-
Notifications
You must be signed in to change notification settings - Fork 13
/
mrbbio.py
266 lines (253 loc) · 7.48 KB
/
mrbbio.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
"""Arduino-like library for Python on BeagleBone"""
import time
HIGH = "HIGH"
LOW = "LOW"
OUTPUT = "OUTPUT"
INPUT = "INPUT"
pinList = [] # needed for unexport()
startTime = time.time() # needed for millis()
digitalPinDef = {
"P8.3": 38,
"P8.4": 39,
"P8.5": 34,
"P8.6": 35,
"P8.7": 66,
"P8.8": 67,
"P8.9": 69,
"P8.10": 68,
"P8.11": 45,
"P8.12": 44,
"P8.13": 23,
"P8.14": 26,
"P8.15": 47,
"P8.16": 46,
"P8.17": 27,
"P8.18": 65,
"P8.19": 22,
"P8.20": 63,
"P8.21": 62,
"P8.22": 37,
"P8.23": 36,
"P8.24": 33,
"P8.25": 32,
"P8.26": 61,
"P8.27": 86,
"P8.28": 88,
"P8.29": 87,
"P8.30": 89,
"P8.31": 10,
"P8.32": 11,
"P8.33": 9,
"P8.34": 81,
"P8.35": 8,
"P8.36": 80,
"P8.37": 78,
"P8.38": 79,
"P8.39": 76,
"P8.40": 77,
"P8.41": 74,
"P8.42": 75,
"P8.43": 72,
"P8.44": 73,
"P8.45": 70,
"P8.46": 71,
"P9.11": 30,
"P9.12": 60,
"P9.13": 31,
"P9.14": 50,
"P9.15": 48,
"P9.16": 51,
"P9.17": 5,
"P9.18": 4,
"P9.19": 13,
"P9.20": 12,
"P9.21": 3,
"P9.22": 2,
"P9.23": 49,
"P9.24": 15,
"P9.25": 117,
"P9.26": 14,
"P9.27": 115,
"P9.28": 113,
"P9.29": 111,
"P9.30": 112,
"P9.31": 110,
"P9.41": 20,
"P9.42": 7}
pinMuxDef = {
"P8.3": "gpmc_ad6",
"P8.4": "gpmc_ad7",
"P8.5": "gpmc_ad2",
"P8.6": "gpmc_ad3",
"P8.7": "gpmc_advn_ale",
"P8.8": "gpmc_oen_ren",
"P8.9": "gpmc_ben0_cle",
"P8.10": "gpmc_wen",
"P8.11": "gpmc_ad13",
"P8.12": "gpmc_ad12",
"P8.13": "gpmc_ad9",
"P8.14": "gpmc_ad10",
"P8.15": "gpmc_ad15",
"P8.16": "gpmc_ad14",
"P8.17": "gpmc_ad11",
"P8.18": "gpmc_clk",
"P8.19": "gpmc_ad8",
"P8.20": "gpmc_csn2",
"P8.21": "gpmc_csn1",
"P8.22": "gpmc_ad5",
"P8.23": "gpmc_ad4",
"P8.24": "gpmc_ad1",
"P8.25": "gpmc_ad0",
"P8.26": "gpmc_csn0",
"P8.27": "lcd_vsync",
"P8.28": "lcd_pclk",
"P8.29": "lcd_hsync",
"P8.30": "lcd_ac_bias_en",
"P8.31": "lcd_data14",
"P8.32": "lcd_data15",
"P8.33": "lcd_data13",
"P8.34": "lcd_data11",
"P8.35": "lcd_data12",
"P8.36": "lcd_data10",
"P8.37": "lcd_data8",
"P8.38": "lcd_data9",
"P8.39": "lcd_data6",
"P8.40": "lcd_data7",
"P8.41": "lcd_data4",
"P8.42": "lcd_data5",
"P8.43": "lcd_data2",
"P8.44": "lcd_data3",
"P8.45": "lcd_data0",
"P8.46": "lcd_data1",
"P9.11": "gpmc_wait0",
"P9.12": "gpmc_ben1",
"P9.13": "gpmc_wpn",
"P9.14": "gpmc_a2",
"P9.15": "gpmc_a0",
"P9.16": "gpmc_a3",
"P9.17": "spi0_cs0",
"P9.18": "spi0_d1",
"P9.19": "uart1_rtsn",
"P9.20": "uart1_ctsn",
"P9.21": "spi0_d0",
"P9.22": "spi0_sclk",
"P9.23": "gpmc_a1",
"P9.24": "uart1_txd",
"P9.25": "mcasp0_ahclkx",
"P9.26": "uart1_rxd",
"P9.27": "mcasp0_fsr",
"P9.28": "mcasp0_ahclkr",
"P9.29": "mcasp0_fsx",
"P9.30": "mcasp0_axr0",
"P9.31": "mcasp0_ahclkx",
"P9.41": "xdma_event_intr0",
"P9.42": "ecap0_in_pwm0_out"}
analogPinDef = {
"P9.33": "ain4",
"P9.35": "ain6",
"P9.36": "ain5",
"P9.37": "ain2",
"P9.38": "ain3",
"P9.39": "ain0",
"P9.40": "ain1"}
def pinMode(pin, direction):
"""pinMode(pin, direction) opens (exports) a pin for use, sets the pinmux, and
sets the direction"""
if pin in digitalPinDef: # if we know how to refer to the pin:
fw = file("/sys/class/gpio/export", "w")
fw.write("%d" % (digitalPinDef[pin])) # write the pin to export to userspace
fw.close()
fileName = "/sys/class/gpio/gpio%d/direction" % (digitalPinDef[pin])
fw = file(fileName, "w")
if direction == INPUT:
fw.write("in") # write the diretion
muxfile = file("/sys/kernel/debug/omap_mux/" + pinMuxDef[pin], "w") # open its mux file
muxfile.write("2F") # put it into mode 7 input, no pulldown
muxfile.close
else:
fw.write("out") # write the diretion
muxfile = file("/sys/kernel/debug/omap_mux/" + pinMuxDef[pin], "w") # open its mux file
muxfile.write("7") # put it into mode 7 output)
muxfile.close
fw.close()
pinList.append(digitalPinDef[pin]) # Keep a list of exported pins so that we can unexport them.
else: #if we don't know how to refer to a pin:
print "pinMode error: Pin " + pin + " is not defined as a digital I/O pin in the pin definition."
def digitalWrite(pin, status):
"""digitalWrite(pin, status) sets a pin HIGH or LOW"""
if digitalPinDef[pin] in pinList: # check if we exported the pin in pinMode
fileName = "/sys/class/gpio/gpio%d/value" % (digitalPinDef[pin])
fw = file(fileName, "w") # open the pin's value file for writing
if status == HIGH:
fw.write("1") # Set the pin HIGH by writing 1 to its value file
if status == LOW:
fw.write("0") # Set the pin LOW by writing 0 to its value file
fw.close()
else: # if we haven't exported the pin, print an error:
print "digitalWrite error: Pin mode for " + pin + " has not been set. Use pinMode(pin, INPUT) first."
def digitalRead(pin):
"""digitalRead(pin) returns HIGH or LOW for a given pin."""
if digitalPinDef[pin] in pinList: # check if we exported the pin in pinMode
fileName = "/sys/class/gpio/gpio%d/value" % (digitalPinDef[pin])
fw = file(fileName, "r") # open the pin's value file for reading
inData = fw.read()
fw.close()
if inData == "0\n": # a 0 means it's low
return LOW
if inData == "1\n": # a 1 means it's high
return HIGH
else: # if we haven't exported the pin, print an error (not working for some reason):
print "digitalRead error: Pin mode for " + pin + " has not been set. Use pinMode(pin, OUTPUT) first."
return -1;
def analogRead(pin): #under construction!
"""analogRead(pin) returns analog value for a given pin."""
if pin in analogPinDef:
fileName = "/sys/devices/platform/tsc/" + (analogPinDef[pin])
fw = file(fileName, "r")
data = fw.read()
fw.close()
return data
else:
print "analogRead error: Pin " + pin + " is not defined as an analog in pin in the pin definition."
return -1;
def pinUnexport(pin): # helper function for cleanup()
"""pinUnexport(pin) closes a pin in sysfs. This is susally
called by cleanup() when a script is exiting."""
fw = file("/sys/class/gpio/unexport", "w")
fw.write("%d" % (pin))
fw.close()
def cleanup():
""" takes care of stepping through pins that were set with
pinMode and unExports them. Prints result"""
def find_key(dic, val):
return [k for k, v in dic.iteritems() if v == val][0] # helper function for getting friendly name of pin
print ""
print "Cleaning up. Unexporting the following pins:",
for pin in pinList: # for each pin we exported...
pinUnexport(pin) # ...unexport it...
print find_key(digitalPinDef, pin), #...and print the friendly name of the pin
def delay(millis):
"""delay(millis) sleeps the script for a given number of
milliseconds"""
time.sleep(millis/1000.0)
def millis():
"""millis() returns an int for the number of milliseconds since
the script started."""
return int((time.time() - startTime) * 1000)
def run(setup, main): # from PyBBIO by Alexander Hiam - ahiam@marlboro.edu - www.alexanderhiam.com https://github.com/alexanderhiam/PyBBIO
""" The main loop; must be passed a setup and a main function.
First the setup function will be called once, then the main
function wil be continuously until a stop signal is raised,
e.g. CTRL-C or a call to the stop() function from within the
main function. """
try:
setup()
while (True):
main()
except KeyboardInterrupt:
# Manual exit signal, clean up and exit happy
cleanup()
except Exception, e:
# Something may have gone wrong, clean up and print exception
cleanup()
print e