def ain(n):
numsamples = 65536
capture = adc.Capture()
capture.cap_delay = 100
capture.oscilloscope_init(
adc.OFF_VALUES + n,
numsamples) # captures AIN0 - the first elt in AIN array
#capture.oscilloscope_init(adc.OFF_VALUES+4, numsamples) # captures AIN1 - the third elt in AIN array
capture.start()
start = time.time()
for _ in range(10):
if capture.oscilloscope_is_complete():
break
print '.'
time.sleep(0.1)
print "conversion consume time:", time.time() - start
capture.stop()
#print 'Saving oscilloscope values to "data.csv"'
#for x in capture.oscilloscope_data(numsamples):
#print x
#print 'done'
capture.close()
def init_capture(threshold0, threshold1, delay=0):
capture = adc.Capture()
capture.encoder0_pin = 0 # AIN0, aka P9_39
capture.encoder1_pin = 2 # AIN2, aka P9_37
capture.encoder0_threshold = threshold0
capture.encoder1_thredhold = threshold1
capture.encoder0_delay = delay
capture.encoder1_delay = delay
capture.start()
yield capture
capture.stop()
capture.wait()
capture.close()
def captureData(self):
capture = adc.Capture()
if self.delayADC != 0:
capture.cap_delay = self.delayADC
capture.oscilloscope_init(adc.OFF_VALUES, self.numSamples) # captures AIN0 - the first elt in AIN array
capture.start()
while(True):
if capture.oscilloscope_is_complete():
break
capture.stop()
capture.wait()
#print("Buffer atualizado com %d amostras."%(self.numSamples,))
self.captureSamples = capture.oscilloscope_data(self.numSamples)
capture.close()
def captureData(self):
capture = adc.Capture()
bus = smbus.SMBus(1)
data = [0x84, 0x83]
bus.write_i2c_block_data(0x48, 0x01, data)
i = 0
time.sleep(0.5)
actual_time = time.clock()
if self.delayADC != 0:
capture.cap_delay = self.delayADC
capture.oscilloscope_init(
adc.OFF_VALUES,
self.numSamples) # captures AIN0 - the first elt in AIN array
capture.start()
captureSamplesBuffer = []
internalADC_complete = False
externalADC_complete = False
while (True):
if (externalADC_complete == False):
data = bus.read_i2c_block_data(0x48, 0x00, 2)
raw_adc = data[0] * 256 + data[1]
if (i < self.numSamplesExternal):
captureSamplesBuffer.append(raw_adc)
else:
self.captureSamplesExternal = tuple(captureSamplesBuffer)
del captureSamplesBuffer[:]
captureSamplesBuffer = []
i = 0
externalADC_complete = True
if (capture.oscilloscope_is_complete()
and internalADC_complete == False):
internalADC_complete = True
if (externalADC_complete and internalADC_complete):
break
time.sleep(self.delayCapture / 1000)
capture.stop()
capture.wait()
print("Buffer atualizado com %d amostras." % (self.numSamples, ))
self.captureSamples = capture.oscilloscope_data(self.numSamples)
capture.close()
def __init__(self, config):
# Initialize ADC
self._adc = adc.Capture()
self._adc.encoder0_pin = config.MOTOR_LEFT['encoder_pin']
self._adc.encoder1_pin = config.MOTOR_RIGHT['encoder_pin']
self._adc.encoder0_threshold = config.MOTOR_LEFT['encoder_threshold']
self._adc.encoder1_threshold = config.MOTOR_RIGHT['encoder_threshold']
self._adc.encoder0_delay = config.MOTOR_LEFT['encoder_delay']
self._adc.encoder1_delay = config.MOTOR_RIGHT['encoder_delay']
self._adc.ema_pow = config.EMA_POW
self._ir_pins = config.IR_PINS
self._scale = 2**config.EMA_POW
self.timer = 0
self.speed_left = 0
self.speed_right = 0
self.enc_ticks_left = 0
self.enc_ticks_right = 0
self.values = tuple([0] * len(self._ir_pins))
import beaglebone_pru_adc as adc
import time
import struct
numsamples = 65536 # how many samples to capture
capture = adc.Capture()
capture.oscilloscope_init(
adc.OFF_VALUES, numsamples) # captures AIN0 - the first elt in AIN array
#capture.oscilloscope_init(adc.OFF_VALUES+8, numsamples) # captures AIN2 - the third elt in AIN array
capture.start()
for _ in range(10):
if capture.oscilloscope_is_complete():
break
print('.')
time.sleep(0.1)
capture.stop()
capture.wait()
print('Saving oscilloscope values to "data.raw"')
with open('data.raw', 'wb') as f:
for x in capture.oscilloscope_data(numsamples):
data = struct.pack('H', x)
f.write(data)
print('done')
class encoder:
ladc1 = 0
ladc2 = 0
step = 0
freq = 100000
place = 0
last = 0
lastseq = 0
deg_inc = 360.0 / 1000 / 8
callback = None
storage = None
prog_start = None
capture = adc.Capture()
def adc1(self):
if self.ladc1 == 0 and self.capture.values[0] > 1500:
self.ladc1 = 1
return self.ladc1
elif self.ladc1 == 1 and self.capture.values[0] < 1000:
self.ladc1 = 0
return self.ladc1
else:
return self.ladc1
def adc2(self):
if self.ladc2 == 0 and self.capture.values[2] > 1500:
self.ladc2 = 1
return self.ladc2
elif self.ladc2 == 1 and self.capture.values[2] < 1000:
self.ladc2 = 0
return self.ladc2
else:
return self.ladc2
def __init__(self, callback, storage):
self.capture.start()
self.storage = storage
self.callback = callback
self.prog_start = time.time()
self.run()
def run(self):
while True:
# time.sleep(1.0/self.freq)
vadc1 = self.adc1()
vadc2 = self.adc2()
#aadc1 = ADC.read("P9_37")
#aadc2 = ADC.read("P9_38")
seq = (vadc1 ^ vadc2) | (vadc2 << 1)
if self.lastseq == seq:
continue
else:
if self.lastseq == 0:
if seq == 1:
self.step = -1
if seq == 3:
self.step = 1
self.lastseq = seq
self.last = self.place
self.place += self.step
self.callback(self.place * self.deg_inc, self.storage,
self.prog_start)
#self.callback((seq, self.place, aadc1 , aadc2, vadc1, vadc2 ), self.storage, self.prog_start)
#A B SEQ
#0 0 00 LOW
#0 1 11 B leads A
#1 0 01 A leads B
#1 1 10 HIGH
import beaglebone_pru_adc as adc
import time
import collections
import sys
import config
from robot.motor import Motors
if __name__ == '__main__':
print 'Capturing IR values, wait 5 seconds\n',
adc = adc.Capture()
adc.ema_pow = 10
scale = 2**10
ir_pins = config.IR_PINS
adc.start()
stat = collections.defaultdict(list)
time.sleep(0.1)
for _ in range(1000):
if _ % 200 == 199:
sys.stdout.write('.')
sys.stdout.flush()
time.sleep(0.005)
values = adc.values
for i, pin in enumerate(ir_pins):
stat[i].append(values[pin] / scale)
import beaglebone_pru_adc as adc #Importa a biblioteca como o objeto adc numsamples = 1000000 # capture = adc.Capture() #cria o objeto Capture, filho de ADC #capture.oscilloscope_init(No do registrador do ADC, No de amostras) capture.oscilloscope_init(adc.OFF_VALUES, numsamples) #Método de capture para configurar o modo osciloscópio #adc.OFF_VALUES <- Atributo de adc que representa o endereço de memória do ADC0 capture.start() #Método de capture que inicia a captura while True: if capture.oscilloscope_is_complete(): #capture.oscilloscope_is_complete() <- Método para verificar se o todas as amostras foram capturadas break capture.stop() #Método para parar a captura de dados e finalizar o arquivo do PRU capture.wait() #Método que espera o programa do PRU ser finalizado print capture.oscilloscope_data(numsamples) #Método que retorna uma tupla com as amostras salvas na memória RAM Capture.close() #Método para liberar os dados da RAM para o sistema operacional #Outros atributos de capture Capture.ema_pow #Se for diferente de 0, aplica um filtro EMA (Exponential moving average), cuja fórmula é ema += (value - ema / 2^ema_pow), por padrão é desativado Capture.cap_delay #Atributo que define a taxa de amostragem. Valor padrão é 0, ou seja. É aplicado um loop no código assemble do PRU
