def main():
parser = argparse.ArgumentParser(
description=
'HAL component to read ADC values and convert to temperature')
parser.add_argument('-n',
'--name',
help='HAL component name',
required=True)
parser.add_argument('-i',
'--interval',
help='Adc update interval',
default=0.05)
parser.add_argument(
'-c',
'--channels',
help=
'Komma separated list of channels and thermistors to use e.g. 01:semitec_103GT_2,02:epcos_B57560G1104',
required=True)
parser.add_argument('-f',
'--filter_size',
help='Size of the low pass filter to use',
default=10)
parser.add_argument('-b',
'--cape_board',
help='Type of cape used',
default='BeBoPr')
parser.add_argument(
'-r',
'--r_pu',
default=2000,
type=float,
help='Divider pull-up resistor value (default 2k Ohms)')
args = parser.parse_args()
updateInterval = float(args.interval)
filterSize = int(args.filter_size)
error = False
watchdog = True
# Create pins
pins = []
if (args.channels != ""):
channelsRaw = args.channels.split(',')
for channel in channelsRaw:
pinRaw = channel.split(':')
if (len(pinRaw) != 2):
print(("wrong input"))
sys.exit(1)
pin = Pin()
pin.pin = int(pinRaw[0])
if ((pin.pin > 5) or (pin.pin < 0)):
print(("Pin not available"))
sys.exit(1)
checkAdcInput(pin)
if (pinRaw[1] != "none"):
pin.r2temp = R2Temp(pinRaw[1])
pin.filterSize = filterSize
pins.append(pin)
# Initialize HAL
h = hal.component(args.name)
for pin in pins:
pin.halRawPin = h.newpin(
getHalName(pin) + ".raw", hal.HAL_FLOAT, hal.HAL_OUT)
if (pin.r2temp is not None):
pin.halValuePin = h.newpin(
getHalName(pin) + ".value", hal.HAL_FLOAT, hal.HAL_OUT)
halErrorPin = h.newpin("error", hal.HAL_BIT, hal.HAL_OUT)
halNoErrorPin = h.newpin("no-error", hal.HAL_BIT, hal.HAL_OUT)
halWatchdogPin = h.newpin("watchdog", hal.HAL_BIT, hal.HAL_OUT)
h.ready()
halErrorPin.value = error
halNoErrorPin.value = not error
halWatchdogPin.value = watchdog
try:
while (True):
try:
for pin in pins:
f = open(pin.filename, 'r')
value = float(f.readline())
pin.addSample(value)
pin.halRawPin.value = pin.rawValue
if (pin.r2temp is not None):
pin.halValuePin.value = adc2Temp(pin)
error = False
except IOError:
error = True
halErrorPin.value = error
halNoErrorPin.value = not error
watchdog = not watchdog
halWatchdogPin.value = watchdog
time.sleep(updateInterval)
except:
print(("exiting HAL component " + args.name))
h.exit()
def main():
parser = argparse.ArgumentParser(
description='HAL component to read LSM303 Accelerometer values')
parser.add_argument('-n',
'--name',
help='HAL component name',
default="gy86")
parser.add_argument('-b', '--bus_id', help='I2C bus id', default=2)
parser.add_argument('-i',
'--interval',
help='I2C update interval',
default=0.05)
parser.add_argument('-d',
'--delay',
help='Delay before the i2c should be updated',
default=0.0)
args = parser.parse_args()
delayInterval = float(args.delay)
h = hal.component(args.name)
tempPin = h.newpin("temperature", hal.HAL_FLOAT, hal.HAL_OUT)
pressPin = h.newpin("pressure", hal.HAL_FLOAT, hal.HAL_OUT)
anglexPin = h.newpin("angle-x", hal.HAL_FLOAT, hal.HAL_OUT)
angleyPin = h.newpin("angle-y", hal.HAL_FLOAT, hal.HAL_OUT)
anglezPin = h.newpin("angle-z", hal.HAL_FLOAT, hal.HAL_OUT)
magxPin = h.newpin("mag-x", hal.HAL_FLOAT, hal.HAL_OUT)
magyPin = h.newpin("mag-y", hal.HAL_FLOAT, hal.HAL_OUT)
magzPin = h.newpin("mag-z", hal.HAL_FLOAT, hal.HAL_OUT)
accelxPin = h.newpin("accel-x", hal.HAL_FLOAT, hal.HAL_OUT)
accelyPin = h.newpin("accel-y", hal.HAL_FLOAT, hal.HAL_OUT)
accelzPin = h.newpin("accel-z", hal.HAL_FLOAT, hal.HAL_OUT)
gyroxPin = h.newpin("gyro-x", hal.HAL_FLOAT, hal.HAL_OUT)
gyroyPin = h.newpin("gyro-y", hal.HAL_FLOAT, hal.HAL_OUT)
gyrozPin = h.newpin("gyro-z", hal.HAL_FLOAT, hal.HAL_OUT)
h.ready()
i2c_bus = int(args.bus_id) # /dev/i2c-2
mpu6050 = Adafruit_I2C(0x68, i2c_bus) # ADC 16bit
hmc5883 = Adafruit_I2C(0x1e, i2c_bus) # ADC 12bit
ms5611 = Adafruit_I2C(0x77, i2c_bus) # ADC 24bit
# mpu6050 i2c master enable bit
mpu6050.write8(0x6A, 0)
# mpu6050 i2c bypass enable bit
mpu6050.write8(0x37, 2)
# mpu6050 turn off sleep mode
mpu6050.write8(0x6B, 0)
# hmc5883 continuous mode
hmc5883.write8(0x02, 0x00)
# ms5611 reset
ms5611.writeList(0x1e, [])
time.sleep(2 / 1000.0)
# ms5611 prom
t = ms5611.readList(0xa2, 2)
c1 = t[0] * 256 + t[1]
t = ms5611.readList(0xa4, 2)
c2 = t[0] * 256 + t[1]
t = ms5611.readList(0xa6, 2)
c3 = t[0] * 256 + t[1]
t = ms5611.readList(0xa8, 2)
c4 = t[0] * 256 + t[1]
t = ms5611.readList(0xaa, 2)
c5 = t[0] * 256 + t[1]
t = ms5611.readList(0xac, 2)
c6 = t[0] * 256 + t[1]
# c1=40127
# c2=36924
# c3=23317
# c4=23282
# c5=33464
# c6=28312
try:
time.sleep(delayInterval)
while True:
# read mpu6050 accelerations in m/s^2
ax = (mpu6050.readS8(0x3b) * 256 + mpu6050.readU8(0x3c)) / 16384.0
ay = (mpu6050.readS8(0x3d) * 256 + mpu6050.readU8(0x3e)) / 16384.0
az = (mpu6050.readS8(0x3f) * 256 + mpu6050.readU8(0x40)) / 16384.0
# read mpu6050 temperature in C
tt = (mpu6050.readS8(0x41) * 256 +
mpu6050.readU8(0x42)) / 340.0 + 36.53
# read mpu6050 gyroscope in degree/s
gx = (mpu6050.readS8(0x43) * 256 + mpu6050.readU8(0x44)) / 131.0
gy = (mpu6050.readS8(0x45) * 256 + mpu6050.readU8(0x46)) / 131.0
gz = (mpu6050.readS8(0x47) * 256 + mpu6050.readU8(0x48)) / 131.0
# wait hmc5883 to be ready
while not hmc5883.readU8(0x09) & 0x01 == 1:
pass
# read hmc5883 magnetometer in gauss
magx = (hmc5883.readS8(0x3) * 256 + hmc5883.readU8(0x4)) / 1090.0
magz = (hmc5883.readS8(0x5) * 256 + hmc5883.readU8(0x6)) / 1090.0
magy = (hmc5883.readS8(0x7) * 256 + hmc5883.readU8(0x8)) / 1090.0
z = math.degrees(math.atan2(magy, magx))
y = math.degrees(-math.atan2(ax, az))
x = math.degrees(math.atan2(ay, az))
ms5611.writeList(0x48, [])
time.sleep(9 / 1000.0)
adc = ms5611.readList(0x00, 3)
d1 = adc[0] * 65536 + adc[1] * 256 + adc[2]
# d1=9085466
ms5611.writeList(0x58, [])
time.sleep(9 / 1000.0)
adc = ms5611.readList(0x00, 3)
d2 = adc[0] * 65536 + adc[1] * 256 + adc[2]
# d2=8569150
dt = d2 - c5 * (1 << 8)
temp = 2000 + dt * c6 / (1 << 23)
off = c2 * (1 << 16) + c4 * dt / (1 << 7)
sens = c1 * (1 << 15) + c3 * dt / (1 << 8)
p = (d1 * sens / (1 << 21) - off) / (1 << 15)
# print c1,c2,c3,c4,c5,c6,d1,d2,dt,temp,off,sens,p
tempPin.value = temp / 100.0
pressPin.value = p / 100.0
anglexPin.value = x
angleyPin.value = y
anglezPin.value = z
magxPin.value = magx
magyPin.value = magy
magzPin.value = magz
accelxPin.value = ax
accelyPin.value = ay
accelzPin.value = az
gyroxPin.value = gx
gyroyPin.value = gy
gyrozPin.value = gz
except:
print(("exiting HAL component " + args.name))
h.exit()
def main():
parser = argparse.ArgumentParser(
description='HAL component to read LSM303 Accelerometer values')
parser.add_argument('-n',
'--name',
help='HAL component name',
required=True)
parser.add_argument('-b', '--bus_id', help='I2C bus id', default=2)
parser.add_argument('-a',
'--address',
help='I2C device address',
default=0x20)
parser.add_argument('-i',
'--interval',
help='I2C update interval',
default=0.05)
parser.add_argument(
'-op',
'--output_pins',
help='Komma separated list of output pins e.g. A01,B02',
default="")
parser.add_argument('-ip',
'--input_pins',
help='Komma separated list of input pins e.g. A01,B02',
default="")
parser.add_argument('-d',
'--delay',
help='Delay before the i2c should be updated',
default=0.0)
args = parser.parse_args()
updateInterval = float(args.interval)
delayInterval = float(args.delay)
error = True
watchdog = True
gpio = MCP23017(busId=int(args.bus_id), address=int(args.address))
# Parse arguments
pins = []
if (args.output_pins != ""):
outputPinsRaw = args.output_pins.split(',')
for pinRaw in outputPinsRaw:
pins.append(parseInputPin(pinRaw, MCP23017.DIR_OUT))
if (args.input_pins != ""):
inputPinsRaw = args.input_pins.split(',')
for pinRaw in inputPinsRaw:
pins.append(parseInputPin(pinRaw, MCP23017.DIR_IN))
if (len(pins) == 0):
print(("No pins specified"))
sys.exit(1)
# Initialize HAL
h = hal.component(args.name)
for pin in pins:
if (pin.direction == MCP23017.DIR_IN):
pin.halPin = h.newpin(getHalName(pin), hal.HAL_BIT, hal.HAL_OUT)
else:
pin.halPin = h.newpin(getHalName(pin), hal.HAL_BIT, hal.HAL_IN)
pin.halPullupPin = h.newpin(
getHalName(pin) + ".pullup", hal.HAL_BIT, hal.HAL_IN)
pin.halInvertedPin = h.newpin(
getHalName(pin) + ".invert", hal.HAL_BIT, hal.HAL_IN)
halErrorPin = h.newpin("error", hal.HAL_BIT, hal.HAL_OUT)
halNoErrorPin = h.newpin("no-error", hal.HAL_BIT, hal.HAL_OUT)
halWatchdogPin = h.newpin("watchdog", hal.HAL_BIT, hal.HAL_OUT)
h.ready()
halErrorPin.value = error
halNoErrorPin.value = not error
halWatchdogPin.value = watchdog
try:
time.sleep(delayInterval)
while (True):
try:
if (error):
gpio.init()
error = False
gpio.read() # read
for pin in pins:
gpio.setDir(pin.port, pin.pin, pin.direction)
if (pin.direction == MCP23017.DIR_IN):
pin.halPin.value = gpio.getValue(
pin.port, pin.pin) != pin.halInvertedPin.value
else:
gpio.setValue(
pin.port, pin.pin,
pin.halPin.value != pin.halInvertedPin.value)
pullup = pin.halPullupPin.value
if (pullup):
gpio.setPullup(pin.port, pin.pin, MCP23017.PULLUP_EN)
else:
gpio.setPullup(pin.port, pin.pin, MCP23017.PULLUP_DIS)
gpio.write() # write
except IOError as e:
error = True
halErrorPin.value = error
halNoErrorPin.value = not error
watchdog = not watchdog
halWatchdogPin.value = watchdog
time.sleep(updateInterval)
except:
print(("exiting HAL component " + args.name))
h.exit()
def main():
parser = argparse.ArgumentParser(
description='HAL component to read Temperature values over I2C')
parser.add_argument('-n',
'--name',
help='HAL component name',
required=True)
parser.add_argument('-b', '--bus_id', help='I2C bus id', default=2)
parser.add_argument('-a',
'--address',
help='I2C device address',
default=0x20)
parser.add_argument('-i',
'--interval',
help='I2C update interval',
default=0.05)
parser.add_argument(
'-c',
'--channels',
help=
'Comma separated list of channels and thermistors to use e.g. 01:semitec_103GT_2,02:epcos_B57560G1104',
required=True)
parser.add_argument('-f',
'--filter_size',
help='Size of the low pass filter to use',
default=10)
parser.add_argument('-d',
'--delay',
help='Delay before the i2c should be updated',
default=0.0)
args = parser.parse_args()
updateInterval = float(args.interval)
delayInterval = float(args.delay)
filterSize = int(args.filter_size)
error = True
watchdog = True
adc = ADS7828(busId=int(args.bus_id), address=int(args.address))
# Create pins
pins = []
if (args.channels != ""):
channelsRaw = args.channels.split(',')
for channel in channelsRaw:
pinRaw = channel.split(':')
if (len(pinRaw) != 2):
print(("wrong input"))
sys.exit(1)
pin = Pin()
pin.pin = int(pinRaw[0])
if ((pin.pin > 7) or (pin.pin < 0)):
print(("Pin not available"))
sys.exit(1)
if (pinRaw[1] != "none"):
pin.r2temp = R2Temp(pinRaw[1])
pin.filterSize = filterSize
pins.append(pin)
# Initialize HAL
h = hal.component(args.name)
for pin in pins:
pin.halRawPin = h.newpin(
getHalName(pin) + ".raw", hal.HAL_FLOAT, hal.HAL_OUT)
if (pin.r2temp is not None):
pin.halValuePin = h.newpin(
getHalName(pin) + ".value", hal.HAL_FLOAT, hal.HAL_OUT)
halErrorPin = h.newpin("error", hal.HAL_BIT, hal.HAL_OUT)
halNoErrorPin = h.newpin("no-error", hal.HAL_BIT, hal.HAL_OUT)
halWatchdogPin = h.newpin("watchdog", hal.HAL_BIT, hal.HAL_OUT)
h.ready()
halErrorPin.value = error
halNoErrorPin.value = not error
halWatchdogPin.value = watchdog
try:
time.sleep(delayInterval)
while (True):
try:
for pin in pins:
value = float(adc.readChannel(pin.pin))
pin.addSample(value)
pin.halRawPin.value = pin.rawValue
if (pin.r2temp is not None):
pin.halValuePin.value = adc2Temp(pin)
error = False
except IOError as e:
error = True
halErrorPin.value = error
halNoErrorPin.value = not error
watchdog = not watchdog
halWatchdogPin.value = watchdog
time.sleep(updateInterval)
except:
print(("exiting HAL component " + args.name))
h.exit()
#!/usr/bin/env python3
import machinekit.hal.pyhal as hal
import os
h = hal.component("x")
try:
pins = dict(HAL_S32=h.newpin("HAL_S32", hal.HAL_S32, hal.HAL_OUT),
HAL_U32=h.newpin("HAL_U32", hal.HAL_U32, hal.HAL_OUT),
HAL_S64=h.newpin("HAL_S64", hal.HAL_S64, hal.HAL_OUT),
HAL_U64=h.newpin("HAL_U64", hal.HAL_U64, hal.HAL_OUT),
HAL_FLOAT=h.newpin("HAL_FLOAT", hal.HAL_FLOAT, hal.HAL_OUT))
param = h.newparam("param", hal.HAL_BIT, hal.HAL_RW)
h.ready()
########## Set and read pin values; access pins via hal.compenent.__getitem__()
def try_set(p, v):
try:
h[p] = v
hp = h[p]
print("set {} {} {}".format(p, v, "ok" if hp == v else repr(hp)))
except Exception as e:
print("set {} {} {}: {}".format(p, v, type(e).__name__, e))
print("S32 pass")
# pass
try_set("HAL_S32", -1)
try_set("HAL_S32", 0)
try_set("HAL_S32", 1)
try_set("HAL_S32", 0x7fffffff) # INT32_MAX
try_set("HAL_S32", -0x80000000) # INT32_MIN
try_set("HAL_S32", 1e5) # float