def setupCompass(self): self.comp=wiringPiI2CSetup(HMC5883) if(self.comp == -1): print "Error al conectar con HMC5883" return -1 #Turning on the ADXL345 wiringPiI2CWriteReg8(self.comp, 0x02, 0x00) return 0
def setupAcc(self): self.acc=wiringPiI2CSetup(ADXL345) if(self.acc == -1): print "Error al conectar con ADXL345" return -1 #Turning on the ADXL345 wiringPiI2CWriteReg8(self.acc, 0x31, 0x01) wiringPiI2CWriteReg8(self.acc, 0x2d, 0x08) return 0
def start_dev(address, adres_rejestru1, adres_rejestru2, bajt_danych1,
bajt_danych2):
fd = wiringpi.wiringPiI2CSetup(address)
time.sleep(0.01)
wiringpi.wiringPiI2CWriteReg8(fd, adres_rejestru1, bajt_danych1)
wiringpi.wiringPiI2CWriteReg8(fd, adres_rejestru2, bajt_danych2)
return fd
def get_gyroscope_xyz():
fd = wiringpi.wiringPiI2CSetup(0x6B)
wiringpi.wiringPiI2CWriteReg8(fd, 0x20, 15)
x = twos_complement_combine(wiringpi.wiringPiI2CReadReg8(fd, 0x29),
wiringpi.wiringPiI2CReadReg8(
fd, 0x29)) / 32768 # left, right
y = twos_complement_combine(wiringpi.wiringPiI2CReadReg8(
fd, 0x2B), wiringpi.wiringPiI2CReadReg8(fd, 0x2A)) / 32768 # up, down
z = twos_complement_combine(wiringpi.wiringPiI2CReadReg8(
fd, 0x2D), wiringpi.wiringPiI2CReadReg8(fd, 0x2C)) / 32768 # rotation
return jsonify({"gyroscope": [str(x), str(y), str(z)]})
def customSymbol(self, location, charmap):
location &= 0x7 # we only have 8 locations 0-7
self.command(LCD_SETCGRAMADDR | (location << 3))
#data = bytearray(9);
data = 0x40
#for i in range(0,8):
# data[i+1] = charmap[i]
#self.send(data,9,charmap)
for i in range(0, 8):
wiringpi.wiringPiI2CWriteReg8(self.LCD, 0x40, charmap[i])
def __init__(self,devid=0x76):
'''Initialze the I2C port with wiringpi and start the BMP280 sensor.
Arguments: devid = the device ID of the sensor, defaults to 0x76'''
wp.wiringPiSetupGpio() # Use the GPIO numbering scheme.
self.fh = wp.wiringPiI2CSetup(devid) # Open com to devide
dat = wp.wiringPiI2CReadReg8(self.fh,0xD0) # Check device ID
if dat != 0x58:
print('''The device at address 0x{:02x} returned 0x{:02x} instead of 0x58.\n
Probably this is the wrong device.'''.format(devid,dat))
return(0)
wp.wiringPiI2CWriteReg8(self.fh,0xF4,0b00100111) # Set for normal operation, 1x oversampling.
def init(self):
global a
a=wpi.wiringPiI2CSetup(0x1e)
#set range
wpi.wiringPiI2CWriteReg8(a,0x01, 0b001 << 5);
#setMeasurementMode
value = wpi.wiringPiI2CReadReg8(a,0x02);
value &= 0b11111100;
value |= 0b00;
wpi.wiringPiI2CWriteReg8(a,0x02, value);
#setDataRate
value = wpi.wiringPiI2CReadReg8(a,0x00);
value &= 0b11100011;
value |= (0b101 << 2);
wpi.wiringPiI2CWriteReg8(a,0x00, value);
#setSamples
value = wpi.wiringPiI2CReadReg8(a,0x00);
value &= 0b10011111;
value |= (0b11 << 5);
wpi.wiringPiI2CWriteReg8(a,0x00, value);
def __init__(self):
global a
a = wpi.wiringPiI2CSetup(0x1e)
#set range
wpi.wiringPiI2CWriteReg8(a, 0x01, 0b001 << 5)
#setMeasurementMode
value = wpi.wiringPiI2CReadReg8(a, 0x02)
value &= 0b11111100
value |= 0b00
wpi.wiringPiI2CWriteReg8(a, 0x02, value)
#setDataRate
value = wpi.wiringPiI2CReadReg8(a, 0x00)
value &= 0b11100011
value |= (0b101 << 2)
wpi.wiringPiI2CWriteReg8(a, 0x00, value)
#setSamples
value = wpi.wiringPiI2CReadReg8(a, 0x00)
value &= 0b10011111
value |= (0b11 << 5)
wpi.wiringPiI2CWriteReg8(a, 0x00, value)
def start_pwm_driver(pwm_addr):
global PWM_ON_ADDR_LOW
global PWM_ON_ADDR_HIGH
pwm_id = wiringpi.wiringPiI2CSetup(pwm_addr)
time.sleep(0.001)
# OSCILLATOR = ON
wiringpi.wiringPiI2CWriteReg8(pwm_id, mode_1_reg_address, mode_1_reg_value)
# FREQ = 200Hz
wiringpi.wiringPiI2CWriteReg8(pwm_id, 0xFE, 0x1E)
# SET MOTORS ENABLE DELAY TIME = 100
for a in range(0, 6):
PWM_MSB, PWM_LSB = divmod(100, 1 << 8)
byte_low = PWM_ON_ADDR_LOW[a]
byte_high = PWM_ON_ADDR_HIGH[a]
wiringpi.wiringPiI2CWriteReg8(pwm_id, byte_low, PWM_LSB)
wiringpi.wiringPiI2CWriteReg8(pwm_id, byte_high, PWM_MSB)
return pwm_id
def set_times(pwm_id, times):
global PWM_OFF_ADDR_LOW
global PWM_OFF_ADDR_HIGH
for a in range(0, 6):
PWM_MSB, PWM_LSB = divmod(times[a], 1 << 8)
byte_low = PWM_OFF_ADDR_LOW[a]
byte_high = PWM_OFF_ADDR_HIGH[a]
wiringpi.wiringPiI2CWriteReg8(pwm_id, byte_low, PWM_LSB)
wiringpi.wiringPiI2CWriteReg8(pwm_id, byte_high, PWM_MSB)
def set_laneChange(self, direction):
result = wiringpi.wiringPiI2CWriteReg8(self.file_descriptor, 0x22,
direction)
if result == -1:
print "Error writing. errno: ", result
else:
print "Changing lane to: ", direction
def startLineFollow(self, speed):
result = wiringpi.wiringPiI2CWriteReg8(self.file_descriptor, 0x20,
speed)
if result == -1:
print "Error writing. errno: ", result
else:
print "Start linefollow at speed ", speed
def set_tone(self, tone):
result = wiringpi.wiringPiI2CWriteReg8(self.file_descriptor, 0x40,
tone)
if result == -1:
print "Error writing. errno: ", result
else:
print "Setting tone to: ", tone
def _triggerPulse(self, channel, on, off):
wiringpi.wiringPiI2CWriteReg8(
self.device, self.registers["LED0_ON_L"] + 4 * channel, on & 0xFF)
wiringpi.wiringPiI2CWriteReg8(
self.device, self.registers["LED0_ON_H"] + 4 * channel, on >> 8)
wiringpi.wiringPiI2CWriteReg8(
self.device, self.registers["LED0_OFF_L"] + 4 * channel,
off & 0xFF)
wiringpi.wiringPiI2CWriteReg8(
self.device, self.registers["LED0_OFF_H"] + 4 * channel, off >> 8)
def setupGyro(self): self.gy=wiringPiI2CSetup(ITG3200) if(self.gy == -1): print "Error al conectar con ITG3200" return -1 #Turning on the ITG3200 wiringPiI2CWriteReg8(self.gy, 0x3e, 0x00) wiringPiI2CWriteReg8(self.gy, 0x15, 0x07) wiringPiI2CWriteReg8(self.gy, 0x16, 0x1e) wiringPiI2CWriteReg8(self.gy, 0x17, 0x00) delay(10) self.gyroCalibrate()
def _write_reg(self, reg, data):
"""
Writes one byte of *data* to register *reg*
reg: int
register value to write byte to
data: 8 bit
8 bit of data to write
Returns
-------
Integer indicating successful write
"""
return wp.wiringPiI2CWriteReg8(self.device_id, reg, data)
def SetUp(self):
wp.wiringPiSetup()
self.fd = wp.wiringPiI2CSetup(self.device)
wp.wiringPiI2CWriteReg8(self.fd, self.register_A, 0x70)
wp.wiringPiI2CWriteReg8(self.fd, self.register_B, 0x20)
wp.wiringPiI2CWriteReg8(self.fd, self.register_Mode, 0x00)
# self.CalibrateMag(self.fd)
return
def set_pwm_freq(self, freq_hz):
"""Set the PWM frequency to the provided value in hertz."""
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq_hz)
prescaleval -= 0.5
logger.debug('Setting PWM frequency to {0} Hz'.format(freq_hz))
logger.debug('Estimated pre-scale: {0}'.format(prescaleval))
prescale = int(math.floor(prescaleval + 0.5))
logger.debug('Final pre-scale: {0}'.format(prescale))
oldmode = wp.wiringPiI2CReadReg8(self.fd, MODE1);
newmode = (oldmode & 0x7F) | 0x10;
wp.wiringPiI2CWriteReg8(self.fd, MODE1, newmode) # go to sleep
wp.wiringPiI2CWriteReg8(self.fd, PRESCALE, prescale)
wp.wiringPiI2CWriteReg8(self.fd, MODE1, oldmode)
time.sleep(0.005)
wp.wiringPiI2CWriteReg8(self.fd, MODE1, oldmode | 0x80)
def _setPWMFreq(self, freq):
self.freq = (1000 if freq > 1000 else freq if freq < 400 else 400)
prescale = int(25000000 / (4096 * freq) - 0.5)
settings = wiringpi.wiringPiI2CReadReg8(self.device,
self.registers["MODE1"]) & 0x7F
sleep = settings | 0x10
wake = settings & 0xEF
restart = wake | 0x80
wiringpi.wiringPiI2CWriteReg8(self.device, self.registers["MODE1"],
sleep)
wiringpi.wiringPiI2CWriteReg8(self.device, self.registers["PRESCALE"],
prescale)
wiringpi.wiringPiI2CWriteReg8(self.device, self.registers["MODE1"],
wake)
time.sleep(0.001)
wiringpi.wiringPiI2CWriteReg8(self.device, self.registers["MODE1"],
restart)
def init_start(self):
# Setup I2C interface for the device.
self.set_all_pwm(0, 0)
wp.wiringPiI2CWriteReg8(self.fd, MODE1, OUTDRV);
wp.wiringPiI2CWriteReg8(self.fd, MODE1, ALLCALL);
time.sleep(0.005) # wait for oscillator
mode1 = wp.wiringPiI2CReadReg8(self.fd, MODE1);
mode1 = mode1 & ~SLEEP; # wake up (reset sleep)
wp.wiringPiI2CWriteReg8(self.fd, MODE1, mode1);
time.sleep(0.005) # wait for oscillator
self.set_pwm_freq(1000)
def configure(self):
#enable the module
wp.wiringPiI2CWriteReg8(self.m_i2cHandle, RegMap.REG_PWR1,
Config.PWR_CLK_PLL_GYRO_X)
wp.wiringPiI2CWriteReg8(self.m_i2cHandle, RegMap.REG_ACC_CONFIG,
Config.ACC_RANGE_2G)
self.m_accFactor = 2.
wp.wiringPiI2CWriteReg8(self.m_i2cHandle, RegMap.REG_GYRO_CONFIG,
Config.GYRO_RANGE_500)
self.m_gyroFactor = 500.
def initInterface(self, sampling_freqeuncy_hz):
wpi = self.wpi
file_descriptor = wpi.wiringPiI2CSetup(self.I2C_ADDRESS)
#configure device to use remote register for sampling rate control
reg_value = 0x08 | (1 << 5) #0x08 default value
wpi.wiringPiI2CWriteReg8(file_descriptor,
self.I2C_REGISTER_ACQ_CONFIG_REG, reg_value)
#configure device to capture continuously
wpi.wiringPiI2CWriteReg8(file_descriptor,
self.I2C_REGISTER_TRIGGER_COUNT, 0xFF)
#configure triggering rate
wpi.wiringPiI2CWriteReg8(file_descriptor,
self.I2C_REGISTER_SAMPLING_DELAY,
int(2000 / sampling_freqeuncy_hz))
return file_descriptor
def set_all_pwm(self, on, off):
"""Sets all PWM channels."""
wp.wiringPiI2CWriteReg8(self.fd, ALL_LED_ON_L, on & 0xFF)
wp.wiringPiI2CWriteReg8(self.fd, ALL_LED_ON_H, on >> 8)
wp.wiringPiI2CWriteReg8(self.fd, ALL_LED_OFF_L, off & 0xFF)
wp.wiringPiI2CWriteReg8(self.fd, ALL_LED_OFF_H, off >> 8)
def set_pwm(self, channel, on, off):
"""Sets a single PWM channel."""
wp.wiringPiI2CWriteReg8(self.fd, LED0_ON_L + 4 * channel, on & 0xFF)
wp.wiringPiI2CWriteReg8(self.fd, LED0_ON_H + 4 * channel, on >> 8)
wp.wiringPiI2CWriteReg8(self.fd, LED0_OFF_L + 4 * channel, off & 0xFF)
wp.wiringPiI2CWriteReg8(self.fd, LED0_OFF_H + 4 * channel, off >> 8)
def configureIMU(devHandle):
wp.wiringPiI2CWriteReg8(devHandle, 0x6b, 0x01)
wp.wiringPiI2CWriteReg8(devHandle, 0x1b, 0x00)
wp.wiringPiI2CWriteReg8(devHandle, 0x1c, 0x18)
def i2c_write(reg_adress, reg_data):
wpi.wiringPiI2CWriteReg8(fb, reg_adress, reg_data)
def update(fd, data):
"""HT16K33 LEDマトリクス表示更新"""
for index, r in enumerate(ROW_ADDRESS):
wiringpi.wiringPiI2CWriteReg8(fd, r, data[index])
def cmd(self, code):
if wpi.wiringPiI2CWriteReg8(self.fd, 0x02, code):
raise IOError("I2C write ERROR {0:x}@{1:x}".format(self.addr, code))
import wiringpi as wpi
import math
ACC = wpi.wiringPiI2CSetup(0x18)
wpi.wiringPiI2CWriteReg8(ACC, 0x20, 0x27)
while True:
ACC_x = wpi.wiringPiI2CReadReg8(ACC, 0x28) << 8 | wpi.wiringPiI2CReadReg8(
ACC, 0x29)
#
ACC_y = wpi.wiringPiI2CReadReg8(ACC, 0x2a) << 8 | wpi.wiringPiI2CReadReg8(
ACC, 0x2b)
#
ACC_z = wpi.wiringPiI2CReadReg8(ACC, 0x2c) << 8 | wpi.wiringPiI2CReadReg8(
ACC, 0x2d)
#
#
#
#
#
if ACC_x > 32768:
ACC_x = -(65535 - ACC_x + 1)
#
#
if ACC_y > 32768:
ACC_y = -(65535 - ACC_y + 1)
#
#
if ACC_z > 32768:
ACC_z = -(65535 - ACC_z + 1)
#
import wiringpi
import sys
fd = wiringpi.wiringPiI2CSetup(0x04)
if fd == -1:
print "errno: ", errno
quit()
var = int(sys.argv[1])
print "Trying to set scoop to: ", var
result = wiringpi.wiringPiI2CWriteReg8(fd, 1, var)
if result == -1:
print "Error writing. errno: ", result
else:
print "Scoop set to: ", var
def sys2rtcSet(fd):
wiringpi.wiringPiI2CWriteReg8(fd, 0x02, getHours())
wiringpi.wiringPiI2CWriteReg8(fd, 0x01, getMins())
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, getSecs() + 0b10000000)
wiringpi.wiringPiI2CWriteReg8(fd, 0x03, getWeeks())
wiringpi.wiringPiI2CWriteReg8(fd, 0x04, getDays())
wiringpi.wiringPiI2CWriteReg8(fd, 0x05, getMons())
wiringpi.wiringPiI2CWriteReg8(fd, 0x06, getYear())
def clear_register(fd):
wiringpi.wiringPiI2CWriteReg8(fd, 0x02, 0b0) # hours
wiringpi.wiringPiI2CWriteReg8(fd, 0x01, 0b0) # mins
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0b10000000) # secs
wiringpi.wiringPiI2CWriteReg8(fd, 0x03, 0b0) # weeks
wiringpi.wiringPiI2CWriteReg8(fd, 0x04, 0b0) # days
wiringpi.wiringPiI2CWriteReg8(fd, 0x05, 0b0) # mons
def update(fd, data):
"""HT16K33 7seg表示更新"""
for index, r in enumerate(DIGIT_ADDRESS):
wiringpi.wiringPiI2CWriteReg8(fd, r, data[index])
def main():
#init
wiringpi.wiringPiSetup()
fd = wiringpi.wiringPiI2CSetup(I2C_ADDR)
if not fd:
return False
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xa1)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xc8)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0x8d)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0x14)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xa6)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0x21)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0x00)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0x7f)
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xaf)
#clear oled
for a in range(8):
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xb0 + a)
for b in range(128):
wiringpi.wiringPiI2CWriteReg8(fd, 0x40, 0x00)
while True:
try:
#get time
yi[0] = full_string("++++OrangePi++++")
#yi[1] = full_string(time.strftime("%m/%d %w"))
yi[1] = full_string(time.strftime("%m/%d %a"))
yi[2] = full_string(time.strftime("%H:%M"))
yi[3] = full_string("SSD1306 I2C OLED")
#write
for zt3 in range(4):
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xb0 + (zt3 * 2))
for zt4 in range(16):
for zt in range(8):
wiringpi.wiringPiI2CWriteReg8(
fd, 0x40, zi[ord(yi[zt3][zt4]) * 16 + zt])
wiringpi.wiringPiI2CWriteReg8(fd, 0x00, 0xb0 + (zt3 * 2) + 1)
for zt4 in range(16):
for zt in range(8):
wiringpi.wiringPiI2CWriteReg8(
fd, 0x40, zi[ord(yi[zt3][zt4]) * 16 + zt + 8])
time.sleep(1)
except KeyboardInterrupt:
print("\nexit")
sys.exit(0)
