def find_contexts(config, map):
ctxs = iio.scan_contexts()
if not ctxs:
print("\nNo libiio contexts found")
return False
ctxs_plus_hw = []
for uri in ctxs:
info = ctxs[uri]
type = uri.split(":")[0]
devices = info.split("(")[1].split(")")[0]
if config.getoption("--scan-verbose"):
string = "\nContext: {}".format(uri)
string += "\n\tType: {}".format(type)
string += "\n\tInfo: {}".format(info)
string += "\n\tDevices: {}".format(devices)
print(string)
ctx_plus_hw = {
"uri": uri,
"type": type,
"devices": devices,
"hw": lookup_hw_from_map(iio.Context(uri), map),
}
ctxs_plus_hw.append(ctx_plus_hw)
else:
if config.getoption("--scan-verbose"):
print("\nNo libiio contexts found")
return ctxs_plus_hw
def __init__(self):
"""Initialize the ADXL345 accelerometer using iio python library
"""
self._Acceleration_xyz = []
self.data_x = [0] * 5
self.data_y = [0] * 5
self.data_z = [0] * 5
self.Path = '/proc/device-tree/aliases/adxl345'
try:
# Check BB-I2C2-ADXL34X whether install successfully
# if not reinstall it
if not os.path.exists(self.Path):
InstallDTBO('BB-I2C2-ADXL34X')
while not os.path.exists(self.Path):
time.sleep(0.1)
# Reinstall adxl345_xxx module to support hot plug
ReinstallModule('adxl345_i2c')
# Scan the adxl345 by using IIO python library
self.contexts = iio.scan_contexts()
self.ctx = iio.Context("local:")
self.dev = self.ctx.find_device("adxl345")
# Initialize the data of adxl345 for SlidingAverage function
self._Acceleration_xyz.append(self.dev.find_channel("accel_x", False))
self._Acceleration_xyz.append(self.dev.find_channel("accel_y", False))
self._Acceleration_xyz.append(self.dev.find_channel("accel_z", False))
for i in range(5):
self.data_x[i] = int(self._Acceleration_xyz[0].attrs["raw"].value)
self.data_y[i] = int(self._Acceleration_xyz[1].attrs["raw"].value)
self.data_z[i] = int(self._Acceleration_xyz[2].attrs["raw"].value)
except IOError as err:
print("File Error:"+str(err))
print("maybe you should reinstall the driver of adxl345")
def __init__(self, *args: Union[str, iio.Context],
**kwargs: Union[str, iio.Context]) -> None:
# Handle Older API and Newer APIs
uri_ctx = self.__handle_init_args(args, kwargs)
# Handle context
if isinstance(uri_ctx, iio.Context):
self._ctx = uri_ctx
self.uri = ""
elif uri_ctx:
self.uri = uri_ctx
context_manager.__init__(self, uri_ctx, self._device_name)
else:
required_devices = [
self._rx_data_device_name, self._control_device_name
]
contexts = iio.scan_contexts()
self._ctx = None
for c in contexts:
ctx = iio.Context(c)
devs = [dev.name for dev in ctx.devices]
if all(dev in devs for dev in required_devices):
self._ctx = iio.Context(c)
break
if not self._ctx:
raise Exception("No context could be found for class")
# Set up devices
if self._control_device_name:
self._ctrl = self._ctx.find_device(self._control_device_name)
if not self._ctrl:
raise Exception(
f"No device found with name {self._control_device_name}")
def _create_context():
if len(sys.argv) == 3 and sys.argv[1] == "--uri":
uri = sys.argv[2]
else:
contexts = iio.scan_contexts()
if len(contexts) > 1:
print("Multiple contexts found. Please select one using --uri:")
for uri, description in contexts.items():
print("\t%s: %s" % (uri, description))
sys.exit(0)
return iio.Context(uri)
def __init__(self):
"""
Will pick the first available iio context. \
Note: this assumes that the first context \
is a Pluto Device.
"""
contexts = iio.scan_contexts()
if len(contexts.keys()) > 0:
uri = str(next(enumerate(contexts))[1])
PlutoSdr.__init__(self, uri=uri)
else:
raise Exception("Could not find any Pluto Devices")
def check_pluto():
# Try USB contexts first
contexts = iio.scan_contexts()
for c in contexts:
if "PlutoSDR" in contexts[c]:
return True
# Try auto discover
try:
iio.Context("ip:pluto.local")
return True
except Exception as e:
print(e)
return False
def _auto(self):
contexts = iio.scan_contexts()
if len(contexts) == 0:
raise Exception("No IIO context found.\n")
if len(contexts) == 1:
uri, _ = contexts.popitem()
self.ctx = iio.Context(_context=uri)
else:
print("Multiple contexts found. Please select one using --uri!")
for uri, _ in contexts.items():
print(uri)
sys.exit(0)
return self
def getSdr():
"""
Gets PlutoSdr object from pluto.pluto_sdr module
returns: type=pluto.pluto_sdr.PlutoSdr
"""
global _sdr
if _sdr is None:
ctxs = iio.scan_contexts()
if len(ctxs.keys()) > 0:
_sdr = PlutoSdrWrapper()
else:
_sdr = SimPlutoSdr(P=30, alpha=0.3, desiredBandwidth=1.0)
return _sdr
def scan_all():
boards = []
# Find USB/LOCAL
ctxs = iio.scan_contexts()
for ctx in ctxs:
c = iio.Context(ctx)
name = check_board_other(c)
if name:
boards.append(board(name, c.name))
# FIND IP
bs = ip_scan_auto()
#bs = ip_scan("192.168.86")
if bs not in boards:
boards = boards + bs
return boards
def create_context(scan_for_context, arg_uri, arg_ip):
"""
Method for creating the corresponding context.
parameters:
scan_for_context: type=bool
Scan for available contexts and if only one is available use it.
arg_uri: type=string
The URI on which the program should look for a Context.
arg_ip: type=string
The IP on which the program should look for a Network Context.
returns: type:iio.Context
The resulted context.
"""
ctx = None
try:
if scan_for_context:
contexts = iio.scan_contexts()
if len(contexts) == 0:
sys.stderr.write('No IIO context found.')
exit(1)
elif len(contexts) == 1:
uri, _ = contexts.popitem()
ctx = iio.Context(_context=uri)
else:
print('Multiple contexts found. Please select one using --uri!')
for uri, _ in contexts:
print(uri)
elif arg_uri != '':
ctx = iio.Context(_context=arg_uri)
elif arg_ip != '':
ctx = iio.NetworkContext(arg_ip)
else:
ctx = iio.Context()
except FileNotFoundError:
sys.stderr.write('Unable to create IIO context')
exit(1)
return ctx
def __init__(self, uri="", device_name=""):
self.uri = uri
try:
if self.uri == '':
# Try USB contexts first
if device_name != '':
contexts = iio.scan_contexts()
for c in contexts:
if device_name in contexts[c]:
self.ctx = iio.Context(c)
break
# Try auto discover
if not self.ctx and self.uri_auto != '':
self.ctx = iio.Context(self.uri_auto)
if not self.ctx:
raise
else:
self.ctx = iio.Context(self.uri)
except BaseException:
raise Exception("No device found")
def scan_all(skip_usb=False):
boards = []
# FIND IP
bs = ip_scan_auto()
# bs = ip_scan("192.168.86")
if bs not in boards:
boards = boards + bs
# Find USB/LOCAL
if not skip_usb:
ctxs = iio.scan_contexts()
for ctx in ctxs:
c = iio.Context(ctx)
name = check_board_other(c)
if name:
if c.name == "local":
boards.append(board(name, "local:"))
else:
boards.append(board(name, ctx))
return boards
def __init__(self):
"""Initialize the ADC of PocketBeagle using iio python library
"""
self.AIN = []
#Scan the ADC of PocketBeagle by using IIO python library
self.contexts = iio.scan_contexts()
self.ctx = iio.Context("local:")
for dev in self.ctx.devices:
if 'adc.0.auto' in dev.name:
self.name = dev.name
self.dev = self.ctx.find_device(self.name)
if not self.dev:
print("maybe you should reinstall the driver of ADC")
return
#Integrate all channels to self.AIN
self.AIN.append(self.dev.find_channel("voltage0", False))
self.AIN.append(self.dev.find_channel("voltage1", False))
self.AIN.append(self.dev.find_channel("voltage2", False))
self.AIN.append(self.dev.find_channel("voltage3", False))
self.AIN.append(self.dev.find_channel("voltage4", False))
self.AIN.append(self.dev.find_channel("voltage5", False))
self.AIN.append(self.dev.find_channel("voltage6", False))
self.AIN.append(self.dev.find_channel("voltage7", False))
def __init__(self):
"""Initialize the HCSR04 using iio python library
"""
self.Path = '/proc/device-tree/hcsr04_1057@20'
try:
# Config P1_31 to GPIO mode
ConfigGPIO('P1_31')
# Check BB-GPIO-HCSR04 whether install successfully
# if not reinstall it
if not os.path.exists(self.Path):
InstallDTBO('BB-GPIO-P9813')
while not os.path.exists(self.Path):
time.sleep(0.1)
# Scan the adxl345 by using IIO python library
self.contexts = iio.scan_contexts()
self.ctx = iio.Context("local:")
self.dev = self.ctx.find_device("hcsr04_1057@20")
if not self.dev:
print("maybe you should reinstall the driver of hcsr")
return
except IOError as err:
print("File Error:" + str(err))
print("maybe you should reinstall the driver of hcsr04")
def __init__(self, uri=None, rx_lo=1000000000, tx_lo=1000000000, \
sample_rate=5000000, rx_rf_bandwidth=3000000, tx_rf_bandwidth=3000000, \
rx_hardwaregain=30, tx_hardwaregain=-10, gain_control_mode='slow_attack'):
self.uri = uri
# Initialize context
self.ctx = None
try:
if uri:
self.ctx = iio.Context(self.uri)
else:
contexts = iio.scan_contexts()
for uri in contexts:
if 'PlutoSDR' in contexts[uri]:
self.ctx = iio.Context(uri)
if self.ctx == None:
raise Exception()
except:
print("No PlutoSDR device found")
sys.exit(0)
self.ctrl = self.ctx.find_device("ad9361-phy")
self.txdac = self.ctx.find_device("cf-ad9361-dds-core-lpc")
self.rxadc = self.ctx.find_device("cf-ad9361-lpc")
self.rx_lo = rx_lo
self.tx_lo = tx_lo
# self.sample_rate = sample_rate
self.rx_rf_bandwidth = rx_rf_bandwidth
self.tx_rf_bandwidth = tx_rf_bandwidth
self.gain_control_mode = gain_control_mode
self.rx_hardwaregain = rx_hardwaregain
self.tx_hardwaregain = tx_hardwaregain
self.rxbuf = None
def main():
"""Dump iio devices, list all iio attributes."""
print("Library version: %u.%u (git tag: %s)" % iio.version)
if len(argv) == 3 and argv[1] == "--uri":
uri = argv[2]
else:
contexts = iio.scan_contexts()
if len(contexts) > 1:
print("Multiple contexts found. Please select one using --uri:")
for index, each in enumerate(contexts):
print("\t%d: %s [%s]" % (index, contexts[each], each))
return
uri = next(iter(contexts), None)
ctx = iio.Context(uri)
if uri is not None:
print('Using auto-detected IIO context at URI "%s"' % uri)
print("IIO context created: " + ctx.name)
print("Backend version: %u.%u (git tag: %s)" % ctx.version)
print("Backend description string: " + ctx.description)
if len(ctx.attrs) > 0:
print("IIO context has %u attributes:" % len(ctx.attrs))
for attr, value in ctx.attrs.items():
print("\t" + attr + ": " + value)
print("IIO context has %u devices:" % len(ctx.devices))
for dev in ctx.devices:
print("\t" + dev.id + ": " + dev.name)
if dev is iio.Trigger:
print("Found trigger! Rate: %u Hz" % dev.frequency)
print("\t\t%u channels found:" % len(dev.channels))
for chn in dev.channels:
print(
"\t\t\t%s: %s (%s)" %
(chn.id, chn.name or "", "output" if chn.output else "input"))
if len(chn.attrs) != 0:
print("\t\t\t%u channel-specific attributes found:" %
len(chn.attrs))
for attr in chn.attrs:
try:
print("\t\t\t\t" + attr + ", value: " +
chn.attrs[attr].value)
except OSError as err:
print("Unable to read " + attr + ": " + err.strerror)
if len(dev.attrs) != 0:
print("\t\t%u device-specific attributes found:" % len(dev.attrs))
for attr in dev.attrs:
try:
print("\t\t\t" + attr + ", value: " + dev.attrs[attr].value)
except OSError as err:
print("Unable to read " + attr + ": " + err.strerror)
if len(dev.debug_attrs) != 0:
print("\t\t%u debug attributes found:" % len(dev.debug_attrs))
for attr in dev.debug_attrs:
try:
print("\t\t\t" + attr + ", value: " +
dev.debug_attrs[attr].value)
except OSError as err:
print("Unable to read " + attr + ": " + err.strerror)
# https://ez.analog.com/thread/97117-using-iiopy-with-m2k
# https://mirrors.dotsrc.org/fosdem/2018/AW1.120/plutosdr.webm
# https://wiki.analog.com/resources/tools-software/linux-software/fmcomms2_plugin
import iio, struct, time
import scipy.signal
import numpy as np
import matplotlib.pyplot as plt
ctxs = iio.scan_contexts()
uri = next(iter(ctxs), None)
ctx = iio.Context(uri)
dev = ctx.find_device('cf-ad9361-lpc')
phy = ctx.find_device('ad9361-phy')
phy.channels[0].attrs['frequency'].value = str(int(1575.42e6))
dev.channels[0].enabled = True
dev.channels[1].enabled = True
buf = iio.Buffer(dev, 4096, cyclic=False)
ys = []
for i in range(1024):
buf.refill()
ys.append(buf.read())
d = np.frombuffer(np.array([inner for outer in ys for inner in outer]),
dtype=np.int16)
q = d[::2] + 1j * d[1::2]
f, t, z = scipy.signal.stft(q[0:32 * 4096])
plt.imshow(np.abs(z))
plt.show()
print(iio.version)
ctxs = iio.scan_contexts()
def main():
print('Library version: %u.%u (git tag: %s)' % iio.version)
if len(argv) == 3 and argv[1] == '--uri':
uri = argv[2]
else:
contexts = iio.scan_contexts()
if len(contexts) > 1:
print('Multiple contexts found. Please select one using --uri:')
for index, each in enumerate(contexts):
print('\t%d: %s [%s]' % (index, contexts[each], each))
return
uri = next(iter(contexts), None)
ctx = iio.Context(uri)
if uri is not None:
print('Using auto-detected IIO context at URI \"%s\"' % uri)
print('IIO context created: ' + ctx.name)
print('Backend version: %u.%u (git tag: %s)' % ctx.version)
print('Backend description string: ' + ctx.description)
if len(ctx.attrs) > 0:
print('IIO context has %u attributes:' % len(ctx.attrs))
for attr, value in ctx.attrs.items():
print('\t' + attr + ': ' + value)
print('IIO context has %u devices:' % len(ctx.devices))
for dev in ctx.devices:
print('\t' + dev.id + ': ' + dev.name)
if dev is iio.Trigger:
print('Found trigger! Rate: %u Hz' % dev.frequency)
print('\t\t%u channels found:' % len(dev.channels))
for chn in dev.channels:
print('\t\t\t%s: %s (%s)' % (chn.id, chn.name or "", 'output' if chn.output else 'input'))
if len(chn.attrs) != 0:
print('\t\t\t%u channel-specific attributes found:' % len(chn.attrs))
for attr in chn.attrs:
try:
print('\t\t\t\t' + attr + ', value: ' + chn.attrs[attr].value)
except OSError as e:
print('Unable to read ' + attr + ': ' + e.strerror)
if len(dev.attrs) != 0:
print('\t\t%u device-specific attributes found:' % len(dev.attrs))
for attr in dev.attrs:
try:
print('\t\t\t' + attr + ', value: ' + dev.attrs[attr].value)
except OSError as e:
print('Unable to read ' + attr + ': ' + e.strerror)
if len(dev.debug_attrs) != 0:
print('\t\t%u debug attributes found:' % len(dev.debug_attrs))
for attr in dev.debug_attrs:
try:
print('\t\t\t' + attr + ', value: ' + dev.debug_attrs[attr].value)
except OSError as e:
print('Unable to read ' + attr + ': ' + e.strerror)
rospack = rospkg.RosPack()
sys.path.append(rospack.get_path('led_control') + '/src')
from leds import MatrixLeds
RAD_TO_DEG = 57.29578
M_PI = 3.14159265358979323846
G_GAIN = 0.070 # [deg/s/LSB] If you change the dps for gyro, you need to update this value accordingly
AA = 0.40 # Complementary filter constant
gyroXangle = 0.0
gyroYangle = 0.0
gyroZangle = 0.0
CFangleX = 0.0
CFangleY = 0.0
contexts = iio.scan_contexts()
uri = next(iter(contexts), None)
ctx = iio.Context(uri)
leds = MatrixLeds()
imu = ctx.devices[0]
a = datetime.datetime.now()
while True:
#Read the accelerometer,gyroscope and magnetometer values
ACCx = float((c for c in imu.channels
if c.id == "accel_x").next().attrs['raw'].value)
ACCy = float((c for c in imu.channels
if c.id == "accel_y").next().attrs['raw'].value)
