class AVRInterface:
SET_OUTPUT =0x10
SET_MOTOR =0x20
GET_ANALOG =0x30
GET_INPUT =0x40
SETUP =0x50
SET_PULSE =0x60
SET_MOTORAIM =0x70
def __init__(self):
#setup device
self.pullup = 0x00
self.spi = SPI(miso=22, mosi=23, clk=20, reset=38)
self.lock= threading.Lock()
def write(self,cmd, data=[]):
self.spi.sendByte(cmd)
for d in data:
self.spi.sendByte(d)
def setup(self):
self.lock.acquire()
self.write(self.SETUP)
assert self.spi.sendByte(self.pullup)==ord('O') #no pullups actiavted (0-0x0f)
self.lock.release()
def set_pullup(self, ch):
assert (ch>=0 and ch<4)
self.lock.acquire()
self.pullup |= (1<<ch)
self.write(self.SETUP)
assert self.spi.sendByte(self.pullup)==ord('O') #no pullups actiavted (0-0x0f)
self.lock.release()
def set_output(self, ch, v):
assert (ch>=0 and ch<6)
#if ch==2 or ch==5: return
self.lock.acquire()
self.write( (self.SET_OUTPUT|ch),[v])
self.lock.release()
def set_pulse(self, ch, v):
assert (ch>=0 and ch<6)
#if ch==2 or ch==5: return
self.lock.acquire()
self.write( (self.SET_PULSE|ch),[(v<<1)])
self.lock.release()
def set_motor(self, motor, back, speed):
self.lock.acquire()
self.write( (self.SET_MOTOR|motor|(back<<1)), [speed])
self.lock.release()
def set_motoraim0(self, aim):
self.lock.acquire()
self.write( (self.SET_MOTORAIM), [(aim>>8),(aim&0xff)])
self.lock.release()
def get_analog(self, ch):
assert(ch<4 and ch>=0)
self.lock.acquire()
self.write(self.GET_ANALOG|ch)
self.spi.wait(200)
data1 = self.spi.readByte()
data2 = self.spi.readByte()
self.lock.release()
return data1 + data2*255
def get_input(self):
self.lock.acquire()
self.write(self.GET_INPUT)
data = self.spi.readByte()
self.lock.release()
r=[]
for i in range(0,4):
v = False
if data&(1<<i)>0: v=True
r.append( v )
return r
#!/usr/bin/python
from spi import SPI
dev = SPI(miso=22, mosi=23, clk=20, reset=38)
#dev.reset()
while True:
print dev.sendByte(0x50)
#!/usr/bin/python from spi import SPI dev = SPI(miso=22, mosi=23, clk=20, reset=38) #dev.reset() while True: print dev.sendByte(0x50)
