def buddy_get_adc_value(channel, sample_rate=1):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_ADC_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
timing_settings.averaging = 1
runtime_settings.adc_mode = bt.RUNTIME_ADC_MODE_SINGLE_ENDED
runtime_settings.adc_ref = bt.RUNTIME_ADC_REF_VDD
if (bt.buddy_configure(hid_handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
time.sleep(0.05)
err_code = bt.buddy_clear(hid_handle)
err_code = bt.buddy_read_adc(hid_handle, packet, False)
adc_value = bt.int32_t_ptr_getitem(packet.channels, int(channel))
return adc_value
def buddy_set_pwm_duty_value(channel, value, sample_rate=1000, streaming=False):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(int(sample_rate))
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_DUTY_CYCLE
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK
if (bt.buddy_configure(hid_handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
packet = bt.general_packet_t()
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, int(value))
if (bt.buddy_send_pwm(hid_handle, packet, streaming) != bt.BUDDY_ERROR_CODE_OK):
return -1
time.sleep(0.1)
bt.buddy_flush(hid_handle)
def buddy_get_counter_value(channel, sample_rate=1000, streaming=False):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_COUNTER_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_SUPER
timing_settings.period = bt.FREQUENCY_TO_NSEC(int(sample_rate))
runtime_settings.counter_control = bt.RUNTIME_COUNTER_CONTROL_ACTIVE_LOW
if (bt.buddy_configure(hid_handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
test_time_start = time.time()
err_code = bt.buddy_read_counter(hid_handle, packet, streaming)
start_value = bt.int32_t_ptr_getitem(packet.channels, int(channel))
time.sleep(1)
err_code = bt.buddy_read_counter(hid_handle, packet, streaming)
end_value = bt.int32_t_ptr_getitem(packet.channels, int(channel))
test_time_end = time.time()
diff_value = end_value - start_value
return diff_value
def buddy_set_pwm_duty_value(channel,
value,
sample_rate=1000,
streaming=False):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(int(sample_rate))
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_DUTY_CYCLE
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK
if (bt.buddy_configure(hid_handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
packet = bt.general_packet_t()
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, int(value))
if (bt.buddy_send_pwm(hid_handle, packet, streaming) !=
bt.BUDDY_ERROR_CODE_OK):
return -1
time.sleep(0.1)
bt.buddy_flush(hid_handle)
def buddy_get_adc_value(channel, sample_rate=1):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_ADC_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
timing_settings.averaging = 1
runtime_settings.adc_mode = bt.RUNTIME_ADC_MODE_SINGLE_ENDED
runtime_settings.adc_ref = bt.RUNTIME_ADC_REF_VDD
if (bt.buddy_configure(hid_handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
time.sleep(0.05)
err_code = bt.buddy_clear(hid_handle)
err_code = bt.buddy_read_adc(hid_handle, packet, False)
adc_value = bt.int32_t_ptr_getitem(packet.channels, int(channel))
return adc_value
def buddy_get_counter_value(channel, sample_rate=1000, streaming=False):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_COUNTER_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_SUPER
timing_settings.period = bt.FREQUENCY_TO_NSEC(int(sample_rate))
runtime_settings.counter_control = bt.RUNTIME_COUNTER_CONTROL_ACTIVE_LOW
if (bt.buddy_configure(hid_handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
test_time_start = time.time()
err_code = bt.buddy_read_counter(hid_handle, packet, streaming)
start_value = bt.int32_t_ptr_getitem(packet.channels, int(channel))
time.sleep(1)
err_code = bt.buddy_read_counter(hid_handle, packet, streaming)
end_value = bt.int32_t_ptr_getitem(packet.channels, int(channel))
test_time_end = time.time()
diff_value = end_value - start_value
return diff_value
def test_seq_dac(handle, sample_rate, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK | bt.BUDDY_CHAN_1_MASK | bt.BUDDY_CHAN_2_MASK | bt.BUDDY_CHAN_3_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if (bt.buddy_configure(handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_dac: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_dac_count = 0
for k in range(0, 4095 + 1):
#for k in range(2048, 2048 + 1):
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, k)
print 'test_seq_dac: sending %d packet with value %d' % \
(test_seq_dac_count, k)
test_seq_dac_count += 1
if (bt.buddy_send_dac(handle,
packet,
streaming) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_dac: could not send DAC packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def test_seq_dac(handle, sample_rate, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK | bt.BUDDY_CHAN_1_MASK | bt.BUDDY_CHAN_2_MASK | bt.BUDDY_CHAN_3_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if (bt.buddy_configure(handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_dac: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_dac_count = 0
for k in range(0, 4095 + 1):
#for k in range(2048, 2048 + 1):
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, k)
print 'test_seq_dac: sending %d packet with value %d' % \
(test_seq_dac_count, k)
test_seq_dac_count += 1
if (bt.buddy_send_dac(handle, packet, streaming) !=
bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_dac: could not send DAC packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def set_dac_value(hid_handle, channel, value, mode):
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = bt.MODE_CTRL_STREAM
general_settings.channel_mask = (1 << channel)
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(BUDDY_TEST_DAC_FREQ)
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if mode:
print('Poncho mode activated')
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = bt.BUDDY_CHAN_0_MASK
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(hid_handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'set_dac_value: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, value)
print 'set_dac_value: setting DAC channel %d with value %d' % (channel, value)
if (bt.buddy_send_dac(hid_handle, packet, True) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_dac: could not send DAC packet'
return -1
time.sleep(1.0 / BUDDY_TEST_DAC_FREQ)
bt.buddy_flush(hid_handle)
time.sleep(0.1)
return 0
def set_pwm_value(hid_handle, channel, value, poncho_mode):
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << channel)
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(BUDDY_TEST_PWM_FREQ)
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_FREQUENCY
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK_DIV_12
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = (1 << channel)
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(hid_handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'set_pwm_value: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, value)
print 'set_pwm_value: setting PWM channel %d with value %d' % (channel, value)
if (bt.buddy_send_pwm(hid_handle, packet, False) != bt.BUDDY_ERROR_CODE_OK):
print 'set_pwm_value: could not send PWM packet'
return -1
time.sleep(1.0 / BUDDY_TEST_PWM_FREQ)
bt.buddy_flush(hid_handle)
time.sleep(0.1)
return 0
def buddy_set_dac_value(channel, value, sample_rate=1000, streaming=False):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(int(sample_rate))
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if (bt.buddy_configure(hid_handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
packet = bt.general_packet_t()
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, int(value))
if (bt.buddy_send_dac(hid_handle, packet, streaming) != bt.BUDDY_ERROR_CODE_OK):
return -1
if not streaming:
time.sleep(1.0 / int(sample_rate))
time.sleep(0.5)
bt.buddy_flush(hid_handle)
def buddy_set_dac_value(channel, value, sample_rate=1000, streaming=False):
hid_handle = buddy_open()
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = (1 << int(channel))
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(int(sample_rate))
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if (bt.buddy_configure(hid_handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
return -1
packet = bt.general_packet_t()
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, int(value))
if (bt.buddy_send_dac(hid_handle, packet, streaming) !=
bt.BUDDY_ERROR_CODE_OK):
return -1
if not streaming:
time.sleep(1.0 / int(sample_rate))
time.sleep(0.5)
bt.buddy_flush(hid_handle)
def test_seq_pwm_duty(handle, sample_rate, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_2_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
#general_settings.resolution = bt.RESOLUTION_CTRL_LOW
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_DUTY_CYCLE
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_pwm_duty: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_pwm_count = 0
# in counts
#for k in range(0, 65535, 10):
#for k in range(128, 129):
#for k in range(63,64):
#for k in range(191, 192):
#for k in range(32767, 32768):
for k in range(16383, 16384):
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, k)
print 'test_seq_pwm_duty: sending %d packet with value %d' % \
(test_seq_pwm_count, k)
test_seq_pwm_count += 1
if (bt.buddy_send_pwm(handle,
packet,
streaming) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_pwm_duty: could not send PWM packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def test_seq_pwm_freq(handle, sample_rate, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
#general_settings.resolution = bt.RESOLUTION_CTRL_LOW
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
#general_settings.resolution = bt.RESOLUTION_CTRL_SUPER
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_FREQUENCY
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK_DIV_12
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_pwm_freq: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_pwm_count = 0
#for k in range(50000, (50000 + 1)):
#for k in range(6000, (6000 + 1)):
for k in range(10000, (60000 + 1)):
#for k in range(2, (500 + 1)):
#for k in range(100000, (100000 + 1)):
#for k in range(45000, (45000 +1)):
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, k)
print 'test_seq_pwm_freq: sending %d packet with value %d' % \
(test_seq_pwm_count, k)
test_seq_pwm_count += 1
if (bt.buddy_send_pwm(handle, packet, streaming) !=
bt.BUDDY_ERROR_CODE_OK):
print 'ERROR: test_seq_pwm_freq: could not send PWM packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def test_seq_adc(handle, sample_rate, streaming, log_file, poncho_mode):
mask = bt.BUDDY_CHAN_1_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_ADC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
#general_settings.resolution = bt.RESOLUTION_CTRL_LOW
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
timing_settings.averaging = 1
runtime_settings.adc_mode = bt.RUNTIME_ADC_MODE_SINGLE_ENDED
#runtime_settings.adc_mode = bt.RUNTIME_ADC_MODE_DIFFERENTIAL
runtime_settings.adc_ref = bt.RUNTIME_ADC_REF_VDD
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_IN
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
print 'timing_settings.period = %d (0x%x)' % (timing_settings.period,
timing_settings.period)
# write CSV header
if log_file:
header = []
header.append('time')
header.append('index')
if runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_SINGLE_ENDED:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
if (general_settings.channel_mask & (1 << j)):
header.append('sensor %d' % j)
elif runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_DIFFERENTIAL:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_3 + 1):
if (general_settings.channel_mask & (1 << j)):
header.append('sensor %d' % j)
try:
log_file.writerow(header)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
if (bt.buddy_configure(handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_adc: could not configure Buddy device'
return -1
time.sleep(0.1)
recv_packets = 0
first_packet = True
for i in range(0, 10000):
if ((recv_packets % 10) == 0):
print('got packet {}'.format(recv_packets))
err_code = bt.buddy_read_generic_noblock(handle, packet, streaming,
1000)
if err_code == bt.BUDDY_ERROR_CODE_OK:
if first_packet:
test_time_start = time.time()
first_packet = False
entry = []
entry.append('%.10f' % (time.time() - test_time_start))
entry.append('%d' % recv_packets)
if runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_SINGLE_ENDED:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
if (general_settings.channel_mask & (1 << j)):
value = bt.int32_t_ptr_getitem(packet.channels, j)
entry.append('%d' % value)
elif runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_DIFFERENTIAL:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_3 + 1):
if (general_settings.channel_mask & (1 << j)):
value = bt.int32_t_ptr_getitem(packet.channels, j)
entry.append('%d' % value)
recv_packets += 1
if log_file:
try:
log_file.writerow(entry)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
elif err_code == bt.BUDDY_ERROR_CODE_GENERAL:
print 'test_seq_adc: could not read ADC packet'
print 'err_code = %d' % err_code
return -1
else:
print 'unknown error code, err_code = %d' % err_code
return 0
def test_seq_pwm_duty(handle, sample_rate, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_2_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
#general_settings.resolution = bt.RESOLUTION_CTRL_LOW
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_DUTY_CYCLE
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_pwm_duty: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_pwm_count = 0
# in counts
#for k in range(0, 65535, 10):
#for k in range(128, 129):
#for k in range(63,64):
#for k in range(191, 192):
#for k in range(32767, 32768):
for k in range(16383, 16384):
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, k)
print 'test_seq_pwm_duty: sending %d packet with value %d' % \
(test_seq_pwm_count, k)
test_seq_pwm_count += 1
if (bt.buddy_send_pwm(handle, packet, streaming) !=
bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_pwm_duty: could not send PWM packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def test_waveform_dac(handle, fw_info, sample_rate, wave_type, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK | bt.BUDDY_CHAN_1_MASK | bt.BUDDY_CHAN_2_MASK | bt.BUDDY_CHAN_3_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
#general_settings.channel_mask = bt.BUDDY_CHAN_ALL_MASK
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if poncho_mode:
print('Poncho mode activated')
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_waveform_dac: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_dac_count = 0
#y_mag = 255
#y_mag = 2700
y_mag = 4000
t = np.linspace(0, WAVEFORM_TIME, sample_rate * WAVEFORM_TIME, endpoint=False)
if wave_type == 'square':
y = ((scisig.square(np.pi * 2.0 * WAVEFORM_FREQUENCY * t) + 1) / 2) * y_mag
elif wave_type == 'sine':
y = ((np.sin(np.pi * (1 / 2.0) * WAVEFORM_FREQUENCY * t) + 1) / 2) * y_mag
elif wave_type == 'sawtooth':
y = ((scisig.sawtooth(np.pi * (1 / 2.0) * WAVEFORM_FREQUENCY * t) + 1) / 2) * y_mag
else:
return -1
for k in y:
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, int(k))
print 'test_waveform_dac: sending %d packet with value %d' % (test_seq_dac_count, k)
test_seq_dac_count += 1
if (bt.buddy_send_dac(handle,
packet,
streaming) != bt.BUDDY_ERROR_CODE_OK):
print 'test_waveform_dac: could not send DAC packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def test_waveform_dac(handle, fw_info, sample_rate, wave_type, streaming,
poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK | bt.BUDDY_CHAN_1_MASK | bt.BUDDY_CHAN_2_MASK | bt.BUDDY_CHAN_3_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_DAC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
#general_settings.channel_mask = bt.BUDDY_CHAN_ALL_MASK
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.dac_power = bt.RUNTIME_DAC_POWER_ON
runtime_settings.dac_ref = bt.RUNTIME_DAC_REF_EXT
if poncho_mode:
print('Poncho mode activated')
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_waveform_dac: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_dac_count = 0
#y_mag = 255
#y_mag = 2700
y_mag = 4000
t = np.linspace(0,
WAVEFORM_TIME,
sample_rate * WAVEFORM_TIME,
endpoint=False)
if wave_type == 'square':
y = ((scisig.square(np.pi * 2.0 * WAVEFORM_FREQUENCY * t) + 1) /
2) * y_mag
elif wave_type == 'sine':
y = ((np.sin(np.pi *
(1 / 2.0) * WAVEFORM_FREQUENCY * t) + 1) / 2) * y_mag
elif wave_type == 'sawtooth':
y = ((scisig.sawtooth(np.pi *
(1 / 2.0) * WAVEFORM_FREQUENCY * t) + 1) /
2) * y_mag
else:
return -1
for k in y:
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, int(k))
print 'test_waveform_dac: sending %d packet with value %d' % (
test_seq_dac_count, k)
test_seq_dac_count += 1
if (bt.buddy_send_dac(handle, packet, streaming) !=
bt.BUDDY_ERROR_CODE_OK):
print 'test_waveform_dac: could not send DAC packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0
def test_seq_counter(handle, sample_rate, streaming, log_file, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_COUNTER_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_SUPER
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.counter_control = bt.RUNTIME_COUNTER_CONTROL_ACTIVE_LOW
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_IN
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
# write CSV header
if log_file:
header = []
header.append('time')
header.append('index')
# counter operation can only occur on channel0 and channel1
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_1 + 1):
if (general_settings.channel_mask & (1 << j)):
header.append('sensor %d' % j)
try:
log_file.writerow(header)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
if (bt.buddy_configure(handle, general_settings, runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_counter: could not configure Buddy device'
return -1
time.sleep(0.1)
recv_packets = 0
first_packet = True
for i in range(0, 1000):
err_code = bt.buddy_read_counter(handle, packet, streaming)
if err_code == bt.BUDDY_ERROR_CODE_OK:
if first_packet:
test_time_start = time.time()
first_packet = False
entry = []
entry.append('%.10f' % (time.time() - test_time_start))
entry.append('%d' % recv_packets)
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_1 + 1):
if (general_settings.channel_mask & (1 << j)):
value = bt.int32_t_ptr_getitem(packet.channels, j)
entry.append('%d' % value)
recv_packets += 1
if log_file:
try:
log_file.writerow(entry)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
print 'entry = {}'.format(entry)
elif err_code == bt.BUDDY_ERROR_CODE_GENERAL:
print 'test_seq_counter: could not read counter packet'
print 'err_code = %d' % err_code
return -1
else:
print 'unknown error code, err_code = %d' % err_code
return 0
def test_seq_adc(handle, sample_rate, streaming, log_file, poncho_mode):
mask = bt.BUDDY_CHAN_1_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_ADC_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
#general_settings.resolution = bt.RESOLUTION_CTRL_LOW
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
timing_settings.averaging = 1
runtime_settings.adc_mode = bt.RUNTIME_ADC_MODE_SINGLE_ENDED
#runtime_settings.adc_mode = bt.RUNTIME_ADC_MODE_DIFFERENTIAL
runtime_settings.adc_ref = bt.RUNTIME_ADC_REF_VDD
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_IN
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
print 'timing_settings.period = %d (0x%x)' % (timing_settings.period, timing_settings.period)
# write CSV header
if log_file:
header = []
header.append('time')
header.append('index')
if runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_SINGLE_ENDED:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
if (general_settings.channel_mask & (1 << j)):
header.append('sensor %d' % j)
elif runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_DIFFERENTIAL:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_3 + 1):
if (general_settings.channel_mask & (1 << j)):
header.append('sensor %d' % j)
try:
log_file.writerow(header)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
if (bt.buddy_configure(handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_adc: could not configure Buddy device'
return -1
time.sleep(0.1)
recv_packets = 0
first_packet = True
for i in range(0, 10000):
if ((recv_packets % 10) == 0):
print('got packet {}'.format(recv_packets))
err_code = bt.buddy_read_generic_noblock(handle, packet, streaming, 1000)
if err_code == bt.BUDDY_ERROR_CODE_OK:
if first_packet:
test_time_start = time.time()
first_packet = False
entry = []
entry.append('%.10f' % (time.time() - test_time_start))
entry.append('%d' % recv_packets)
if runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_SINGLE_ENDED:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
if (general_settings.channel_mask & (1 << j)):
value = bt.int32_t_ptr_getitem(packet.channels, j)
entry.append('%d' % value)
elif runtime_settings.adc_mode == bt.RUNTIME_ADC_MODE_DIFFERENTIAL:
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_3 + 1):
if (general_settings.channel_mask & (1 << j)):
value = bt.int32_t_ptr_getitem(packet.channels, j)
entry.append('%d' % value)
recv_packets += 1
if log_file:
try:
log_file.writerow(entry)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
elif err_code == bt.BUDDY_ERROR_CODE_GENERAL:
print 'test_seq_adc: could not read ADC packet'
print 'err_code = %d' % err_code
return -1
else:
print 'unknown error code, err_code = %d' % err_code
return 0
def test_seq_counter(handle, sample_rate, streaming, log_file, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
packet = bt.general_packet_t()
general_settings.function = bt.GENERAL_CTRL_COUNTER_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
general_settings.resolution = bt.RESOLUTION_CTRL_SUPER
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.counter_control = bt.RUNTIME_COUNTER_CONTROL_ACTIVE_LOW
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_IN
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
# write CSV header
if log_file:
header = []
header.append('time')
header.append('index')
# counter operation can only occur on channel0 and channel1
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_1 + 1):
if (general_settings.channel_mask & (1 << j)):
header.append('sensor %d' % j)
try:
log_file.writerow(header)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
if (bt.buddy_configure(handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_counter: could not configure Buddy device'
return -1
time.sleep(0.1)
recv_packets = 0
first_packet = True
for i in range(0, 1000):
err_code = bt.buddy_read_counter(handle, packet, streaming)
if err_code == bt.BUDDY_ERROR_CODE_OK:
if first_packet:
test_time_start = time.time()
first_packet = False
entry = []
entry.append('%.10f' % (time.time() - test_time_start))
entry.append('%d' % recv_packets)
for j in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_1 + 1):
if (general_settings.channel_mask & (1 << j)):
value = bt.int32_t_ptr_getitem(packet.channels, j)
entry.append('%d' % value)
recv_packets += 1
if log_file:
try:
log_file.writerow(entry)
except csv.Error as e:
raise NameError('Could not write into CSV writer object')
return False
print 'entry = {}'.format(entry)
elif err_code == bt.BUDDY_ERROR_CODE_GENERAL:
print 'test_seq_counter: could not read counter packet'
print 'err_code = %d' % err_code
return -1
else:
print 'unknown error code, err_code = %d' % err_code
return 0
def test_seq_pwm_freq(handle, sample_rate, streaming, poncho_mode):
mask = bt.BUDDY_CHAN_0_MASK
general_settings = bt.ctrl_general_t()
timing_settings = bt.ctrl_timing_t()
runtime_settings = bt.ctrl_runtime_t()
general_settings.function = bt.GENERAL_CTRL_PWM_ENABLE
general_settings.mode = \
bt.MODE_CTRL_STREAM if streaming else bt.MODE_CTRL_IMMEDIATE
general_settings.channel_mask = mask
#general_settings.resolution = bt.RESOLUTION_CTRL_LOW
general_settings.resolution = bt.RESOLUTION_CTRL_HIGH
#general_settings.resolution = bt.RESOLUTION_CTRL_SUPER
timing_settings.period = bt.FREQUENCY_TO_NSEC(sample_rate)
runtime_settings.pwm_mode = bt.RUNTIME_PWM_MODE_FREQUENCY
runtime_settings.pwm_timebase = bt.RUNTIME_PWM_TIMEBASE_SYSCLK_DIV_12
if poncho_mode:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_PONCHO
general_settings.expander_mode = bt.BUDDY_EXPANDER_PONCHO_MODE_OUT
general_settings.expander_pin_state = mask
else:
general_settings.expander_type = bt.BUDDY_EXPANDER_TYPE_BASE
if (bt.buddy_configure(handle,
general_settings,
runtime_settings,
timing_settings) != bt.BUDDY_ERROR_CODE_OK):
print 'test_seq_pwm_freq: could not configure Buddy device'
return -1
time.sleep(0.1)
packet = bt.general_packet_t()
test_seq_pwm_count = 0
#for k in range(50000, (50000 + 1)):
#for k in range(6000, (6000 + 1)):
for k in range(10000, (60000 + 1)):
#for k in range(2, (500 + 1)):
#for k in range(100000, (100000 + 1)):
#for k in range(45000, (45000 +1)):
for i in range(bt.BUDDY_CHAN_0, bt.BUDDY_CHAN_7 + 1):
bt.int32_t_ptr_setitem(packet.channels, i, k)
print 'test_seq_pwm_freq: sending %d packet with value %d' % \
(test_seq_pwm_count, k)
test_seq_pwm_count += 1
if (bt.buddy_send_pwm(handle,
packet,
streaming) != bt.BUDDY_ERROR_CODE_OK):
print 'ERROR: test_seq_pwm_freq: could not send PWM packet'
return -1
if not streaming:
time.sleep(1.0 / sample_rate)
bt.buddy_flush(handle)
time.sleep(0.1)
return 0