def __init__(self, port=None, board=None, debug=False):
self.board = board
self.board_config = None
self.port = port
self.board_type = None
if self.port is None:
if board:
self.board_config = ConfigParser.ConfigParser()
self.board_config.read("board.cfg")
port_spec = self.board_config.get(board, "connection")
elif "BUSNINJA_PORT" in os.environ:
port_spec = os.environ["BUSNINJA_PORT"]
elif os.path.exists("board.cfg"):
self.board_config = ConfigParser.ConfigParser()
self.board_config.read("board.cfg")
self.board = self.board_config.sections()[0]
port_spec = self.board_config.get(self.board, "connection")
print "Warning: using first board defined in board.cfg"
else:
port_spec = self.detect_board()
self.board_type, serial_dev, baud = self.parse_port_spec(port_spec)
self.port = serial.Serial(serial_dev, baud, timeout=0.3)
if self.board_type is None:
self.board_type = "arduino"
soft_uart = False
if self.board_type == "arduino":
self.LED = 13
else:
soft_uart = True
self.LED = 0
self.bus = BusPirate(self.port, soft_uart=soft_uart, debug=debug)
self.bus.connect()
self.SPI = SPIClass(self.bus)
self.Serial = SerialMockClass()
class Arduino:
def __init__(self, port=None, board=None, debug=False):
self.board = board
self.board_config = None
self.port = port
self.board_type = None
if self.port is None:
if board:
self.board_config = ConfigParser.ConfigParser()
self.board_config.read("board.cfg")
port_spec = self.board_config.get(board, "connection")
elif "BUSNINJA_PORT" in os.environ:
port_spec = os.environ["BUSNINJA_PORT"]
elif os.path.exists("board.cfg"):
self.board_config = ConfigParser.ConfigParser()
self.board_config.read("board.cfg")
self.board = self.board_config.sections()[0]
port_spec = self.board_config.get(self.board, "connection")
print "Warning: using first board defined in board.cfg"
else:
port_spec = self.detect_board()
self.board_type, serial_dev, baud = self.parse_port_spec(port_spec)
self.port = serial.Serial(serial_dev, baud, timeout=0.3)
if self.board_type is None:
self.board_type = "arduino"
soft_uart = False
if self.board_type == "arduino":
self.LED = 13
else:
soft_uart = True
self.LED = 0
self.bus = BusPirate(self.port, soft_uart=soft_uart, debug=debug)
self.bus.connect()
self.SPI = SPIClass(self.bus)
self.Serial = SerialMockClass()
def detect_board(self):
return "arduino:/dev/ttyUSB0:115200"
def parse_port_spec(self, port_spec):
arr = port_spec.split(":")
dev_type = None
baud = 9600
if len(arr) == 1:
port_str = arr[0]
elif len(arr) == 2:
try:
baud = int(arr[1])
port_str = arr[0]
except ValueError:
board_type = arr[0]
port_str = arr[1]
elif len(arr) == 3:
board_type = arr[0]
port_str = arr[1]
baud = int(arr[2])
else:
raise ValueError("Invalid syntax for BUSNINJA_PORT: expected [<device_type>:]/dev/<serial>[:<baud>]")
return board_type, port_str, baud
def get_board_type(self):
return self.board_type
def get_board_setting(self, option):
return self.board_config.get(self.board, option)
def get_board_int(self, option):
return self.board_config.getint(self.board, option)
def run(self, obj):
if type(obj) == type(lambda: None):
setup = obj
loop = None
elif type(obj) == type({}):
# globals dict
setup = obj["setup"]
loop = obj["loop"]
else:
# app object
setup = obj.setup
loop = obj.loop
try:
setup()
if loop:
while True:
loop()
except:
self.drain()
raise
def run_func(self, func):
try:
func()
except:
self.port.read(100)
raise
def drain(self):
"""Some boards have bugs which may cause them misbehave if some
'cleanup' is not performed after usage, e.g. TI Launchpad's USB
connection may hang due to output buffer overflow if it's not
drained"""
self.port.read(100)
def millis(self):
return int(time.time() * 1000) & 0xffffffff
def delay(self, miliseconds):
time.sleep(float(miliseconds) / 1000)
def pinMode(self, pin, mode):
cmd = "pinmode p%d %s" % (pin, ["in", "out"][mode])
self.bus.command(cmd)
def digitalWrite(self, pin, val):
# cmd = "p%s.%s=%s" % (pin / 8 + 1, pin % 8, val)
cmd = "p%d=%d" % (pin, val)
self.bus.command(cmd)
def digitalRead(self, pin):
cmd = "p%s.%s?" % (pin / 8 + 1, pin % 8)
self.bus.command(cmd)
resp = self.bus.get_response()
assert resp.startswith("READ: "), resp
return int(resp[-1])
def digitalPulse_us(self, pin, val, delay_us):
"""Make pulse of not less than specified microsecond duration on a pin
(exact duration may be longer per limitations of a specific board).
"""
cmd = "p%d=%d &:%d p%d=%d" % (pin, val, delay_us, pin, not val)
self.bus.command(cmd)