def main():
global bbd
bbd = None
#
# Create an FTDI BigBangDevice instance, based on serial number passed in
#
bbd = BitBangDevice(device_index=0)
#
# Set direction regiser
#
bbd.direction = 0xFF
#
# Set initial port value to 0
#
bbd.port = 0
#
# That worked, setup XMLRPC server
#
server = SimpleXMLRPCServer.SimpleXMLRPCServer(
('localhost', int(sys.argv[1])), logRequests=False, allow_none=True)
server.register_introspection_functions()
server.register_function(set_bit, 'set_bit')
server.serve_forever()
return 0
def _select_ftdi_channel(channel):
"""Select multiplexer channel. Currently uses a FTDI chip via pylibftdi"""
if channel < 0 or channel > 8:
raise ArgumentError(
"FTDI-selected multiplexer only has channels 0-7 valid, make sure you specify channel with -c channel=number",
channel=channel)
from pylibftdi import BitBangDevice
bb = BitBangDevice(auto_detach=False)
bb.direction = 0b111
bb.port = channel
def turtle_right():
bridge('A', 'R')
bridge('B', 'L')
sleep(COMMAND_DELAY)
bridge('A', 'C')
bridge('B', 'C')
# Main
# auto_detach = False is needed as a workaround to prevent
# segmentation faults when accessing the FTDI device
# see pylibftdi issue #25
bb = BitBangDevice(FTDI_SN, auto_detach=False)
bb.direction = DIRECTION
zero_all()
#
# optosensor only detects black to white transition
# loop left-front until inp6 off then right a bit
#
while True:
# Poll inputs
read = bb.port
# print('IN7:', '1' if (read & INP7) == INP7 else '0',
# ' IN6:', '1' if (read & INP6) == INP6 else '0', '\r', end='')
if read & INP6 == INP6:
from time import sleep
import argparse
parser = argparse.ArgumentParser(description=
'Program ATMEGA162 through JTAG interface connected to an FT232R')
parser.add_argument('--noverify', action='store_true',
help='Do not verify after programming')
parser.add_argument('elffile', help='.elf file to program in FLASH')
args = parser.parse_args()
dev = BitBangDevice(bitbang_mode=BITMODE_SYNCBB)
TMS = 1 << 4
TDI = 1 << 2
TDO = 1 << 3
TCK = 1 << 5
dev.direction = TMS | TDI | TCK
from math import ceil
from enum import Enum
def jtag_command(instruction, data):
"""Set the instruction register, shift in bits from data, return the output bits
data[0] holds the least significant bits"""
if not isinstance(instruction, AVR_JTAG):
raise ValueError("instruction must be member of AVR_JTAG")
irvalue = instruction.value[0]
nbits = instruction.value[1]
if isinstance(data, int):
data = data.to_bytes(ceil(nbits/8), 'little')
stream = [0]
IR_LENGTH = 4
def clock_in(bits):
avgangs = [-90000.0] * len(devs) wait = 10 count = 0 done = False current_rate = None bbd = None # # Create an FTDI BigBangDevice instance, based on serial number passed in # bbd = BitBangDevice(device_index=0) # # Set direction regiser # bbd.direction = 0xFF bbd.port = 0 # # For the way we've wired up the linear actuator motor, this should # produce an "UP" and "DOWN" motor direction. # # Two of the relay channels--the low-order bits just control the +/- # that go to the other two channels. Those channels are wired in # a kind of exclusive OR, so that only bits with opposite settings # produce any motion at all. # DOWN = 0b00001101 UP = 0b00001110 #
import argparse
parser = argparse.ArgumentParser(
description=
'Program ATMEGA162 through JTAG interface connected to an FT232R')
parser.add_argument('--noverify',
action='store_true',
help='Do not verify after programming')
parser.add_argument('elffile', help='.elf file to program in FLASH')
args = parser.parse_args()
dev = BitBangDevice(bitbang_mode=BITMODE_SYNCBB)
TMS = 1 << 4
TDI = 1 << 2
TDO = 1 << 3
TCK = 1 << 5
dev.direction = TMS | TDI | TCK
from math import ceil
from enum import Enum
def jtag_command(instruction, data):
"""Set the instruction register, shift in bits from data, return the output bits
data[0] holds the least significant bits"""
if not isinstance(instruction, AVR_JTAG):
raise ValueError("instruction must be member of AVR_JTAG")
irvalue = instruction.value[0]
nbits = instruction.value[1]
if isinstance(data, int):
data = data.to_bytes(ceil(nbits / 8), 'little')
stream = [0]
