def __init__(self):
self.__bus_nb = 2
self.__addr_mg = 0x1e # mag sensor
self.__addr_ag = 0x6b # accelero - gyro
self.__dev_i2c_mg=i2c.i2c(self.__addr_mg,self.__bus_nb)
self.__dev_i2c_ag=i2c.i2c(self.__addr_ag,self.__bus_nb)
self.__mag_raw = [0.0,0.0,0.0]
self.__accel_raw = [0.0,0.0,0.0]
self.__gyro_raw = [0.0,0.0,0.0]
def __init__(self):
self.__bus_nb = 2
self.__addr_4_sonars = 0x21
self.__addr_front_left = 0x070
self.__addr_front_right = 0x072
self.__dev_i2c_4_sonars = i2c.i2c(self.__addr_4_sonars, self.__bus_nb)
self.__dev_i2c_front_left = i2c.i2c(self.__addr_front_left,
self.__bus_nb)
self.__dev_i2c_front_right = i2c.i2c(self.__addr_front_right,
self.__bus_nb)
def __init__(self, ui, dbgio):
self.ui = ui
self.dbgio = dbgio
self.device = vendor.get_device(self.ui, soc_name)
self.dbgio.connect(self.device.cpu_info.name, "swd")
self.cpu = cortexm.cortexm(self, ui, self.dbgio, self.device)
self.device.bind_cpu(self.cpu)
self.mem = mem.mem(self.cpu)
self.flash = flash.flash(flash_driver.stm32f0xx(self.device), self.device, self.mem)
gpio_drv = gpio_driver.drv(self.device, gpio_cfg)
self.gpio = gpio.gpio(gpio_drv)
self.i2c = i2c.i2c(i2c_driver.gpio(gpio_drv, "PB6", "PB7"))
self.menu_root = (
("cpu", self.cpu.menu, "cpu functions"),
("da", self.cpu.cmd_disassemble, cortexm.help_disassemble),
("debugger", self.dbgio.menu, "debugger functions"),
("exit", self.cmd_exit),
("flash", self.flash.menu, "flash functions"),
("go", self.cpu.cmd_go),
("gpio", self.gpio.menu, "gpio functions"),
("halt", self.cpu.cmd_halt),
("help", self.ui.cmd_help),
("history", self.ui.cmd_history, cli.history_help),
("i2c", self.i2c.menu, "i2c functions"),
("map", self.device.cmd_map),
("mem", self.mem.menu, "memory functions"),
("program", self.flash.cmd_program, flash.help_program),
("regs", self.cmd_regs, soc.help_regs),
("vtable", self.cpu.cmd_vtable),
)
self.ui.cli.set_root(self.menu_root)
self.set_prompt()
self.dbgio.cmd_info(self.ui, None)
def __init__(self, serial=None, index=None):
self.ftdic = ftdi.ftdi_context()
self.ftdi = ftdi
self.sensors = dict()
self.hw_sw = dict()
self.hw_sw["DC"] = nvouten
self.hw_sw["SW0"] = sws[0]
self.hw_sw["SW1"] = sws[1]
self.hw_sw["ALERT"] = alert
self.hw_sw["GPIO0"] = gpios[0]
self.hw_sw["GPIO1"] = gpios[1]
self.hw_sw["GPIO2"] = gpios[2]
self.hw_sw["GPIO3"] = gpios[3]
self.switches = dict()
try:
ret = ftdi.ftdi_init(self.ftdic)
if ret < 0:
raise Exception
ret = ftdi.ftdi_usb_open_desc_index(self.ftdic, 0x0403, 0x06010, "PMC-17 v1.0", serial, index if index else 0)
if ret < 0:
raise Exception("Could not open device", ftdi.ftdi_get_error_string(self.ftdic))
ret = ftdi.ftdi_set_interface(self.ftdic, ftdi.INTERFACE_A)
if ret < 0:
raise Exception
self.hw = i2c_ftdi.i2c_ftdi(self.ftdic, scl, sda_out, sda_in, 400000, initial_output)
self.i2c = i2c.i2c(self.hw)
except Exception as e:
ftdi.ftdi_deinit(self.ftdic)
raise
def __init__(self, port = 1, addr=0x68):
self.bus = i2c.i2c( addr)
self.setPowerManagement(0x00)
self.setSampleRateDivider(0x07)
self.setDLPFAndFullScale(self.FullScale_2000_sec, self.DLPF_188_1)
self.setInterrupt(self.IC_LatchUntilIntCleared, self.IC_IntOnDeviceReady, self.IC_IntOnDataReady)
def __init__(self, serial=None, index=None):
self.ftdic = ftdi.ftdi_context()
self.ftdi = ftdi
self.sensors = dict()
self.hw_sw = dict()
self.hw_sw["DC"] = nvouten
self.hw_sw["SW0"] = sws[0]
self.hw_sw["SW1"] = sws[1]
self.hw_sw["ALERT"] = alert
self.hw_sw["GPIO0"] = gpios[0]
self.hw_sw["GPIO1"] = gpios[1]
self.hw_sw["GPIO2"] = gpios[2]
self.hw_sw["GPIO3"] = gpios[3]
self.switches = dict()
try:
ret = ftdi.ftdi_init(self.ftdic)
if ret < 0:
raise Exception
ret = ftdi.ftdi_usb_open_desc_index(self.ftdic, 0x0403, 0x06010,
"PMC-17 v1.0", serial,
index if index else 0)
if ret < 0:
raise Exception("Could not open device",
ftdi.ftdi_get_error_string(self.ftdic))
ret = ftdi.ftdi_set_interface(self.ftdic, ftdi.INTERFACE_A)
if ret < 0:
raise Exception
self.hw = i2c_ftdi.i2c_ftdi(self.ftdic, scl, sda_out, sda_in,
400000, initial_output)
self.i2c = i2c.i2c(self.hw)
except Exception as e:
ftdi.ftdi_deinit(self.ftdic)
raise
def __init__(self, ui, dbgio):
self.ui = ui
self.dbgio = dbgio
self.device = vendor.get_device(self.ui, soc_name)
self.dbgio.connect(self.device.cpu_info.name, 'swd')
self.cpu = cortexm.cortexm(self, ui, self.dbgio, self.device)
self.device.bind_cpu(self.cpu)
self.mem = mem.mem(self.cpu)
self.flash = flash.flash(flash_driver.stm32f0xx(self.device), self.device, self.mem)
gpio_drv = (gpio_driver.drv(self.device, gpio_cfg))
self.gpio = gpio.gpio(gpio_drv)
self.i2c = i2c.i2c(i2c_driver.gpio(gpio_drv, 'PB6', 'PB7'))
self.menu_root = (
('cpu', self.cpu.menu, 'cpu functions'),
('da', self.cpu.cmd_disassemble, cortexm.help_disassemble),
('debugger', self.dbgio.menu, 'debugger functions'),
('exit', self.cmd_exit),
('flash', self.flash.menu, 'flash functions'),
('go', self.cpu.cmd_go),
('gpio', self.gpio.menu, 'gpio functions'),
('halt', self.cpu.cmd_halt),
('help', self.ui.cmd_help),
('history', self.ui.cmd_history, cli.history_help),
('i2c', self.i2c.menu, 'i2c functions'),
('map', self.device.cmd_map),
('mem', self.mem.menu, 'memory functions'),
('program', self.flash.cmd_program, flash.help_program),
('regs', self.cmd_regs, soc.help_regs),
('vtable', self.cpu.cmd_vtable),
)
self.ui.cli.set_root(self.menu_root)
self.set_prompt()
self.dbgio.cmd_info(self.ui, None)
def __init__(self):
self.__bus_nb = 2
self.__addr_mg = 0x1e # mag sensor
self.__addr_ag = 0x6b # accelero - gyro
self.__dev_i2c_mg=i2c.i2c(self.__addr_mg,self.__bus_nb)
self.__dev_i2c_ag=i2c.i2c(self.__addr_ag,self.__bus_nb)
self.__mag_raw = [0.0,0.0,0.0]
self.__accel_raw = [0.0,0.0,0.0]
self.__gyro_raw = [0.0,0.0,0.0]
#
# configure mag sensor
# CTRL_REG1 (0x20) = 0b01110000
# OM = 11 (ultra-high-performance mode for X and Y);
# DO = 100 (10 Hz ODR)
self.__dev_i2c_mg.write(0x20,[0x70])
# CTRL_REG2 (0x21) = 0b00000000
# FS = 00 (+/- 4 gauss full scale)
self.__dev_i2c_mg.write(0x21,[0x00])
# CTRL_REG3 (0x22) = 0b00000000
# MD = 00 (continuous-conversion mode)
self.__dev_i2c_mg.write(0x22,[0x00])
# CTRL_REG4 (0x23) = 0b00001100
# OMZ = 11 (ultra-high-performance mode for Z)
self.__dev_i2c_mg.write(0x23,[0x0C])
#
# configure accelero + gyro
# LSM6DS33 gyro
# CTRL2_G (0x11) = 0b10001100
# ODR = 1000 (1.66 kHz (high performance))
# FS_G = 11 (2000 dps)
self.__dev_i2c_ag.write(0x11,[0x8C])
#
# CTRL7_G (0x16) = 0b00000000
# defaults
self.__dev_i2c_ag.write(0x16,[0x00])
#
# LSM6DS33 accelerometer
# CTRL1_XL (0x10) = 0b10001100
# ODR = 1000 (1.66 kHz (high performance))
# FS_XL = 11 (8 g full scale)
# BW_XL = 00 (400 Hz filter bandwidth)
self.__dev_i2c_ag.write(0x10,[0x8C])
#
# common
# CTRL3_C (0x12) 0b00000100
# IF_INC = 1 (automatically increment address register)
self.__dev_i2c_ag.write(0x12,[0x04])
def __init__(self, ui, dbgio):
self.ui = ui
self.dbgio = dbgio
self.device = vendor.get_device(self.ui, soc_name)
# add the 8MiB SDRAM
self.device.insert(
soc.make_peripheral('sdram', 0xc0000000, 8 << 20, None,
'external sdram'))
self.dbgio.connect(self.device.cpu_info.name, 'swd')
self.cpu = cortexm.cortexm(self, ui, self.dbgio, self.device)
self.device.bind_cpu(self.cpu)
self.mem = mem.mem(self.cpu)
self.flash = flash.flash(flash_driver.sdrv(self.device), self.device,
self.mem)
gpio_drv = (gpio_driver.drv(self.device, gpio_cfg))
self.gpio = gpio.gpio(gpio_drv)
self.i2c1 = i2c.i2c(i2c_driver.bitbang(gpio_drv, 'PB8', 'PB9'))
self.i2c3 = i2c.i2c(i2c_driver.bitbang(gpio_drv, 'PH7', 'PH8'))
# setup the rtt client
ram = self.device.sram
self.rtt = rtt.rtt(self.cpu, mem.region('ram', ram.address, ram.size))
self.menu_root = (
('cpu', self.cpu.menu, 'cpu functions'),
('da', self.cpu.cmd_disassemble, cortexm.help_disassemble),
('debugger', self.dbgio.menu, 'debugger functions'),
('exit', self.cmd_exit),
('flash', self.flash.menu, 'flash functions'),
('go', self.cpu.cmd_go),
('gpio', self.gpio.menu, 'gpio functions'),
('halt', self.cpu.cmd_halt),
('help', self.ui.cmd_help),
('history', self.ui.cmd_history, cli.history_help),
('i2c1', self.i2c1.menu, 'i2c1 functions'),
('i2c3', self.i2c3.menu, 'i2c3 functions'),
('map', self.device.cmd_map),
('mem', self.mem.menu, 'memory functions'),
('program', self.flash.cmd_program, flash.help_program),
('regs', self.cmd_regs, soc.help_regs),
('rtt', self.rtt.menu, 'rtt client functions'),
('vtable', self.cpu.cmd_vtable),
)
self.ui.cli.set_root(self.menu_root)
self.set_prompt()
self.dbgio.cmd_info(self.ui, None)
def __init__(self, port, addr=0x68):
self.bus = i2c.i2c(port, addr)
self.setPowerManagement(0x00)
self.setSampleRateDivider(0x07)
self.setDLPFAndFullScale(self.FullScale_2000_sec, self.DLPF_188_1)
self.setInterrupt(self.IC_LatchUntilIntCleared,
self.IC_IntOnDeviceReady, self.IC_IntOnDataReady)
def __init__(self, port, address = 0x77, mode = 3):
self.bus = i2c.i2c( address)
self.address = address
# Make sure the specified mode is in the appropriate range
if ((mode < 0) | (mode > 3)):
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
# Read the calibration data
self.readCalibrationData()
def __init__(self, busnum=-1, debug=False):
self.x = 0.00
self.y = 0.00
self.z = 0.00
self.smooth_x = 0.00
self.smooth_y = 0.00
self.smooth_z = 0.00
self.lastSensorReadings = []
self.accel = i2c(self.ADXL345_ADDRESS, busnum, debug)
if self.accel.readU8(self.ADXL345_REG_DEVID) == 0xE5:
# Enable the accelerometer
self.accel.write8(self.ADXL345_REG_POWER_CTL, 0x08)
def __init__(self):
self.__bus_nb = 2
self.__addr_4_sonars = 0x21
self.__addr_front_left = 0x070
self.__addr_front_right = 0x072
self.__dev_i2c_4_sonars=i2c.i2c(self.__addr_4_sonars,self.__bus_nb)
self.__dev_i2c_front_left=i2c.i2c(self.__addr_front_left,self.__bus_nb)
self.__dev_i2c_front_right=i2c.i2c(self.__addr_front_right,self.__bus_nb)
self.front = -1.0
self.left = -1.0
self.right = -1.0
self.rear = -1.0
self.diag_left = -1.0
self.diag_right = -1.0
self.diag_left_w = -1.0
self.diag_right_w = -1.0
# set default mode :
#self.period = 0x50 # 500 ms period
#self.period = 0x20 # 200 ms period
self.period = 0x10 # 100 ms period
#self.config = 0x65 # front sonar
self.config = 0xFF # all sonars
self.__dev_i2c_4_sonars.write(0,[0, self.period])
self.__dev_i2c_4_sonars.write(0,[0, self.config])
def __init__(self, port, addr=0x53):
self.bus = i2c.i2c(port, addr)
self.wakeUp()
# Set defaults
self.setScale()
self.setTapThreshold()
self.setTapDuration()
self.setTapLatency()
self.setTapWindow()
self.setActivityThreshold()
self.setInactivityThreshold()
self.setInactivityTime()
self.setFreeFallThreshold()
self.setFreeFallTime()
def __init__(self, port = 1, addr=0x53):
self.bus = i2c.i2c(addr)
self.wakeUp();
# Set defaults
self.setScale();
self.setTapThreshold()
self.setTapDuration()
self.setTapLatency()
self.setTapWindow()
#self.setActivityThreshold()
#self.setInactivityThreshold()
self.setInactivityTime()
self.setFreeFallThreshold()
self.setFreeFallTime()
def __init__(self, ui, dbgio):
self.ui = ui
self.dbgio = dbgio
self.device = vendor.get_device(self.ui, soc_name)
self.dbgio.connect(self.device.cpu_info.name, 'swd')
self.cpu = cortexm.cortexm(self, ui, self.dbgio, self.device)
self.device.bind_cpu(self.cpu)
self.mem = mem.mem(self.cpu)
self.flash = flash.flash(flash_driver.sdrv(self.device), self.device,
self.mem)
gpio_drv = (gpio_driver.drv(self.device, gpio_cfg))
self.gpio = gpio.gpio(gpio_drv)
self.i2c = i2c.i2c(i2c_driver.gpio(gpio_drv, 'PB6', 'PB9'))
self.dac = dac.cs43l22(self.i2c, 0x94, self.dac_reset)
# setup the rtt client
ram = self.device.sram
self.rtt = rtt.rtt(self.cpu, mem.region('ram', ram.address, ram.size))
# setup the gdb server
self.gdb = gdb.gdb(self.cpu)
self.menu_root = (
('cpu', self.cpu.menu, 'cpu functions'),
('da', self.cpu.cmd_disassemble, cortexm.help_disassemble),
('dac', self.dac.menu, 'dac functions'),
('debugger', self.dbgio.menu, 'debugger functions'),
('exit', self.cmd_exit),
('flash', self.flash.menu, 'flash functions'),
('gdb', self.gdb.run),
('go', self.cpu.cmd_go),
('gpio', self.gpio.menu, 'gpio functions'),
('halt', self.cpu.cmd_halt),
('help', self.ui.cmd_help),
('history', self.ui.cmd_history, cli.history_help),
('i2c', self.i2c.menu, 'i2c functions'),
('map', self.device.cmd_map),
('mem', self.mem.menu, 'memory functions'),
('program', self.flash.cmd_program, flash.help_program),
('regs', self.cmd_regs, soc.help_regs),
('rtt', self.rtt.menu, 'rtt client functions'),
('vtable', self.cpu.cmd_vtable),
)
self.ui.cli.set_root(self.menu_root)
self.set_prompt()
self.dbgio.cmd_info(self.ui, None)
def __init__(self, ui, dbgio):
self.ui = ui
self.dbgio = dbgio
self.device = vendor.get_device(self.ui, soc_name)
self.dbgio.connect(self.device.cpu_info.name, 'swd')
self.cpu = cortexm.cortexm(self, ui, self.dbgio, self.device)
self.device.bind_cpu(self.cpu)
self.mem = mem.mem(self.cpu)
self.flash = flash.flash(flash_driver.sdrv(self.device), self.device, self.mem)
gpio_drv = (gpio_driver.drv(self.device, gpio_cfg))
self.gpio = gpio.gpio(gpio_drv)
self.i2c = i2c.i2c(i2c_driver.gpio(gpio_drv, 'PB6', 'PB9'))
self.dac = dac.cs43l22(self.i2c, 0x94, self.dac_reset)
# setup the rtt client
ram = self.device.sram
self.rtt = rtt.rtt(self.cpu, mem.region('ram', ram.address, ram.size))
# setup the gdb server
self.gdb = gdb.gdb(self.cpu)
self.menu_root = (
('cpu', self.cpu.menu, 'cpu functions'),
('da', self.cpu.cmd_disassemble, cortexm.help_disassemble),
('dac', self.dac.menu, 'dac functions'),
('debugger', self.dbgio.menu, 'debugger functions'),
('exit', self.cmd_exit),
('flash', self.flash.menu, 'flash functions'),
('gdb', self.gdb.run),
('go', self.cpu.cmd_go),
('gpio', self.gpio.menu, 'gpio functions'),
('halt', self.cpu.cmd_halt),
('help', self.ui.cmd_help),
('history', self.ui.cmd_history, cli.history_help),
('i2c', self.i2c.menu, 'i2c functions'),
('map', self.device.cmd_map),
('mem', self.mem.menu, 'memory functions'),
('program', self.flash.cmd_program, flash.help_program),
('regs', self.cmd_regs, soc.help_regs),
('rtt', self.rtt.menu, 'rtt client functions'),
('vtable', self.cpu.cmd_vtable),
)
self.ui.cli.set_root(self.menu_root)
self.set_prompt()
self.dbgio.cmd_info(self.ui, None)
def __init__(self, bus, addr=0x49):
self.addr = addr
self.i2c = i2c(bus, addr)
def __init__(self, bus, addr=0x58):
self.addr = addr
self.i2c = i2c(bus=bus, addr=addr)
self.cache = {}
def __init__(self):
self.__bus_nb = 2
self.__addr = 0x14
self.__dev_i2c = i2c.i2c(self.__addr, self.__bus_nb)
def __init__(self):
self.ToF = i2c(0x29, 0x01)
def __init__(self, bus_nb = 2, addr = 0x14):
self.__bus_nb = 2
self.__addr = 0x14
self.__dev_i2c=i2c.i2c(self.__addr,self.__bus_nb)
self.enc_left = -1
self.enc_right = -1
def __init__(self, bus, addr=0x68):
self.i2cbase = i2c(
bus=bus, addr=addr) # The base address is for talking to master
self.i2cbus = i2c(
bus=bus, addr=addr + 1
) # The bus address is for talking to selected slave, via the master
def __init__(self, bus_nb=2, addr=0x14):
self.__bus_nb = 2
self.__addr = 0x14
self.__dev_i2c = i2c.i2c(self.__addr, self.__bus_nb)
self.enc_left = -1
self.enc_right = -1
def __init__(self, port = 1 , address = HMC5883L_DEFAULT_ADDRESS):
self.bus = i2c.i2c(address)
self.address = address
self.initialize()
def __init__(self, bus, addr=0x48):
self.addr = addr
self.i2c = i2c(bus=bus, addr=addr)
self.cache = None # cached control registers
def __init__(self):
self.__bus_nb = 2
self.__addr = 0x14
self.__dev_i2c=i2c.i2c(self.__addr,self.__bus_nb)
