def __init__(self, gp):
# Global Parameters
self.gp = gp
# RRAM Parameters
self.ron = gp.rram.ron
self.roff = gp.rram.roff
self.rvar = gp.rram.rvar
self.rp = gp.rram.rp
self.vdiff = gp.rram.von - gp.rram.voff
self.n_bit = gp.rram.n_bit
self.rlsb = (self.roff - self.ron) / (2**self.n_bit - 1)
self.glsb = (1 / self.ron - 1 / self.roff) / (2**self.n_bit - 1)
self.x = gp.rram.size_x
self.y = gp.rram.size_y
# Resistance values
self.arr = np.empty([self.y, self.x])
# Digital values
self.dig_arr = np.empty([self.y, self.x])
# ADC
self.adc = ADC(gp, self.n_bit, gp.mvm.active_rows,\
self.ron, self.roff, self.rvar, self.vdiff)
# Energy
self.e_read = 0
def __init__(self):
self.logger_setup()
self.speaker_volume = 70
self.capture_volume = 100
tmp = self.power_type
sleep(0.01) # when arduino open debug, sleep(> 0.3)
self.adc = ADC(5) # Power voltage channel: 5
self._debug('Init PiSmart object complete')
def get_data_dict(adc_inputs):
adc = ADC(adc_inputs)
data_dict = get_time_dict()
data_dict.update(temp())
_, adc_dict = adc.read_addresses()
data_dict.update(adc_dict)
ultrasonic = Ultrasonic(trigger=3, echo=5)
data_dict.update(ultrasonic.read_distance())
return data_dict
def ADC_init(self):
from adc import ADC
self._A0 = ADC(0)
self._A1 = ADC(1)
self._A2 = ADC(2)
self._A3 = ADC(3)
self._A4 = ADC(4)
self._A0.DEBUG = 'error'
self._A1.DEBUG = 'error'
self._A2.DEBUG = 'error'
self._A3.DEBUG = 'error'
self._A4.DEBUG = 'error'
def __init__(self, id, minc, maxc, m, c):
self.id = id
# Connection to ADS1115
self.adc = ADC()
# Threshold curves
self.min_curve = minc
self.max_curve = maxc
# Linear approximation of ADC conversion to curve in degrees
# angle = (adc_value - offset)/gradient
self.gradient = float(m)
self.offset = float(c)
class Presion(object):
"""docstring for Presion"""
def __init__(self, address):
self.adc = ADC([address])
def read_sensor(self):
return self.adc.read_addresses()
def get_data_dict(adc_inputs):
adc = ADC(adc_inputs)
data_dict = get_time_dict()
data_dict.update(temp())
_, adc_dict = adc.read_addresses()
data_dict.update(adc_dict)
ultrasonic = Ultrasonic(trigger=trigger_pin, echo=echo_pin)
u_distance = ultrasonic.read_distance()
if u_distance['u_distance'] <= 20:
turn_camera_flash(True)
else:
turn_camera_flash(False)
data_dict.update(u_distance)
return data_dict
class GroveGasSensorMQ2:
def __init__(self, channel):
self.channel = channel
self.adc = ADC()
@property
def MQ2(self):
value = self.adc.read(self.channel)
return value
def __init__(self, unix_socket_path, *args, **kwargs):
self.unix_socket_path = unix_socket_path
self.connection = None
self.welcome_socket = None
spi = SPI(0, 0)
spi.msh = 2000000
spi.mode = 1
self.chs = [0, 1, 2, 3]
self.ADC0 = ADC("P9_24", spi)
self.ADC1 = ADC("P9_26", spi)
self.ADC2 = ADC("P9_28", spi)
self.ADC3 = ADC("P9_30", spi)
def __init__(self, name="peloop", functiongenerator=fg, eventreceiver=evr, adc1=adc, psd=mythen):
self.setName(name)
self.setInputNames(["time"])
self.setExtraNames(["PData","EData","MythenData"])
self.fg=FunctionGenerator()
self.evr=EventReceiver()
self.adc=ADC()
self.psd=mythen
self.voltagesmonitor=PVMonitor()
self.electrometersmonitor=PVMonitor()
self.counter=0
self.numberofgates=0
def adc_test():
tb = TB(adc_p)
adc = ADC(adc_p, tb)
tb.submodules += adc
# cd_dsp4 = ClockDomain("dsp4", reset_less=True)
# tb.clock_domains += cd_dsp4
def run(tb):
dut = tb
yield tb.i_sdoa.eq(1)
yield tb.i_sdob.eq(1)
yield
yield tb.i_sdob.eq(0)
yield tb.i_sdoc.eq(1)
yield tb.i_sdod.eq(1)
yield
yield tb.i_sdoc.eq(0)
yield
yield tb.i_sdod.eq(0)
yield
yield dut.o_bitslip.eq(1)
yield
yield dut.o_bitslip.eq(0)
for i in range(3):
yield
yield dut.o_bitslip.eq(1)
for i in range(3):
yield
yield dut.o_bitslip.eq(0)
yield
# yield dut.bitslip_done.eq(1)
# yield dut.i_start.eq(1)
yield from dut.iter_vals("{:04b}".format(12), "{:04b}".format(2),
"{:04b}".format(1), "{:04b}".format(7))
run_simulation(
tb,
run(tb),
vcd_name="adc_test.vcd",
clocks={
"sys": (8, 0),
# "dsp4": (2, 0),
},
)
class FlexSensor():
def __init__(self, id, minc, maxc, m, c):
self.id = id
# Connection to ADS1115
self.adc = ADC()
# Threshold curves
self.min_curve = minc
self.max_curve = maxc
# Linear approximation of ADC conversion to curve in degrees
# angle = (adc_value - offset)/gradient
self.gradient = float(m)
self.offset = float(c)
# Map ID of FlexSensor instance to an analog input pin
def map_id(self):
# ID=1 -> AIN0
if self.id == 1:
return 0b100
# ID=2 -> AIN2
elif self.id == 2:
return 0b110
# Get the current approximation of how curved the FlexSensor is
def get_curve(self):
# Start a conversion on the ADS1115
val = self.adc.read_AINX(self.map_id())
# Convert into degrees
curve = (val - self.offset) / self.gradient
# Lower limit = 0, Upper Limit = 120 degrees
curve = min(120, max(0, curve))
return curve
# Check if input 'curve' is within the min and max threshold curves
def in_range(self, curve):
return curve >= self.min_curve \
and curve <= self.max_curve
class Comm():
def __init__(self, unix_socket_path, *args, **kwargs):
self.unix_socket_path = unix_socket_path
self.connection = None
self.welcome_socket = None
spi = SPI(0, 0)
spi.msh = 2000000
spi.mode = 1
self.chs = [0, 1, 2, 3]
self.ADC0 = ADC("P9_24", spi)
self.ADC1 = ADC("P9_26", spi)
self.ADC2 = ADC("P9_28", spi)
self.ADC3 = ADC("P9_30", spi)
def serve(self):
try:
if os.path.exists(self.unix_socket_path):
logger.warning('Unix socket {} already exist'.format(
self.unix_socket_path))
os.unlink(self.unix_socket_path)
if self.welcome_socket != None:
logger.warning('Welcome socket already istantiated')
self.welcome_socket = socket.socket(socket.AF_UNIX,
socket.SOCK_STREAM)
self.welcome_socket.bind(self.unix_socket_path)
os.system('chown iocuser:ioc {}'.format(self.unix_socket_path))
logger.info('Unix socket created at {}'.format(
self.unix_socket_path))
self.welcome_socket.listen(1)
while True:
logger.info('Unix welcome socket listening')
connection, client_address = self.welcome_socket.accept()
logger.info('Client {} connected'.format(client_address))
connection.settimeout(30)
self.handle_connection(connection)
except:
logger.exception('Comm exception')
finally:
self.welcome_socket.close()
os.remove(self.unix_socket_path)
logger.info('Comm server shutdown')
self.welcome_socket = None
def handle_connection(self, connection):
try:
while True:
command = connection.recv(1024).decode('utf-8')
if command == 'ADC0:DATA?':
response = str(self.ADC0.mean(self.chs))
elif command == 'ADC1:DATA?':
response = str(self.ADC1.mean(self.chs))
elif command == 'ADC2:DATA?':
response = str(self.ADC2.mean(self.chs))
elif command == 'ADC3:DATA?':
response = str(self.ADC3.mean(self.chs))
else:
response = ResponseType.UNSUPPORTED_COMMAND
connection.sendall('{}\r\n'.format(response).encode('utf-8'))
logger.debug('Command {} Length {}'.format(command, response))
except:
logger.exception('Connection exception')
finally:
logger.warning('Connection closed')
connection.close()
times_g = []
lats = []
lat_err = []
lons = []
lon_err = []
alts = []
alt_err = []
print("Station %i Trial %i \nPress enter to collect data:" % (i, j))
pause = input('')
print("Collecting data...")
g_data.append(GPS())
t0 = time.time()
voltages = ADC()
t1 = time.time()
g_data.append(GPS())
for g in g_data:
t_g = g[0]
t_g = str(t_g).split(' ')[1]
t_g = str(t_g).split('-')[0]
times_g.append(t_g)
lats.append(g[1][0])
lat_err.append(g[1][1])
lons.append(g[2][0])
lon_err.append(g[2][1])
def readADC():
adc = ADC([0])
return adc.read_addresses()
def main(args=None):
sw = switch_4()
smb = I2C()
par = parse()
adc = ADC()
pers = _8bitIO()
port = _16bitIO()
parser = par.get_parser()
args = parser.parse_args(args) #inspect the command line
err_flag = False
if ((args.i2c0 and not args.i2c1) or (args.i2c1 and not args.i2c0)):
try:
data = smb.parse_func(args.data[0])
except:
err_flag = True
raise
print('Error parsing or invalid syntax, use "-h" for help')
if not err_flag:
if i2c.w_found and not i2c.r_found:
try:
smb.write(data[0], data[1], not args.i2c0) # data[0] is data_i, data[1] is data_w
print('ACK')
except IOError:
print('NACK...confirm you are transacting with the correct bus')
except:
raise
print('Invalid Syntax')
if not i2c.w_found and not i2c.r_found:
try:
smb.detect(data[0], not args.i2c0)
print('ACK')
except:
print('NACK...confirm you are transacting with the correct bus')
if i2c.r_found and not i2c.w_found:
try:
smb.read(data[0], data[2], not args.i2c0)
except IOError:
print('NACK...confirm you are transacting with the correct bus')
except:
raise
print('Invalid Syntax')
if i2c.r_found and i2c.w_found:
smb.write_read(data[0], data[2], data[1], not args.i2c0)
elif args.gpio and 'getall' in args.data:
try:
os.system('raspi-gpio get')
except:
print('Invalid syntax')
elif args.gpio and 'get' in args.data:
try:
os.system('raspi-gpio get ' + args.data[1])
print('Success')
except:
print('Invalid syntax')
elif args.gpio and 'set' in args.data:
if len(args.data) == 3:
try:
os.system('raspi-gpio set ' + args.data[1] + ' ' + args.data[2])
print('Success')
except:
print('Invalid syntax')
if len(args.data) == 4:
try:
os.system('raspi-gpio set ' + args.data[1] + ' ' + args.data[2] + ' ' + args.data[3])
print('Success')
except:
print('Invalid syntax')
if len(args.data) == 5:
try:
os.system('raspi-gpio set ' + args.data[1] + ' ' + args.data[2] + ' ' + args.data[3] + ' ' + args.data[4])
print('Success')
except:
print('Invalid syntax')
elif args.adc:
if args.data[0] == 'raw' and len(args.data) == 2:
try:
adc.raw_adc(args.data[1])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif args.data[0] == 'volt' and len(args.data) == 2:
try:
print(adc.volt_adc(args.data[1]))
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
else:
print('Invalid syntax')
elif args.per:
if(args.data[0] == 'config'):
try:
pers.configPorts()
print('Success')
except IOError:
print('NACK...confirm device is powered on')
except:
print('Fail!')
elif(args.data[0] == 'arm'):
try:
pers.arm(args.data[1], False)
print('Success')
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif(args.data[0] == 'disarm'):
try:
pers.arm(args.data[1], True)
print('Success')
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif(args.data[0] == 'read'):
try:
pers.read_inputs()
print('Success')
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif args.port:
if(args.data[0] == 'config'):
try:
port.configPorts()
print('Success')
except IOError:
print('NACK...confirm device is powered on')
except:
print('Fail!')
elif args.data[0] == 'readall':
try:
port.zone_readall(args.data[1])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif args.data[0] == 'read':
try:
port.zone_read(args.data[1], args.data[2])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif args.data[0] == 'led':
try:
port.led_toggle(args.data[1], args.data[2], args.data[3])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
else:
print('Invalid syntax')
elif args.switch:
if args.data[0] == 'write':
try:
sw.ch_write(args.data[1], args.data[2], args.data[3])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif args.data[0] == 'readint':
try:
sw.read_int(args.data[1])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
elif args.data[0] == 'read':
try:
sw.read_dat(args.data[1], args.data[2])
except IOError:
print('NACK...confirm device is powered on')
except:
print('Invalid syntax')
else:
print('Invalid syntax')
def __init__(self, address):
self.adc = ADC([address])
def time_domain_probe(num_bits=10, offset=0.5, tau=6, vin=0, steps=None):
adcinstance = ADC(tau=tau, num_bits=num_bits)
adc2 = ADC(tau=tau, num_bits=num_bits)
# adcinstance.set_fsm_steps(weird_steps)
adc2.set_fsm_steps(steps)
inputvoltage = vin + offset
adcinstance.run_1_adc_sample(vin=inputvoltage)
adc2.run_1_adc_sample(vin=inputvoltage)
plots = adcinstance.return_transient_results()
helper.plot_transients(plots, inputvoltage)
plots2 = adc2.return_transient_results()
helper.plot_transients(plots2, inputvoltage)
output = int(adcinstance.return_output())
output2 = int(adc2.return_output())
print('output is ' + str(output))
print('adjusted output is ' + str(output2))
class RRAM:
def __init__(self, gp):
# Global Parameters
self.gp = gp
# RRAM Parameters
self.ron = gp.rram.ron
self.roff = gp.rram.roff
self.rvar = gp.rram.rvar
self.rp = gp.rram.rp
self.vdiff = gp.rram.von - gp.rram.voff
self.n_bit = gp.rram.n_bit
self.rlsb = (self.roff - self.ron) / (2**self.n_bit - 1)
self.glsb = (1 / self.ron - 1 / self.roff) / (2**self.n_bit - 1)
self.x = gp.rram.size_x
self.y = gp.rram.size_y
# Resistance values
self.arr = np.empty([self.y, self.x])
# Digital values
self.dig_arr = np.empty([self.y, self.x])
# ADC
self.adc = ADC(gp, self.n_bit, gp.mvm.active_rows,\
self.ron, self.roff, self.rvar, self.vdiff)
# Energy
self.e_read = 0
def write(self, weights, res):
# Helper variables
n_bit = int(self.n_bit)
n_cell = int(np.ceil(res / n_bit))
if (n_cell > self.x):
raise Exception("No weight splitting allowed")
w = np.array(weights, dtype=int)
# Generate digital represntation in weight arr
self.dig_arr = np.zeros([self.y, self.x])
for i in range(w.shape[0]):
for j in range(w.shape[1]):
try:
num = int(w[i][j])
a = [(num >> (n_bit * i)) & (2**n_bit - 1)
for i in range(n_cell)]
a = np.flip(np.array(a, dtype=int))
self.dig_arr[i][j * n_cell:(j + 1) * n_cell] = a
except:
print("except")
pass
# Assign real resistances to r_cell
for i in range(self.y):
for j in range(self.x):
self.arr[i][j] = 1 / self.roff + self.glsb * self.dig_arr[i][j]
self.arr[i][j] = 1 / (10**(np.log10(1 / self.arr[i][j]) +
np.random.normal(0, self.rvar)))
#self.arr[i][j] = 1/(1/self.arr[i][j] + np.random.normal(0,self.rvar))
#print(1/self.arr[i][j])
def read(self, ifmap, res):
ifm = np.array(ifmap, dtype=int)
# Bit-serial approach
dout = np.zeros([1, self.x])
for i in range(res):
v = ((ifm >> i) & 1) * (self.vdiff)
i_out = np.dot(v, self.arr)
for j in range(self.x):
dout[0, j] = dout[0, j] + (self.adc.convert(i_out[j]) << i)
self.e_read += self.adc.energy
dout = np.array(dout, dtype=int)
# Concatenate columns
n_cell = int(np.ceil(res / self.n_bit))
num_words = int(np.floor(self.x / n_cell))
out = np.zeros([1, num_words])
for i in range(num_words):
for j in range(n_cell):
idx = i * n_cell + j
out[0][i] += (dout[0][idx] << ((n_cell - 1 - j) * self.n_bit))
return out
class PiSmart(_Basic_class):
_class_name = 'PiSmart'
ON = 1
OFF = 0
SERVO_POWER_OFF = 0x20
SERVO_POWER_ON = 0x21
SPEAKER_POWER_OFF = 0x22
SPEAKER_POWER_ON = 0x23
MOTOR_POWER_OFF = 0x24
MOTOR_POWER_ON = 0x25
SET_POWER_DC = 0X26 # power_type = 0, DC power
SET_POWER_2S = 0X27 # power_type = 1, Li-po battery 2s
SET_POWER_3S = 0X28 # power_type = 2, Li-po battery 3s
POWER_TYPE = 0X1d # send this number to ask arduino return power-type
def __init__(self):
self.logger_setup()
self.speaker_volume = 70
self.capture_volume = 100
tmp = self.power_type
sleep(0.01) # when arduino open debug, sleep(> 0.3)
self.adc = ADC(5) # Power voltage channel: 5
self._debug('Init PiSmart object complete')
def servo_switch(self, on_off):
self.pwm_switch(on_off)
def pwm_switch(self, on_off):
if on_off not in (0, 1):
raise ValueError(
"On_off set must be .ON(1) or .OFF(0), not \"{0}\".".format(
on_off))
if on_off == 1:
self._write_sys_byte(self.SERVO_POWER_ON)
self._debug('Servo switch ON')
else:
self._write_sys_byte(self.SERVO_POWER_OFF)
self._debug('Servo switch OFF')
def motor_switch(self, on_off):
if on_off not in (0, 1):
raise ValueError(
"On_off set must be .ON(1) or .OFF(0), not \"{0}\".".format(
on_off))
if on_off == 1:
self._write_sys_byte(self.MOTOR_POWER_ON)
self._debug('Motor switch ON')
else:
self._write_sys_byte(self.MOTOR_POWER_OFF)
self._debug('Motor switch OFF')
def speaker_switch(self, on_off):
if on_off not in (0, 1):
raise ValueError(
"On_off set must in .ON(1) or .OFF(0), not \"{0}\".".format(
on_off))
if on_off == 1:
self._write_sys_byte(self.SPEAKER_POWER_ON)
self._debug('Speaker switch ON')
else:
self._write_sys_byte(self.SPEAKER_POWER_OFF)
self._debug('Speaker switch OFF')
@property
def power_type(self):
self._power_type = self._read_sys_byte(self.POWER_TYPE)
self._debug('Get power type from bottom board')
return self._power_type
@power_type.setter
def power_type(self, power_type):
if power_type not in ['2S', '3S', 'DC']:
raise ValueError(
'Power type only support: "2S", "3S" Li-po battery or "DC" power, not \"{0}\".'
.format(power_type))
else:
self._power_type = power_type
if power_type == '2S':
self._write_sys_byte(self.SET_POWER_2S)
self._debug('Set power type to 2S Li-po battery')
elif power_type == '3S':
self._write_sys_byte(self.SET_POWER_3S)
self._debug('Set power type to 3S Li-po battery')
elif power_type == 'DC':
self._write_sys_byte(self.SET_POWER_DC)
self._debug('Set power type to DC power')
@property
def power_voltage(self):
A7_value = self.adc.read()
if A7_value:
A7_volt = float(A7_value) / 1024 * 5
battery_volt = round(A7_volt * 14.7 / 4.7, 2)
self._debug('Read battery: %s V' % battery_volt)
return battery_volt
else:
return False
@property
def speaker_volume(self):
return self._speaker_volume
@speaker_volume.setter
def speaker_volume(self, value):
if value > 100:
value = 100
self._warning('Value is over 100, set to 100')
if value < 0:
value = 0
self._warning('Value is less than 0, set to 0')
# gain(dB) = 10 * log10(volume)
#self._debug('speaker percentage = %s' % value)
self._speaker_volume = self._map(value, 0, 100, 0, 75)
self._debug('speaker percentage = %s' % value)
#self._speaker_volume = self._map(value, 0, 100, ((10.0**(-102.39/10))-1), ((10.0**(4.0/10))-1))
#self._speaker_volume = int(math.log10(self._speaker_volume) * 100) * 10
#self._debug('speaker dB = %s' % self._speaker_volume)
cmd = "sudo amixer -M sset 'PCM' %d%%" % self._speaker_volume
self.run_command(cmd)
@property
def capture_volume(self):
return self._capture_volume
@capture_volume.setter
def capture_volume(self, value):
if value not in range(0, 101):
raise ValueError(
"Volume should be in [0, 100], not \"{0}\".".format(value))
self._capture_volume = value
cmd = "sudo amixer -M -c 1 sset 'Mic' %d%%" % (self._capture_volume)
self.run_command(cmd)
return 0
def _get_capture_volume_id(self):
all_controls = self.run_command("sudo amixer -c 1 controls")
all_controls = all_controls.split('\n')
capture_volume = ''
capture_volume_id = ''
for line in all_controls:
if 'Mic Capture Volume' in line:
capture_volume = line
capture_volume = capture_volume.split(',')
for variable in capture_volume:
if 'numid' in variable:
capture_volume_id = variable
capture_volume_id = capture_volume_id.split('=')[1]
return int(capture_volume_id)
def _get_capture_volume_max(self, numid):
all_values = self.run_command("sudo amixer -c 1 cget numid=%s" % numid)
all_values = all_values.split('\n')
values = all_values[1]
values = values.split(',')
for value in values:
if 'max' in value:
max_value = value
max_value = max_value.split('=')[1]
return int(max_value)
@property
def cpu_temperature(self):
raw_cpu_temperature = commands.getoutput(
"cat /sys/class/thermal/thermal_zone0/temp")
cpu_temperature = float(raw_cpu_temperature) / 1000
#cpu_temperature = 'Cpu temperature : ' + str(cpu_temperature)
return cpu_temperature
@property
def gpu_temperature(self):
raw_gpu_temperature = commands.getoutput(
'/opt/vc/bin/vcgencmd measure_temp')
gpu_temperature = float(
raw_gpu_temperature.replace('temp=', '').replace('\'C', ''))
#gpu_temperature = 'Gpu temperature : ' + str(gpu_temperature)
return gpu_temperature
@property
def ram_info(self):
p = os.popen('free')
i = 0
while 1:
i = i + 1
line = p.readline()
if i == 2:
return line.split()[1:4]
@property
def ram_total(self):
ram_total = round(int(self.ram_info[0]) / 1000, 1)
return ram_total
@property
def ram_used(self):
ram_used = round(int(self.ram_info[1]) / 1000, 1)
return ram_used
@property
def disk_space(self):
p = os.popen("df -h /")
i = 0
while 1:
i = i + 1
line = p.readline()
if i == 2:
return line.split()[1:5]
@property
def disk_total(self):
disk_total = float(self.disk_space[0][:-1])
return disk_total
@property
def disk_used(self):
disk_used = float(self.disk_space[1][:-1])
return disk_used
@property
def cpu_usage(self):
return str(
os.popen(
"top -n1 | awk '/Cpu\(s\):/ {print $2}'").readline().strip())
def end(self):
self.servo_switch(self.OFF)
self.pwm_switch(self.OFF)
self.motor_switch(self.OFF)
self.speaker_switch(self.OFF)
class PiSmart(_Basic_class):
_class_name = 'Amateur PiSmart'
ON = 1
OFF = 0
def __init__(self, *item):
self._ps = pismart.PiSmart()
self._ps.DEBUG = 'error'
self.servo_switch = self._ps.servo_switch
self.pwm_switch = self._ps.pwm_switch
self.motor_switch = self._ps.motor_switch
self.speaker_switch = self._ps.speaker_switch
if len(item) == 0:
self.ALL_init()
elif item == "manual":
pass
def ALL_init(self):
self.ADC_init()
self.Servo_init()
self.LED_init()
self.Motor_init()
self.TTS_init()
self.STT_init()
def ADC_init(self):
from adc import ADC
self._A0 = ADC(0)
self._A1 = ADC(1)
self._A2 = ADC(2)
self._A3 = ADC(3)
self._A4 = ADC(4)
self._A0.DEBUG = 'error'
self._A1.DEBUG = 'error'
self._A2.DEBUG = 'error'
self._A3.DEBUG = 'error'
self._A4.DEBUG = 'error'
def Servo_init(self):
from servo import Servo
self._servo0 = Servo(0)
self._servo1 = Servo(1)
self._servo2 = Servo(2)
self._servo3 = Servo(3)
self._servo4 = Servo(4)
self._servo5 = Servo(5)
self._servo6 = Servo(6)
self._servo7 = Servo(7)
self.servo_switch(self.ON)
self._servo0.DEBUG = 'error'
self._servo1.DEBUG = 'error'
self._servo2.DEBUG = 'error'
self._servo3.DEBUG = 'error'
self._servo4.DEBUG = 'error'
self._servo5.DEBUG = 'error'
self._servo6.DEBUG = 'error'
self._servo7.DEBUG = 'error'
def PWM_init(self):
from pwm import PWM
self._pwm0 = PWM(0)
self._pwm1 = PWM(1)
self._pwm2 = PWM(2)
self._pwm3 = PWM(3)
self._pwm4 = PWM(4)
self._pwm5 = PWM(5)
self._pwm6 = PWM(6)
self._pwm7 = PWM(7)
self.pwm_switch(self.ON)
self._pwm0.DEBUG = 'error'
self._pwm1.DEBUG = 'error'
self._pwm2.DEBUG = 'error'
self._pwm3.DEBUG = 'error'
self._pwm4.DEBUG = 'error'
self._pwm5.DEBUG = 'error'
self._pwm6.DEBUG = 'error'
self._pwm7.DEBUG = 'error'
def LED_init(self):
from led import LED
self._led = LED()
self._led.DEBUG = 'error'
def Motor_init(self):
from motor import Motor
self._motor_a = Motor(Motor.MotorA)
self._motor_b = Motor(Motor.MotorB)
self._motor_a.DEBUG = 'error'
self._motor_b.DEBUG = 'error'
self.motor_switch(self.ON)
def TTS_init(self):
from tts import TTS
self._tts = TTS()
self._tts.DEBUG = 'error'
self.speaker_switch(self.ON)
self.speaker_volume = 100
def STT_init(self):
from stt import STT
self._stt = STT('dictionary', name_calling=False, timeout=10.0, dictionary_update=True)
self._stt.DEBUG = 'error'
self.capture_volume = 100
def ADC_end(self):
pass
def Servo_end(self):
self.servo_switch(self.OFF)
def PWM_end(self):
self.pwm_switch(self.OFF)
def Motor_end(self):
self._motor_a.stop()
self._motor_b.stop()
self.motor_switch(self.OFF)
def LED_end(self):
self.LED = 0
def TTS_end(self):
self._tts.end()
self.speaker_switch(self.OFF)
def STT_end(self):
self._stt.end()
def end(self):
self.ADC_end()
self.LED_end()
self.Motor_end()
self.Servo_end()
self.PWM_end()
self.STT_end()
@property
def power_type(self):
return self._ps.power_type
@power_type.setter
def power_type(self, value):
self._ps.power_type = value
@property
def power_voltage(self):
return self._ps.power_voltage
@power_voltage.setter
def power_voltage(self, value):
self._ps.power_voltage = value
@property
def speaker_volume(self):
return self._ps.speaker_volume
@speaker_volume.setter
def speaker_volume(self, value):
self._ps.speaker_volume = value
@property
def capture_volume(self):
return self._ps.capture_volume
@capture_volume.setter
def capture_volume(self, value):
self._ps.capture_volume = value
@property
def cpu_temperature(self):
return self._ps.cpu_temperature
@property
def A0(self):
return self._A0.read()
@property
def A1(self):
return self._A1.read()
@property
def A2(self):
return self._A2.read()
@property
def A3(self):
return self._A3.read()
@property
def A4(self):
return self._A4.read()
@property
def Servo0(self):
return self._servo0.angle
@Servo0.setter
def Servo0(self, angle):
self._servo0.angle = angle
@property
def Servo1(self):
return self._servo1.angle
@Servo1.setter
def Servo1(self, angle):
self._servo1.angle = angle
@property
def Servo2(self):
return self._servo2.angle
@Servo2.setter
def Servo2(self, angle):
self._servo2.angle = angle
@property
def Servo3(self):
return self._servo3.angle
@Servo3.setter
def Servo3(self, angle):
self._servo3.angle = angle
@property
def Servo4(self):
return self._servo4.angle
@Servo4.setter
def Servo4(self, angle):
self._servo4.angle = angle
@property
def Servo5(self):
return self._servo5.angle
@Servo5.setter
def Servo5(self, angle):
self._servo5.angle = angle
@property
def Servo6(self):
return self._servo6.angle
@Servo6.setter
def Servo6(self, angle):
self._servo6.angle = angle
@property
def Servo7(self):
return self._servo7.angle
@Servo7.setter
def Servo7(self, angle):
self._servo7.angle = angle
@property
def PWM0(self):
return self._pwm0.value
@PWM0.setter
def PWM0(self, value):
self._pwm0.value = value
@property
def PWM1(self):
return self._pwm1.value
@PWM1.setter
def PWM1(self, value):
self._pwm1.value = value
@property
def PWM2(self):
return self._pwm2.value
@PWM2.setter
def PWM2(self, value):
self._pwm2.value = value
@property
def PWM3(self):
return self._pwm3.value
@PWM3.setter
def PWM3(self, value):
self._pwm3.value = value
@property
def PWM4(self):
return self._pwm4.value
@PWM4.setter
def PWM4(self, value):
self._pwm4.value = value
@property
def PWM5(self):
return self._pwm5.value
@PWM5.setter
def PWM5(self, value):
self._pwm5.value = value
@property
def PWM6(self):
return self._pwm6.value
@PWM6.setter
def PWM6(self, value):
self._pwm6.value = value
@property
def PWM7(self):
return self._pwm7.value
@PWM7.setter
def PWM7(self, value):
self._pwm7.value = value
@property
def LED(self):
return self._led.brightness
@LED.setter
def LED(self, value):
self._led.brightness = value
@property
def MotorA(self):
return self._motor_a.speed
@MotorA.setter
def MotorA(self, value):
self._motor_a.speed = value
@property
def MotorB(self):
return self._motor_b.speed
@MotorB.setter
def MotorB(self, value):
self._motor_b.speed = value
@property
def MotorA_reversed(self):
return self._motor_a.is_reversed
@MotorA_reversed.setter
def MotorA_reversed(self, value):
self._motor_a.is_reversed = value
@property
def MotorB_reversed(self):
return self._motor_b.is_reversed
@MotorB_reversed.setter
def MotorB_reversed(self, value):
self._motor_b.is_reversed = value
@property
def Say(self):
return self._tts.say
@Say.setter
def Say(self, words):
self._tts.say = words
@property
def listen(self):
return self._stt.recognize()
@property
def heard(self):
return self._stt.heard
@property
def result(self):
return self._stt.result
def __init__(self, miso, mosi, clk, cs, channel):
ADC.__init__(self, miso, mosi, clk, cs)
self._channel = channel
class PELoop(ScannableMotionBase):
def __init__(self, name="peloop", functiongenerator=fg, eventreceiver=evr, adc1=adc, psd=mythen):
self.setName(name)
self.setInputNames(["time"])
self.setExtraNames(["PData","EData","MythenData"])
self.fg=FunctionGenerator()
self.evr=EventReceiver()
self.adc=ADC()
self.psd=mythen
self.voltagesmonitor=PVMonitor()
self.electrometersmonitor=PVMonitor()
self.counter=0
self.numberofgates=0
# function generator controls
def getElectrometer(self):
try:
self.adc.getElectrometer()
except:
print "Fail to get electrometer readings: ", sys.exc_info()[0]
raise
def getVoltage(self):
try:
self.adc.getVoltage()
except:
print "Fail to get voltage readings: ", sys.exc_info()[0]
raise
def atScanStart(self):
#add voltage and electrometer monitor to get data,
#this may trigger an monitor event that increment the counter, so it must be reset
self.voltagesmonitor.setNumberOfGates(self.numberofgates)
self.electrometersmonitor.setNumberOfGates(self.numberofgates)
self.adc.addVoltageMonitor(self.voltagesmonitor)
self.adc.addElectrometerMonitor(self.electrometersmonitor)
#start ramp output
self.fg.setOutput(1)
def atScanEnd(self):
#add voltage and electrometer monitor to get datas
self.adc.removeVoltageMonitor(self.voltagesmonitor)
self.adc.removeElectrometerMonitor(self.electrometersmonitor)
#stop ramp output
self.fg.setOutput(0)
def atPointStart(self):
self.voltagesmonitor.resetCounter()
self.voltagesmonitor.resetRepetition()
self.electrometersmonitor.resetCounter()
self.electrometersmonitor.resetRepetition()
def atPointEnd(self):
pass
def rawGetPosition(self):
return self.volatgesmonitor.rawGetPosition(), self.electrometersmonitor.rawGetPosition(),mythen.getPosition()
def rawAsynchronousMoveTo(self,new_position):
self.evr.rawAsynchronousMoveTo(new_position)
def rawIsBusy(self):
return self.evr.rawIsBusy()
def static_tests_sweep(num_bits=7,
offset=0.5,
tau=6,
plot_decision_tree=False,
bucketsize=20,
steps=None):
datasize = int(bucketsize * 2**num_bits)
input_axis = np.linspace(0, 2**num_bits, datasize)
output_axis = np.zeros(shape=(datasize, ), dtype=int)
output_axis2 = np.zeros(shape=(datasize, ), dtype=int)
counter = 0
while counter < datasize:
adcinstance = ADC(tau=tau, num_bits=num_bits)
adc2 = ADC(tau=tau, num_bits=num_bits)
#adcinstance.set_fsm_steps(weird_steps)
adc2.set_fsm_steps(steps)
inputvoltage = input_axis[counter] + offset
adcinstance.run_1_adc_sample(vin=inputvoltage)
adc2.run_1_adc_sample(vin=inputvoltage)
plots = adcinstance.return_transient_results()
plots2 = adc2.return_transient_results()
output = int(adcinstance.return_output())
output2 = int(adc2.return_output())
if (plot_decision_tree):
print(output)
helper.plot_transients(plots, vin=None)
helper.plot_transients(plots2, vin=None)
output_axis[counter] = output
output_axis2[counter] = output2
counter = counter + 1
adc_eval.eval_adc_from_arrays(input_axis, output_axis)
adc_eval.eval_adc_from_arrays(input_axis, output_axis2)
from adc import ADC
adc = ADC(11, mosi=10, miso=9, ss=8)
for i in range(5):
print adc.read(0)
import Adafruit_GPIO.SPI as SPI
#
# spi = SPI.SpiDev(0,0)
# spi.open()
# spi.set_clock_hz(5000)
# spi.set_mode(0)
# spi.set_bit_order(0)
def __init__(self, channel):
self.channel = channel
self.adc = ADC()
