def capture_segment(handle, xs_buf, xs_size, capture_buf):
messages = Lepton.ROWS
iow = _IOW(SPI_IOC_MAGIC, 0, xs_size)
ioctl(handle, iow, xs_buf, True)
while (capture_buf[0] & 0x000f) == 0x000f: # byteswapped 0x0f00
ioctl(handle, iow, xs_buf, True)
messages -= 1
# NB: the default spidev bufsiz is 4096 bytes so that's where the 24 message limit comes from: 4096 / Lepton.VOSPI_FRAME_SIZE_BYTES = 24.97...
# This 24 message limit works OK, but if you really need to optimize the read speed here, this hack is for you:
# The limit can be changed when spidev is loaded, but since it is compiled statically into newer raspbian kernels, that means
# modifying the kernel boot args to pass this option. This works too:
# $ sudo chmod 666 /sys/module/spidev/parameters/bufsiz
# $ echo 65536 > /sys/module/spidev/parameters/bufsiz
# Then Lepton.SPIDEV_MESSAGE_LIMIT of 24 can be raised to 59
while messages > 0:
if messages > Lepton.SPIDEV_MESSAGE_LIMIT:
count = Lepton.SPIDEV_MESSAGE_LIMIT
else:
count = messages
iow = _IOW(SPI_IOC_MAGIC, 0, xs_size * count)
ret = ioctl(handle, iow, xs_buf[xs_size * (60 - messages):], True)
if ret < 1:
raise IOError("can't send {0} spi messages ({1})".format(
60, ret))
messages -= count
def capture_segment(handle, xs_buf, xs_size, capture_buf):
messages = Lepton.ROWS
iow = _IOW(SPI_IOC_MAGIC, 0, xs_size)
ioctl(handle, iow, xs_buf, True)
while (capture_buf[0] & 0x000f) == 0x000f: # byteswapped 0x0f00
ioctl(handle, iow, xs_buf, True)
messages -= 1
# NB: the default spidev bufsiz is 4096 bytes so that's where the 24 message limit comes from: 4096 / Lepton.VOSPI_FRAME_SIZE_BYTES = 24.97...
# This 24 message limit works OK, but if you really need to optimize the read speed here, this hack is for you:
# The limit can be changed when spidev is loaded, but since it is compiled statically into newer raspbian kernels, that means
# modifying the kernel boot args to pass this option. This works too:
# $ sudo chmod 666 /sys/module/spidev/parameters/bufsiz
# $ echo 65536 > /sys/module/spidev/parameters/bufsiz
# Then Lepton.SPIDEV_MESSAGE_LIMIT of 24 can be raised to 59
while messages > 0:
if messages > Lepton.SPIDEV_MESSAGE_LIMIT:
count = Lepton.SPIDEV_MESSAGE_LIMIT
else:
count = messages
iow = _IOW(SPI_IOC_MAGIC, 0, xs_size * count)
ret = ioctl(handle, iow, xs_buf[xs_size * (60 - messages):], True)
if ret < 1:
raise IOError("can't send {0} spi messages ({1})".format(60, ret))
messages -= count
def __init__(self, spi_dev="/dev/spidev0.1"):
self.__spi_dev = spi_dev
self.__txbuf = np.zeros(Lepton.VOSPI_FRAME_SIZE, dtype=np.uint16)
# struct spi_ioc_transfer {
# __u64 tx_buf;
# __u64 rx_buf;
# __u32 len;
# __u32 speed_hz;
# __u16 delay_usecs;
# __u8 bits_per_word;
# __u8 cs_change;
# __u32 pad;
# };
self.__xmit_struct = struct.Struct("=QQIIHBBI")
self.__msg_size = self.__xmit_struct.size
self.__xmit_buf = np.zeros((self.__msg_size * Lepton.ROWS),
dtype=np.uint8)
self.__msg = _IOW(SPI_IOC_MAGIC, 0, self.__xmit_struct.format)
self.__capture_buf = np.zeros(
(Lepton.ROWS, Lepton.VOSPI_FRAME_SIZE, 1), dtype=np.uint16)
for i in range(Lepton.ROWS):
self.__xmit_struct.pack_into(
self.__xmit_buf,
i * self.__msg_size,
self.__txbuf.ctypes.data, # __u64 tx_buf;
self.__capture_buf.ctypes.data +
Lepton.VOSPI_FRAME_SIZE_BYTES * i, # __u64 rx_buf;
Lepton.VOSPI_FRAME_SIZE_BYTES, # __u32 len;
Lepton.SPEED, # __u32 speed_hz;
0, # __u16 delay_usecs;
Lepton.BITS, # __u8 bits_per_word;
1, # __u8 cs_change;
0) # __u32 pad;
def __init__(self, spi_dev = "/dev/spidev0.0"):
self.__spi_dev = spi_dev
self.__txbuf = np.zeros(Lepton.VOSPI_FRAME_SIZE, dtype=np.uint16)
# struct spi_ioc_transfer {
# __u64 tx_buf;
# __u64 rx_buf;
# __u32 len;
# __u32 speed_hz;
# __u16 delay_usecs;
# __u8 bits_per_word;
# __u8 cs_change;
# __u32 pad;
# };
self.__xmit_struct = struct.Struct("=QQIIHBBI")
self.__msg_size = self.__xmit_struct.size
self.__xmit_buf = np.zeros((self.__msg_size * Lepton.ROWS), dtype=np.uint8)
self.__msg = _IOW(SPI_IOC_MAGIC, 0, self.__xmit_struct.format)
self.__capture_buf = np.zeros((Lepton.ROWS, Lepton.VOSPI_FRAME_SIZE, 1), dtype=np.uint16)
for i in range(Lepton.ROWS):
self.__xmit_struct.pack_into(self.__xmit_buf, i * self.__msg_size,
self.__txbuf.ctypes.data, # __u64 tx_buf;
self.__capture_buf.ctypes.data + Lepton.VOSPI_FRAME_SIZE_BYTES * i, # __u64 rx_buf;
Lepton.VOSPI_FRAME_SIZE_BYTES, # __u32 len;
Lepton.SPEED, # __u32 speed_hz;
0, # __u16 delay_usecs;
Lepton.BITS, # __u8 bits_per_word;
1, # __u8 cs_change;
0) # __u32 pad;
def __init__(self, spi_dev="/dev/spidev0.0"):
self.__spi_dev = spi_dev
self.__txbuf = np.zeros(Lepton.VOSPI_FRAME_SIZE, dtype=np.uint16)
# struct spi_ioc_transfer {
# __u64 tx_buf;
# __u64 rx_buf;
# __u32 len;
# __u32 speed_hz;
# __u16 delay_usecs;
# __u8 bits_per_word;
# __u8 cs_change;
# __u8 tx_nbits;
# __u8 rx_nbits;
# __u16 pad;
# };
self.__xmit_struct = struct.Struct("=QQIIHBBBBH")
self.__xmit_buf = ctypes.create_string_buffer(self.__xmit_struct.size)
self.__msg = _IOW(SPI_IOC_MAGIC, 0, self.__xmit_struct.format)
self.__capture_buf = np.zeros((60, 82, 1), dtype=np.uint16)
def __init__(self, spi_dev = "/dev/spidev0.0"):
self.__spi_dev = spi_dev
self.__txbuf = np.zeros(Lepton.VOSPI_FRAME_SIZE, dtype=np.uint16)
# struct spi_ioc_transfer {
# __u64 tx_buf;
# __u64 rx_buf;
# __u32 len;
# __u32 speed_hz;
# __u16 delay_usecs;
# __u8 bits_per_word;
# __u8 cs_change;
# __u8 tx_nbits;
# __u8 rx_nbits;
# __u16 pad;
# };
self.__xmit_struct = struct.Struct("=QQIIHBBBBH")
self.__xmit_buf = ctypes.create_string_buffer(self.__xmit_struct.size)
self.__msg = _IOW(SPI_IOC_MAGIC, 0, self.__xmit_struct.format)
self.__capture_buf = np.zeros((60, 82, 1), dtype=np.uint16)
#!/usr/bin/env python
import numpy as np
import ctypes
import struct
import time
from ioctl_numbers import _IOR, _IOW
from fcntl import ioctl
SPI_IOC_MAGIC = ord("k")
SPI_IOC_RD_MODE = _IOR(SPI_IOC_MAGIC, 1, "=B")
SPI_IOC_WR_MODE = _IOW(SPI_IOC_MAGIC, 1, "=B")
SPI_IOC_RD_LSB_FIRST = _IOR(SPI_IOC_MAGIC, 2, "=B")
SPI_IOC_WR_LSB_FIRST = _IOW(SPI_IOC_MAGIC, 2, "=B")
SPI_IOC_RD_BITS_PER_WORD = _IOR(SPI_IOC_MAGIC, 3, "=B")
SPI_IOC_WR_BITS_PER_WORD = _IOW(SPI_IOC_MAGIC, 3, "=B")
SPI_IOC_RD_MAX_SPEED_HZ = _IOR(SPI_IOC_MAGIC, 4, "=I")
SPI_IOC_WR_MAX_SPEED_HZ = _IOW(SPI_IOC_MAGIC, 4, "=I")
SPI_CPHA = 0x01 # /* clock phase */
SPI_CPOL = 0x02 # /* clock polarity */
SPI_MODE_0 = (0 | 0) # /* (original MicroWire) */
SPI_MODE_1 = (0 | SPI_CPHA)
SPI_MODE_2 = (SPI_CPOL | 0)
SPI_MODE_3 = (SPI_CPOL | SPI_CPHA)
#!/usr/bin/env python
import numpy as np
import ctypes
import struct
import time
from ioctl_numbers import _IOR, _IOW
from fcntl import ioctl
SPI_IOC_MAGIC = ord("k")
SPI_IOC_RD_MODE = _IOR(SPI_IOC_MAGIC, 1, "=B")
SPI_IOC_WR_MODE = _IOW(SPI_IOC_MAGIC, 1, "=B")
SPI_IOC_RD_LSB_FIRST = _IOR(SPI_IOC_MAGIC, 2, "=B")
SPI_IOC_WR_LSB_FIRST = _IOW(SPI_IOC_MAGIC, 2, "=B")
SPI_IOC_RD_BITS_PER_WORD = _IOR(SPI_IOC_MAGIC, 3, "=B")
SPI_IOC_WR_BITS_PER_WORD = _IOW(SPI_IOC_MAGIC, 3, "=B")
SPI_IOC_RD_MAX_SPEED_HZ = _IOR(SPI_IOC_MAGIC, 4, "=I")
SPI_IOC_WR_MAX_SPEED_HZ = _IOW(SPI_IOC_MAGIC, 4, "=I")
SPI_CPHA = 0x01 # /* clock phase */
SPI_CPOL = 0x02 # /* clock polarity */
SPI_MODE_0 = (0|0) # /* (original MicroWire) */
SPI_MODE_1 = (0|SPI_CPHA)
SPI_MODE_2 = (SPI_CPOL|0)
SPI_MODE_3 = (SPI_CPOL|SPI_CPHA)
def SPI_IOC_MESSAGE(size):
return _IOW(SPI_IOC_MAGIC, 0, "=" + ("QQIIHBBI" * size))
