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gertbot2.py
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#
# This code requires python2
# Todo : detect and bom-out if using python3
#
import termios, os, time, sys
PRE = 0xA0
POST = 0x50
CMD_OPMODE = 0x01 # <ID> <mode>
CMD_STOPSHORT = 0x02 # <ID> <stopmask>
CMD_BRD_STATUS = 0x03 # <ID>
CMD_LINFREQ = 0x04 # <ID> <MS><LS>
CMD_LINDC = 0x05 # <ID> <MS><LS>
CMD_LINON = 0x06 # <ID> <dir>
CMD_GET_ERROR = 0x07 # <ID>
CMD_STEP = 0x08 # <ID> <MS><MM><LS>
CMD_STEPFREQ = 0x09 # <ID> <MS><MM><LS>
CMD_STOPALL = 0x0A # 0x81
CMD_STOP2ND = 0x81 #
CMD_OD = 0x0B # <ID> <on/off>
CMD_DAC = 0x0C # <ID> <MS><LS>
CMD_GET_ADC = 0x0D # <ID> <MS><LS>
CMD_READIO = 0x0E # <ID> <MS><MM><LS>
CMD_WRITEIO = 0x0F # <ID> <MS><MM><LS>
CMD_SETIO = 0x10 # <ID> <MS><MM><LS>
CMD_SETADCDAC = 0x11 # <ID> <ADC><DAC>
CMD_CONFIGURE = 0x12 # <ID> <MS><LS>
CMD_VERSION = 0x13 # <ID>
CMD_MOT_STATUS = 0x14 # <ID>
CMD_SYNC = 0x15 # 0x18
CMD_POLL = 0x16 # <ID>
CMD_PWR_OFF = 0x17 # 0x81
CMD_IO_STATUS = 0x18 # <ID>
CMD_DCC_MESS = 0x19 # <ID> <format> <d0> <d1> <d2> <d3> <d4>
CMD_DCC_CONFIG = 0x1A # <ID> <repeat> <preamble> <dc_ms> <dc_ls>
CMD_MOT_CONFIG = 0x1B # <ID>
CMD_MOT_MISSED = 0x1C # <ID>
CMD_SET_RAMP = 0x1D # <ID> <up|down> <hlt>
CMD_ENDSTOP = 0x1F # <ID> <type> <timeA> <timeB>
CMD_SHORTHOT = 0x21 # <ID> <short>
CMD_SETBAUD = 0x22 # 18 81 <baud>
CMD_QUAD = 0x23 # Quadrature encoder on
CMD_QUAD_READ = 0x24 # Get value
CMD_QUAD_GOTO = 0x25 # Goto position
CMD_QUAD_LIMIT = 0x26 # Set limits
###################
MODE_OFF = 0x00
MODE_BRUSH = 0x01
MODE_DCC = 0x02
MODE_STEPG_OFF = 0x08
MODE_STEPP_OFF = 0x09
MODE_STEPG_PWR = 0x18
MODE_STEPP_PWR = 0x19
MODE_STEP_MASK = 0x0C
ENDSTOP_OFF = 0
ENDSTOP_LOW = 1
ENDSTOP_HIGH = 2
MOVE_STOP = 0
MOVE_A = 1
MOVE_B = 2
RAMP_OFF= 0 # -
RAMP_010= 1 # 0.10 sec.
RAMP_025= 2 # 0.25 sec.
RAMP_050= 3 # 0.50 sec.
RAMP_075= 4 # 0.75 sec.
RAMP_100= 5 # 1.00 sec.
RAMP_125= 6 # 1.25 sec.
RAMP_150= 7 # 1.50 sec.
RAMP_175= 8 # 1.75 sec.
RAMP_200= 9 # 2.00 sec.
RAMP_225= 10 # 2.25 sec.
RAMP_250= 11 # 2.50 sec.
RAMP_300= 12 # 3.00 sec.
RAMP_400= 13 # 4.00 sec.
RAMP_500= 14 # 5.00 sec.
RAMP_700= 15 # 7.00 sec.
SHORT_NONE = 0 # Stop nothing but reduce current
SHORT_CHAN = 1 # Stop channel
SHORT_DUAL = 2 # Stop channel pair
SHORT_BOARD = 3 # Stop board
SHORT_SYST = 4 # Stop system
QUAD_EMPTY = 0x00 # No flags
QUAD_REVERSE = 0x01 # Reverse counting
QUAD_GOSLOW = 0x02 # GOTO & limits have slow
QUAD_TOP = 0x04 # Have top limit
QUAD_BOT = 0x08 # Have bottom limit
QUAD_ON = 0x10 # ON/OFF only used in command
STOP_OFF = 0
STOP_ON = 1
PIN_SAME = 0
PIN_INPUT = 1
PIN_OUTPUT = 2
PIN_ENDSTOP = 3
PIN_ADC = 4
PIN_DAC = 5
PIN_I2C = 6
DAC_MIN = 0.7
DAC_MAX = 2.7
filehandle = -1
def open_uart(port):
global filehandle
filehandle=os.open("/dev/ttyAMA0",os.O_RDWR|os.O_NOCTTY|os.O_NDELAY|os.O_NONBLOCK)
port_attr = termios.tcgetattr(filehandle)
# [ iflag, oflag, cflag, lflag, ispeed, ospeed]
# [0] [1] [2] [3] [4] [5]
port_attr[0] = termios.IGNBRK
# port_attr.c_iflag &= ~(termios.IXON|termios.IXOFF|termios.IXANY)
port_attr[1] = 0
port_attr[2] = port_attr[2] | termios.CLOCAL | \
termios.CREAD # ignore mode status, enable rec.
port_attr[2] = port_attr[2] & ~(termios.PARENB | \
termios.PARODD | termios.CSTOPB) # No parity, 1 stop bit
port_attr[3] = 0
port_attr[4] = termios.B57600
port_attr[5] = termios.B57600
termios.tcsetattr(filehandle,termios.TCSANOW,port_attr)
def get_version(board) :
dest = (board<<2)
wrtbuf = [0xA0, CMD_VERSION, dest, POST, POST, POST, POST]
os.write(filehandle,bytearray(wrtbuf))
termios.tcdrain(filehandle)
ok , data = read_uart(4)
if (not ok) : # or wrtbuf[0]!=CMD_GET_ERROR or wrtbuf[1]!=dest) :
return 0
# convert xx.yy into xx*100+yy
# thus version 2.5 comes out as 205
val = data[2]*100 + data[3]
return val
def read_uart(num_bytes) :
if num_bytes>16 : raise
retry = 4
# buffer = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ]
while (retry) :
read_fail = 0
try:
datastring = os.read(filehandle, num_bytes)
# datastring += "\0"*(16 - len(datastring))
# convert to bytearray
buffer = bytearray()
buffer.extend(datastring)
except OSError as err:
if err.errno == os.errno.EAGAIN or err.errno == os.errno.EWOULDBLOCK:
read_fail = 1
pass
else:
raise # something else has happened -- better reraise
if read_fail==1:
# try again
retry = retry - 1
else:
# buffer contains some received data
if len(buffer)==num_bytes :
return True, buffer
return False, buffer
def activate_opendrain(board,drain0,drain1) :
# GB_CHECK(board>=0 && board<=3, "activate_opendrain illegal board\n")
mask = 0
if drain0!=0 :
mask = mask | 0x01
if drain1!=0 :
mask = mask | 0x02
wrtbuf = [PRE, CMD_OD, board<<2, mask ,POST]
os.write(filehandle,bytearray(wrtbuf))