def readheading(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.pin, 0)
ser = wiringpi.serialOpen('/dev/serial0', 115200)
data = []
while True:
data.append(wiringpi.serialGetchar(ser))
print(wiringpi.serialGetchar(ser))
sleep(0.03)
return data
def lumiere(self, r, v, b):
msg = [0x80]
for c in [r, v, b]:
if c < 0 or c > 255:
return False
else:
msg.append(int(c / 2))
ser = wiringpi2.serialOpen(self.config.get("pin_led"), 115200)
for j in msg:
wiringpi2.serialPuts(ser, struct.pack("I", j))
wiringpi2.serialClose(ser)
def getrmc():
serial = wp.serialOpen("/dev/ttyAMA0", 57600) # open serial port
wp.serialFlush(serial)
print(serial)
while True: # repeat until we get a RMC NMEA string
gpsstring = ""
while True: # repeat until we have a complete string
if (wp.serialDataAvail(serial) > 0):
letter = wp.serialGetchar(serial)
if letter == 10:
break
else:
gpsstring += str(chr(letter))
if (gpsstring[3:6] == "RMC"):
break
wp.serialClose(serial)
return (gpsstring)
def getrmc():
serial = wp.serialOpen("/dev/ttyAMA0",57600) # open serial port
wp.serialFlush(serial)
print(serial)
while True: # repeat until we get a RMC NMEA string
gpsstring = ""
while True: # repeat until we have a complete string
if (wp.serialDataAvail(serial) > 0):
letter = wp.serialGetchar(serial)
if letter == 10:
break
else:
gpsstring += str(chr(letter))
if (gpsstring[3:6]=="RMC"):
break
wp.serialClose(serial)
return(gpsstring)
def arduinoListen():
global wiringpi2
global arduinoIn
global arduino
wiringpi2.wiringPiSetup()
arduino = wiringpi2.serialOpen("/dev/ttyACM0", 9600)
wiringpi2.delay(250)
wiringpi2.pinMode(0,1)
wiringpi2.digitalWrite(0, 1)
arduinoInReady.acquire()
arduinoListenerReady.set()
while(True):
while(True):
if(wiringpi2.serialDataAvail(arduino) > 0):
arduinoIn = chr(wiringpi2.serialGetchar(arduino))
arduinoInReady.release()
time.sleep(0.5)
break
else:
time.sleep(0.5)
arduinoInReady.acquire()
def open_serial_port():
global rpi
rpi = wp.serialOpen("/dev/ttyAMA0",38400)
wp.serialPutchar(rpi,170)
import wiringpi2
#wiringpi2.wiringPiSetupGpio()
serial = wiringpi2.serialOpen('/dev/ttyAMA0',38400) # Requires device/baud and returns an ID
if serial == -1:
print('error')
wiringpi2.delay(1000)
while 1:
#while wiringpi2.serialDataAvail(): # this while condition might work better
#wiringpi2.serialPuts(serial,"hello")
print(wiringpi2.serialGetchar(serial))
wiringpi2.serialClose(serial)
def serial_read():
wiringpi.wiringPiSetup()
serial = wiringpi.serialOpen('/dev/ttyAMA0', 9600)
# wiringpi.serialPuts(serial,'hello world!')
while (1):
print(hex(wiringpi.serialGetchar(serial)))
import wiringpi2 as wiringpi
import time
wiringpi.wiringPiSetup()
serial = wiringpi.serialOpen('/dev/ttyS0', 9600)
if serial == -1:
print 'error opening serial at /dev/ttyS0'
sys.exit(0)
print 'serial opened'
i = 0
while True:
if (wiringpi.serialDataAvail(serial) > 0):
line = wiringpi.serialGetchar(serial)
print line
def dataListen():
global wiringpi2
global dataIn
global middleLayer
global data
wiringpi2.wiringPiSetup()
middleLayer = wiringpi2.serialOpen("/dev/ttyACM0", 9600) #Open serial port for middle layer communication
wiringpi2.delay(250)
start = time.time()
while(True):
if(wiringpi2.serialDataAvail(middleLayer) > 0):
time.sleep(0.02)
newInput = []
info = wiringpi2.serialGetchar(middleLayer)
#The first byte is read as a number between 000-255 that gives info about this data packet
#The hundreds place digit represents if this input contains left (0), back (1), or right (2) range data
#The remainder of the number divided by 100 represents how many bytes total are in this data packet
key = info / 100 # 0: left range data, 1: back range data, 2: right range data
length = info % 100 # number of bytes in this data packet
newInput.append(round(time.time() - start, 2)) #Store timestamp
newInput.append(key) #Store key for left/back/right range data choice
newInput.append(wiringpi2.serialGetchar(middleLayer)) #Store height value
front = 0
sizeOfFront = wiringpi2.serialGetchar(middleLayer) #Check how many bytes are needed for front range value
for i in range(0, sizeOfFront):
front += wiringpi2.serialGetchar(middleLayer) #Sum up front range value bytes
newInput.append(front) #Store front range value
#Store left/right/back range value, thrust value, yaw value, aileron value, and elevator value
for i in range(0, 5):
newInput.append(wiringpi2.serialGetchar(middleLayer))
#IMU readings
num = wiringpi2.serialGetchar(middleLayer) #First byte is one's place value
dec = wiringpi2.serialGetchar(middleLayer) / 100.00 #Second byte is decimal value stored as an integer
heading = num + dec #Combine bytes to get heading value
newInput.append(heading) #Store heading value
numSign = wiringpi2.serialGetchar(middleLayer) #First byte is sign of roll value
if(numSign == 0):
numSign = -1
num = wiringpi2.serialGetchar(middleLayer) #Second byte is one's place value
dec = wiringpi2.serialGetchar(middleLayer) / 100.00 #Third byte is decimal value stored as an integer
pitch = (numSign)*(num + dec) #Combine bytes to get pitch value
newInput.append(pitch) #Store pitch value
numSign = wiringpi2.serialGetchar(middleLayer) #First byte is sign of roll value
if(numSign == 0):
numSign = -1
num = wiringpi2.serialGetchar(middleLayer) #Second byte is one's place value
dec = wiringpi2.serialGetchar(middleLayer) / 100.00 #Third byte is decimal value stored as an integer
roll = (numSign)*(num + dec) #Combine bytes to get roll value
newInput.append(roll) #Store roll value
#Create DataStream object from input data and add to dataIn to be used by control algorithms
dataIn.append(DataStream(newInput))
#Add new DataStream object to DataLog
data.add(dataIn[-1])
time.sleep(0.03)
else:
time.sleep(0.05)
#!/user/bin/python
import OSC
import wiringpi2
import sys
#serial
serial = wiringpi2.serialOpen('/dev/ttyAMA0', 57600)
if serial < 0:
print("Unable to open serial device: \n")
sys.exit()
if wiringpi2.wiringPiSetup() == -1:
print("Unable to start wiringPi: \n")
sys.exit()
i = 0
length = 0
rssi = 0
while True:
# print(wiringpi2.serialDataAvail(serial))
while wiringpi2.serialDataAvail(serial):
get = wiringpi2.serialGetchar(serial)
if get == 0x7e:
i = 0
print("\nBtye started")
if i == 2:
import wiringpi2 as wiringpi
wiringpi.wiringPiSetup()
serial = wiringpi.serialOpen('/dev/ttyAMA0',115200)
wiringpi.serialPuts(serial,'hello world!')
def open_serial_port():
global rpi
rpi = wp.serialOpen("/dev/ttyAMA0", 38400)
wp.serialPutchar(rpi, 170)
import wiringpi2
import sys
#this example need change script.bin
#[uart_para6]
#uart_used = 1
#uart_port = 6
#uart_type = 2
#uart_tx = port:PI12<3><1><default><default>
#uart_rx = port:PI13<3><1><default><default>
#PI12: pin46[U14 Next to sata]
#PI13: pin48[U14 Next to sata]
serial = wiringpi2.serialOpen('/dev/ttyS6', 115200)
wiringpi2.serialPuts(serial, "\n")
print serial
wiringpi2.serialPuts(serial, "Putchar:")
wiringpi2.serialPutchar(serial, 0x38) #sent ascii 0x38: 8
#wiringpi2.serialPutchar(serial,0x65)#sent ascii 0x68: A
wiringpi2.serialPuts(serial, "\n")
wiringpi2.serialPuts(serial, "Puts:")
wiringpi2.serialPuts(serial, "hello\n")
wiringpi2.serialPuts(serial, "Printf:")
wiringpi2.serialPrintf(serial, "hello\n")
#####get data from serial
while 1:
if wiringpi2.serialDataAvail(serial):
val = wiringpi2.serialGetchar(serial)
import wiringpi2 as wpi
import time
face = cv2.CascadeClassifier('/home/odroid/Desktop/bullseye_Stage0-15.xml')
cap = cv2.VideoCapture(0)
cx = 0
wpi.wiringPiSetup() #set up
wpi.pinMode(0,1)
wpi.digitalWrite(0,0)
##cap.set(cv2.CAP_PROP_FRAME_WIDTH, 325) #resolution changes
##cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 325)
serial = wpi.serialOpen('/dev/ttySAC0', 9600) #open serial port for UART
def moveCenter(x):
if x<250:
print("Left")
wpi.serialPuts(serial, "2") #Sends TX commands
time.sleep(0.1)
return 0
elif x>375:
print("Right")
wpi.serialPuts(serial, "1")
time.sleep(0.1)
return 0
else:
print("MID")
import wiringpi2
import sys
#this example need change script.bin
#[uart_para6]
#uart_used = 1
#uart_port = 6
#uart_type = 2
#uart_tx = port:PI12<3><1><default><default>
#uart_rx = port:PI13<3><1><default><default>
#PI12: pin46[U14 Next to sata]
#PI13: pin48[U14 Next to sata]
serial = wiringpi2.serialOpen('/dev/ttyS6',115200)
wiringpi2.serialPuts(serial,"\n")
print serial
wiringpi2.serialPuts(serial,"Putchar:")
wiringpi2.serialPutchar(serial,0x38)#sent ascii 0x38: 8
#wiringpi2.serialPutchar(serial,0x65)#sent ascii 0x68: A
wiringpi2.serialPuts(serial,"\n")
wiringpi2.serialPuts(serial,"Puts:")
wiringpi2.serialPuts(serial,"hello\n")
wiringpi2.serialPuts(serial,"Printf:")
wiringpi2.serialPrintf(serial,"hello\n")
#####get data from serial
while 1:
if wiringpi2.serialDataAvail(serial):
