - callback function when any of the all caps state happen. sender has state
gesture - listen for any of the all caps state
gyroscope() - int of x, y, z gyroscope
gyroscope_filter - int of x, y, z gyroscope less noisy
orientation() - orientation of the hub: 'front', 'back', 'leftside', 'rigtside', 'up', 'down'
position() - position in angle for example to calculate the orientation
preset_yaw(int) - set yaw
reset_yaw() - reset yaw
was_gesture(any of the all caps state) - was the hub in such an orientation. reset after called
port
A - returns object -> Port(A)
ATTACHED - returns 1 (but what is attached?!?!)
B - returns object -> Port(B)
C - returns object -> Port(C)
D - returns object -> Port(D)
DETACHED - returns 0 (but what is detached?!?!)
E - returns object -> Port(E)
F - returns object -> Port(F)
MODE_DEFAULT - returns 0
MODE_FULL_DUPLEX - returns 1
MODE_GPIO - returns 3
MODE_HALF_DUPLEX - returns 2
power_off() - turns off the hub, **works async** (you propably should while true after this)
repl_restart() - pass a "machine word" to make this restart a repl (any small int works)
sound
SOUND_SAWTOOTH - returns 3
SOUND_SIN - returns 0
SOUND_SQUARE - returns 1
SOUND_TRIANGLE - returns 2
beep(int,int) - first argument is sound in herz, second is time in ms. works async
callback(func ref / None) - callback function when sound is played. sender is 0
play(path) - plays any file in extra_files:
['Affirmative', 'Damage', 'Exterminate', 'Fire', 'Grab', 'Hammer', 'Laser', 'Laugh', 'Mission Accomplished', 'Punch', 'Scanning', 'Seek and Destroy', 'Shut Down', 'Target Acquired', 'Target Destroyed', 'Whirl', '1234', 'Delivery', 'Dizzy', 'Goodbye', 'Hello', 'Hi', 'Hi 5', 'Humming', 'Chuckle', 'Like', 'No', 'Ouch', 'Sad', 'Scared', 'Tadaa', 'Wow', 'Yes', 'Yipee', 'Yuck', 'Activate', 'Kick', 'Shake', 'Deactivate', 'Initialize', 'Brick Eating', 'Horn', 'Hydraulics Down', 'Hydraulics Up', 'Reverse', 'Revving', 'Shooting', 'Play', 'Countdown', 'Countdown Tick', 'Error', 'Ping', 'Success Chime', 'Bowling', 'Celebrate', 'Explosion', 'Goal', 'Hit', 'Slam Dunk', 'Strike']
volume(int) / () - if nothing is pased returns volume. otherwise set volume from 0 to 10 (10 max)
status - returns status of hub for example:
'gyroscope': (0, -1, 0), 'position': (-30, 0, 0), 'accelerometer': (-7, -3, 991), 'port': {'C': [], 'D': [], 'B': [], 'E': [], 'A': [], 'F': []}, 'display': '09000:09900:09990:09900:09000'
supervision
info() - info about the hub state
{'continous_current_too_high': False, 'peek_current_too_high': False, 'temperature_too_high': False, 'continuous_current': 110, 'temperature_way_too_high': False}
temperature() - temperature of the environment. different measure than hub.battery.temperature
firmware
appl_checksum() - returns a checksum of the current firmware
appl_image_initialise() - returns nothing
appl_image_read(int) - returns a bytearray
appl_image_store(str) - returns length of str
bootloader_version() - returns version of bootloader
erase_superblock - erases the littlefs superblock, effectivly removing all files (note that it really isn't "secure" erase since the data is still there and can be read from the SPI flash)
ext_flash_erase - takes a while, seems to erase the flash and not just the superblock
ext_flash_read_length - didn't dare to execute
flash_read - read the internal flash
flash_write - write the internal flash, can brick your device and the only way to unbrick it is to attach an ST-Link bridge to the hard-to-access motherboard! (maybe, but they propably fused against it)
info - gets firmware info
{'appl_checksum': 1231192444, 'new_appl_image_stored_checksum': 0, 'appl_calc_checksum': 1231192444, 'new_appl_valid': False, 'new_appl_image_calc_checksum': 0, 'new_image_size': 0, 'currently_stored_bytes': 9, 'upload_finished': False, 'spi_flash_size': '32 MBytes', 'valid': 0}
VCP stands for Virtual Com Port
from spike-prime.
Related Issues (20)
- Extend the decompiler to produce python code HOT 10
- Dump the `hub` module HOT 7
- ubluetooth library HOT 1
- Flashing Spike firmware onto MINDSTORMS hub HOT 2
- ls /pyboard with rshell fails HOT 1
- [Question] Flash firmware to Spike Prime HOT 2
- The decompiler does not handle all operations
- Add upload script? HOT 8
- Problems with decompiler: container.sh HOT 2
- LEGO Technic Small Hub (45609) Firmware and FIlesystem
- Add tech spec pdfs for new SPIKE Prime small hub and components. HOT 1
- Create simulator images for SPIKE Essential components
- Decompiler output expectations? HOT 2
- Can you still write uncompiled programs? HOT 1
- Connecting to Hub Failed! Opening COM8: File not found HOT 1
- Factory reset via hardware? HOT 3
- Add special hub boot routines to docs. HOT 1
- Please add latest Spike Prime firmware HOT 6
- File corruption prevention missing HOT 3
- Flashing Mindstorms hub with PRIME firmware in 2024 HOT 2
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from spike-prime.