def enable_encoder_in_async(encnum, numwires, pullup, edge):
encctl = enc_enable + enc_async
if numwires:
encctl = encctl + enc_2wires
if pullup:
encctl = encctl + enc_pupen
if edge:
encctl = encctl + enc_fall
trik_protocol.write_reg(encnum, ectl, encctl)
def enable_i2c(i2cnum):
trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull)
def stress_test_writing():
global testregvals
devaddr = motor1
while devaddr <= motor4:
f1 = open(freport1, "a")
f2 = open(freport2, "a")
regaddr = 0x00
while regaddr <= 0x06:
stmp1 = "\n----------" + datetime.datetime.now().isoformat(
) + "----------\n"
f1.write(stmp1)
stmp1 = "----------Device address: 0x%02X---------------- \n" % (
devaddr)
f1.write(stmp1)
stmp1 = "----------Register address: 0x%02X-------------- \n" % (
regaddr)
f1.write(stmp1)
stmp1 = "DEV=0x%02X REG=0x%02X" % (devaddr, regaddr)
print stmp1
regval = 0x0000
while regval < 0xFFFFF:
stmp1 = "\n Writing... \n"
f1.write(stmp1)
stmp1 = "Register value: 0x%08X \n" % (regval)
f1.write(stmp1)
stmp2 = stmp1 = trik_protocol.write_reg(
devaddr, regaddr, regval)
rval, daddr, rcode, ecode = trik_protocol.get_reg_value(stmp1)
# Report only if anomaly is present
errflg = 1
if devaddr >= motor1 and devaddr <= motor4 and regaddr <= 0x06 and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr >= sensor1 and devaddr <= sensor18 and regaddr <= 0x02 and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr >= encoder1 and devaddr <= encoder4 and regaddr <= 0x01 and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr >= port1 and devaddr <= portJ and regaddr <= 0x08 and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr == a_timer and regaddr <= 0x02 and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr == touch and regaddr <= 0x08 and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr == bsl and rcode == 0x03 and rval == 0x00:
errflg = 0
if devaddr >= motor1 and devaddr <= motor4 and regaddr > 0x06 and rcode == 0x83 and rval == 0x02:
errflg = 0
if devaddr >= sensor1 and devaddr <= sensor18 and regaddr > 0x02 and rcode == 0x83 and rval == 0x02:
errflg = 0
if devaddr >= encoder1 and devaddr <= encoder4 and regaddr > 0x01 and rcode == 0x83 and rval == 0x02:
errflg = 0
if devaddr >= port1 and devaddr <= portJ and regaddr > 0x08 and rcode == 0x83 and rval == 0x02:
errflg = 0
if devaddr == a_timer and regaddr > 0x02 and rcode == 0x83 and rval == 0x02:
errflg = 0
if devaddr == touch and regaddr > 0x08 and rcode == 0x83 and rval == 0x02:
errflg = 0
if devaddr == bsl and rcode == 0x83:
errflg = 0
if devaddr > maxdevices and rcode == 0x83 and rval == 0x11:
errflg = 0
if devaddr >= motor1 and devaddr <= motor4 and rcode == 0x83 and rval == 0x15:
errflg = 0
if ecode != 0:
errflg = 1
if devaddr != daddr:
errflg = 1
if errflg != 0:
if rcode < 0x80:
stmp1 = "No error \n"
else:
stmp1 = "Error flag set \n"
f1.write(stmp1)
if rval <= 0x15:
stmp1 = "Error code: 0x%08X, %s \n" % (
rval, testerrors[rval])
else:
stmp1 = "Error code: 0x%08X, %s \n" % (rval,
"Undefined")
f1.write(stmp1)
stmp1 = "Packet error: 0x%02X \n" % (ecode)
f1.write(stmp1)
f1.write("Received string: " + stmp2 + "\n")
stmp1 = "DEV=0x%02X REG=0x%02X SEND=0x%08X RECV=0x%08X PACK=0x%02X STR=%s" % (
devaddr, regaddr, regval, rval, ecode, stmp2)
f2.write(stmp1 + "\n")
print stmp1
regval = regval + 1
regaddr = regaddr + 1
f1.close()
f2.close()
devaddr = devaddr + 1
def brake_motor(motnum):
trik_protocol.write_reg(motnum, mctl, mot_enable + mot_brake)
def start_motor(motnum):
trik_protocol.write_reg(motnum, mctl, mot_enable + mot_power)
def set_motor_angle(motnum, motangle):
trik_protocol.write_reg(motnum, mang, motangle)
def set_motor_period(motnum, pwmper):
trik_protocol.write_reg(motnum, mper, pwmper)
def rotate_motor_angle(motnum):
trik_protocol.write_reg(
motnum, mctl,
mot_enable + mot_power + mot_auto + mot_angle + mot_brake)
__author__ = 'Rostislav Varzar'
import time, os, thread
import trik_protocol, trik_stty, trik_power
# Init Serial TTY device
trik_stty.init_stty()
# Init 12 V power in ARM controller
trik_power.enable_power()
# Clear screen
os.system("clear")
thread.start_new_thread(trik_protocol.thread1_read_device, ())
time.sleep(5)
while True:
print trik_protocol.write_reg(0x00, 0x00, 0x00)
time.sleep(0.01)
def read_i2c_sensor(i2cnum):
trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_sens)
return trik_protocol.read_reg(i2cnum, ival)
def set_i2c_sensor_parameter(i2cnum, i2csenspar):
trik_protocol.write_reg(i2cnum, ipar, i2csenspar)
def set_i2c_sensor_type(i2cnum, i2csenstype):
trik_protocol.write_reg(i2cnum, iidx, i2csenstype)
def write_i2c(i2cnum, i2cdev, i2creg, i2cdat):
trik_protocol.write_reg(i2cnum, idev, i2cdev)
trik_protocol.write_reg(i2cnum, ireg, i2creg)
trik_protocol.write_reg(i2cnum, idat, i2cdat)
trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_write)
def read_i2c(i2cnum, i2cdev, i2creg):
trik_protocol.write_reg(i2cnum, idev, i2cdev)
trik_protocol.write_reg(i2cnum, ireg, i2creg)
trik_protocol.write_reg(i2cnum, idat, 0x00)
trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_read)
return trik_protocol.read_reg(i2cnum, idat)
def disable_i2c(i2cnum):
trik_protocol.write_reg(i2cnum, ictl, i2c_disable)
def timer_disable():
trik_protocol.write_reg(timer1, atctl, 0x0000)
def set_timer_period(tmper):
trik_protocol.write_reg(timer1, atper, tmper)
def enable_sensor_in_async(sensnum, pullup):
sensctl = sens_enable + sens_read + sens_async
if pullup:
sensctl = sensctl + sens_pull
trik_protocol.write_reg(sensnum, sctl, sensctl)
def reverse_motor_time(motnum):
trik_protocol.write_reg(
motnum, mctl, mot_enable + mot_power + mot_auto + mot_back + mot_brake)
def set_sensor_type(sensnum, senstype):
trik_protocol.write_reg(sensnum, sidx, senstype)
def set_motor_duty(motnum, pwmdut):
trik_protocol.write_reg(motnum, mdut, pwmdut)
def set_pwm_period(pwmnum, pwmper):
trik_protocol.write_reg(pwmnum, pper, pwmper)
def set_motor_time(motnum, mottime):
trik_protocol.write_reg(motnum, mtmr, mottime)
def set_pwm_duty(pwmnum, pwmdut):
trik_protocol.write_reg(pwmnum, pdut, pwmdut)
def reverse_motor(motnum):
trik_protocol.write_reg(motnum, mctl, mot_enable + mot_back + mot_power)
def start_pwm(pwmnum):
trik_protocol.write_reg(pwmnum, pctl, pwm_enable)
def stop_motor(motnum):
trik_protocol.write_reg(motnum, mctl, mot_enable)
def stop_pwm(pwmnum):
trik_protocol.write_reg(pwmnum, pctl, pwm_disable)
def timer_enable():
trik_protocol.write_reg(timer1, atctl, at_en)
def init_spwm_5():
trik_protocol.write_reg(0x33, 0x02, pwmper)
trik_protocol.write_reg(0x33, 0x01, pwmdut)
trik_protocol.write_reg(0x33, 0x00, 0x8000)
