pslab-python/pslab/peripherals.py at development · code3002/pslab-python

657 lines (569 loc) · 21.2 KB
import logging
import time
import pslab.protocol as CP
logger = logging.getLogger(__name__)
class NRF24L01():
    # Commands
    R_REG = 0x00
    W_REG = 0x20
    RX_PAYLOAD = 0x61
    TX_PAYLOAD = 0xA0
    ACK_PAYLOAD = 0xA8
    FLUSH_TX = 0xE1
    FLUSH_RX = 0xE2
    ACTIVATE = 0x50
    R_STATUS = 0xFF
    # Registers
    NRF_CONFIG = 0x00
    EN_AA = 0x01
    EN_RXADDR = 0x02
    SETUP_AW = 0x03
    SETUP_RETR = 0x04
    RF_CH = 0x05
    RF_SETUP = 0x06
    NRF_STATUS = 0x07
    OBSERVE_TX = 0x08
    CD = 0x09
    RX_ADDR_P0 = 0x0A
    RX_ADDR_P1 = 0x0B
    RX_ADDR_P2 = 0x0C
    RX_ADDR_P3 = 0x0D
    RX_ADDR_P4 = 0x0E
    RX_ADDR_P5 = 0x0F
    TX_ADDR = 0x10
    RX_PW_P0 = 0x11
    RX_PW_P1 = 0x12
    RX_PW_P2 = 0x13
    RX_PW_P3 = 0x14
    RX_PW_P4 = 0x15
    RX_PW_P5 = 0x16
    R_RX_PL_WID = 0x60
    FIFO_STATUS = 0x17
    DYNPD = 0x1C
    FEATURE = 0x1D
    PAYLOAD_SIZE = 0
    ACK_PAYLOAD_SIZE = 0
    READ_PAYLOAD_SIZE = 0
    ADC_COMMANDS = 1
    READ_ADC = 0 << 4
    I2C_COMMANDS = 2
    I2C_TRANSACTION = 0 << 4
    I2C_WRITE = 1 << 4
    I2C_SCAN = 2 << 4
    PULL_SCL_LOW = 3 << 4
    I2C_CONFIG = 4 << 4
    I2C_READ = 5 << 4
    NRF_COMMANDS = 3
    NRF_READ_REGISTER = 0
    NRF_WRITE_REGISTER = 1 << 4
    CURRENT_ADDRESS = 0xAAAA01
    nodelist = {}
    nodepos = 0
    NODELIST_MAXLENGTH = 15
    connected = False
    def __init__(self, device):
        self.H = device
        self.ready = False
        self.sigs = {self.CURRENT_ADDRESS: 1}
        if self.H.connected:
            self.connected = self.init()
    def init(self):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_SETUP)
        self.H.get_ack()
        time.sleep(0.015)  # 15 mS settling time
        stat = self.get_status()
        if stat & 0x80:
            logger.info("Radio transceiver not installed/not found")
            return False
        else:
            self.ready = True
        self.selectAddress(self.CURRENT_ADDRESS)
        # self.write_register(self.RF_SETUP,0x06)
        self.rxmode()
        time.sleep(0.1)
        self.flush()
        return True
    def rxmode(self):
        '''
        Puts the radio into listening mode.
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_RXMODE)
        self.H.get_ack()
    def txmode(self):
        '''
        Puts the radio into transmit mode.
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_TXMODE)
        self.H.get_ack()
    def triggerAll(self, val):
        self.txmode()
        self.selectAddress(0x111111)
        self.write_register(self.EN_AA, 0x00)
        self.write_payload([val], True)
        self.write_register(self.EN_AA, 0x01)
    def power_down(self):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_POWER_DOWN)
        self.H.get_ack()
    def rxchar(self):
        '''
        Receives a 1 Byte payload
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_RXCHAR)
        value = self.H.get_byte()
        self.H.get_ack()
        return value
    def txchar(self, char):
        '''
        Transmits a single character
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_TXCHAR)
        self.H.send_byte(char)
        return self.H.get_ack() >> 4
    def hasData(self):
        '''
        Check if the RX FIFO contains data
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_HASDATA)
        value = self.H.get_byte()
        self.H.get_ack()
        return value
    def flush(self):
        '''
        Flushes the TX and RX FIFOs
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_FLUSH)
        self.H.get_ack()
    def write_register(self, address, value):
        '''
        write a  byte to any of the configuration registers on the Radio.
        address byte can either be located in the NRF24L01+ manual, or chosen
        from some of the constants defined in this module.
        '''
        # print ('writing',address,value)
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_WRITEREG)
        self.H.send_byte(address)
        self.H.send_byte(value)
        self.H.get_ack()
    def read_register(self, address):
        '''
        Read the value of any of the configuration registers on the radio module.
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_READREG)
        self.H.send_byte(address)
        val = self.H.get_byte()
        self.H.get_ack()
        return val
    def get_status(self):
        '''
        Returns a byte representing the STATUS register on the radio.
        Refer to NRF24L01+ documentation for further details
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_GETSTATUS)
        val = self.H.get_byte()
        self.H.get_ack()
        return val
    def write_command(self, cmd):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_WRITECOMMAND)
        self.H.send_byte(cmd)
        self.H.get_ack()
    def write_address(self, register, address):
        '''
        register can be TX_ADDR, RX_ADDR_P0 -> RX_ADDR_P5
        3 byte address.  eg 0xFFABXX . XX cannot be FF
        if RX_ADDR_P1 needs to be used along with any of the pipes
        from P2 to P5, then RX_ADDR_P1 must be updated last.
        Addresses from P1-P5 must share the first two bytes.
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_WRITEADDRESS)
        self.H.send_byte(register)
        self.H.send_byte(address & 0xFF)
        self.H.send_byte((address >> 8) & 0xFF)
        self.H.send_byte((address >> 16) & 0xFF)
        self.H.get_ack()
    def selectAddress(self, address):
        '''
        Sets RX_ADDR_P0 and TX_ADDR to the specified address.
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_WRITEADDRESSES)
        self.H.send_byte(address & 0xFF)
        self.H.send_byte((address >> 8) & 0xFF)
        self.H.send_byte((address >> 16) & 0xFF)
        self.H.get_ack()
        self.CURRENT_ADDRESS = address
        if address not in self.sigs:
            self.sigs[address] = 1
    def read_payload(self, numbytes):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_READPAYLOAD)
        self.H.send_byte(numbytes)
        data = self.H.fd.read(numbytes)
        self.H.get_ack()
        return [ord(a) for a in data]
    def write_payload(self, data, verbose=False, **args):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_WRITEPAYLOAD)
        numbytes = len(
            data) | 0x80  # 0x80 implies transmit immediately. Otherwise it will simply load the TX FIFO ( used by ACK_payload)
        if (args.get('rxmode', False)): numbytes |= 0x40
        self.H.send_byte(numbytes)
        self.H.send_byte(self.TX_PAYLOAD)
        for a in data:
            self.H.send_byte(a)
        val = self.H.get_ack() >> 4
        if (verbose):
            if val & 0x2:
                print(' NRF radio not found. Connect one to the add-on port')
            elif val & 0x1:
                print(' Node probably dead/out of range. It failed to acknowledge')
            return
        return val
    def I2C_scan(self):
        '''
        Scans the I2C bus and returns a list of live addresses
        '''
        x = self.transaction([self.I2C_COMMANDS | self.I2C_SCAN | 0x80], timeout=500)
        if not x: return []
        if not sum(x): return []
        addrs = []
        for a in range(16):
            if (x[a] ^ 255):
                for b in range(8):
                    if x[a] & (0x80 >> b) == 0:
                        addr = 8 * a + b
                        addrs.append(addr)
        return addrs
    def GuessingScan(self):
        '''
        Scans the I2C bus and also prints the possible devices associated with each found address
        '''
        from PSL import sensorlist
        print('Scanning addresses 0-127...')
        x = self.transaction([self.I2C_COMMANDS | self.I2C_SCAN | 0x80], timeout=500)
        if not x: return []
        if not sum(x): return []
        addrs = []
        print('Address', '\t', 'Possible Devices')
        for a in range(16):
            if (x[a] ^ 255):
                for b in range(8):
                    if x[a] & (0x80 >> b) == 0:
                        addr = 8 * a + b
                        addrs.append(addr)
                        print(hex(addr), '\t\t', sensorlist.sensors.get(addr, 'None'))
        return addrs
    def transaction(self, data, **args):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_TRANSACTION)
        self.H.send_byte(len(data))  # total Data bytes coming through
        if 'listen' not in args: args['listen'] = True
        if args.get('listen', False): data[0] |= 0x80  # You need this if hardware must wait for a reply
        timeout = args.get('timeout', 200)
        verbose = args.get('verbose', False)
        self.H.send_int(timeout)  # timeout.
        for a in data:
            self.H.send_byte(a)
        # print ('dt send',time.time()-st,timeout,data[0]&0x80,data)
        numbytes = self.H.get_byte()
        # print ('byte 1 in',time.time()-st)
        if numbytes:
            data = self.H.fd.read(numbytes)
        else:
            data = []
        val = self.H.get_ack() >> 4
        if (verbose):
            if val & 0x1: print(time.time(), '%s Err. Node not found' % (hex(self.CURRENT_ADDRESS)))
            if val & 0x2: print(time.time(),
                                '%s Err. NRF on-board transmitter not found' % (hex(self.CURRENT_ADDRESS)))
            if val & 0x4 and args['listen']: print(time.time(),
                                                   '%s Err. Node received command but did not reply' % (
                                                       hex(self.CURRENT_ADDRESS)))
        if val & 0x7:  # Something didn't go right.
            self.flush()
            self.sigs[self.CURRENT_ADDRESS] = self.sigs[self.CURRENT_ADDRESS] * 50 / 51.
            return False
        self.sigs[self.CURRENT_ADDRESS] = (self.sigs[self.CURRENT_ADDRESS] * 50 + 1) / 51.
        return [ord(a) for a in data]
    def transactionWithRetries(self, data, **args):
        retries = args.get('retries', 5)
        reply = False
        while retries > 0:
            reply = self.transaction(data, verbose=(retries == 1), **args)
            if reply:
                break
            retries -= 1
        return reply
    def write_ack_payload(self, data, pipe):
        if (len(data) != self.ACK_PAYLOAD_SIZE):
            self.ACK_PAYLOAD_SIZE = len(data)
            if self.ACK_PAYLOAD_SIZE > 15:
                print('too large. truncating.')
                self.ACK_PAYLOAD_SIZE = 15
                data = data[:15]
            else:
                print('ack payload size:', self.ACK_PAYLOAD_SIZE)
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_WRITEPAYLOAD)
        self.H.send_byte(len(data))
        self.H.send_byte(self.ACK_PAYLOAD | pipe)
        for a in data:
            self.H.send_byte(a)
        return self.H.get_ack() >> 4
    def start_token_manager(self):
        '''
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_START_TOKEN_MANAGER)
        self.H.get_ack()
    def stop_token_manager(self):
        '''
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_STOP_TOKEN_MANAGER)
        self.H.get_ack()
    def total_tokens(self):
        '''
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_TOTAL_TOKENS)
        x = self.H.get_byte()
        self.H.get_ack()
        return x
    def fetch_report(self, num):
        '''
        '''
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_REPORTS)
        self.H.send_byte(num)
        data = [self.H.get_byte() for a in range(20)]
        self.H.get_ack()
        return data
    @staticmethod
    def __decode_I2C_list__(data):
        lst = []
        if sum(data) == 0:
            return lst
        for i, d in enumerate(data):
            if (d ^ 255):
                for b in range(8):
                    if d & (0x80 >> b) == 0:
                        addr = 8 * i + b
                        lst.append(addr)
        return lst
    def get_nodelist(self):
        '''
        Refer to the variable 'nodelist' if you simply want a list of nodes that either registered while your code was
        running , or were loaded from the firmware buffer(max 15 entries)
        If you plan to use more than 15 nodes, and wish to register their addresses without having to feed them manually,
        then this function must be called each time before the buffer resets.
        The dictionary object returned by this function [addresses paired with arrays containing their registered sensors]
        is filtered by checking with each node if they are alive.
        '''
        total = self.total_tokens()
        if self.nodepos != total:
            for nm in range(self.NODELIST_MAXLENGTH):
                dat = self.fetch_report(nm)
                txrx = (dat[0]) | (dat[1] << 8) | (dat[2] << 16)
                if not txrx: continue
                self.nodelist[txrx] = self.__decode_I2C_list__(dat[3:19])
                self.nodepos = total
                # else:
                #	self.__delete_registered_node__(nm)
        filtered_lst = {}
        for a in self.nodelist:
            if self.isAlive(a): filtered_lst[a] = self.nodelist[a]
        return filtered_lst
    def __delete_registered_node__(self, num):
        self.H.send_byte(CP.NRFL01)
        self.H.send_byte(CP.NRF_DELETE_REPORT_ROW)
        self.H.send_byte(num)
        self.H.get_ack()
    def __delete_all_registered_nodes__(self):
        while self.total_tokens():
            print('-')
            self.__delete_registered_node__(0)
    def isAlive(self, addr):
        self.selectAddress(addr)
        return self.transaction([self.NRF_COMMANDS | self.NRF_READ_REGISTER] + [self.R_STATUS], timeout=100,
                                verbose=False)
    def init_shockburst_transmitter(self, **args):
        '''
        Puts the radio into transmit mode.
        Dynamic Payload with auto acknowledge is enabled.
        upto 5 retransmits with 1ms delay between each in case a node doesn't respond in time
        Receivers must acknowledge payloads
        '''
        self.PAYLOAD_SIZE = args.get('PAYLOAD_SIZE', self.PAYLOAD_SIZE)
        myaddr = args.get('myaddr', 0xAAAA01)
        sendaddr = args.get('sendaddr', 0xAAAA01)
        self.init()
        # shockburst
        self.write_address(self.RX_ADDR_P0, myaddr)  # transmitter's address
        self.write_address(self.TX_ADDR, sendaddr)  # send to node with this address
        self.write_register(self.RX_PW_P0, self.PAYLOAD_SIZE)
        self.rxmode()
        time.sleep(0.1)
        self.flush()
    def init_shockburst_receiver(self, **args):
        '''
        Puts the radio into receive mode.
        Dynamic Payload with auto acknowledge is enabled.
        '''
        self.PAYLOAD_SIZE = args.get('PAYLOAD_SIZE', self.PAYLOAD_SIZE)
        if 'myaddr0' not in args:
            args['myaddr0'] = 0xA523B5
        # if 'sendaddr' non in args:
        #	args['sendaddr']=0xA523B5
        print(args)
        self.init()
        self.write_register(self.RF_SETUP, 0x26)  # 2MBPS speed
        # self.write_address(self.TX_ADDR,sendaddr)     #send to node with this address
        # self.write_address(self.RX_ADDR_P0,myaddr)	#will receive the ACK Payload from that node
        enabled_pipes = 0  # pipes to be enabled
        for a in range(0, 6):
            x = args.get('myaddr' + str(a), None)
            if x:
                print(hex(x), hex(self.RX_ADDR_P0 + a))
                enabled_pipes |= (1 << a)
                self.write_address(self.RX_ADDR_P0 + a, x)
        P15_base_address = args.get('myaddr1', None)
        if P15_base_address: self.write_address(self.RX_ADDR_P1, P15_base_address)
        self.write_register(self.EN_RXADDR, enabled_pipes)  # enable pipes
        self.write_register(self.EN_AA, enabled_pipes)  # enable auto Acknowledge on all pipes
        self.write_register(self.DYNPD, enabled_pipes)  # enable dynamic payload on Data pipes
        self.write_register(self.FEATURE, 0x06)  # enable dynamic payload length
        # self.write_register(self.RX_PW_P0,self.PAYLOAD_SIZE)
        self.rxmode()
        time.sleep(0.1)
        self.flush()
class RadioLink():
    ADC_COMMANDS = 1
    READ_ADC = 0 << 4
    I2C_COMMANDS = 2
    I2C_TRANSACTION = 0 << 4
    I2C_WRITE = 1 << 4
    SCAN_I2C = 2 << 4
    PULL_SCL_LOW = 3 << 4
    I2C_CONFIG = 4 << 4
    I2C_READ = 5 << 4
    NRF_COMMANDS = 3
    NRF_READ_REGISTER = 0 << 4
    NRF_WRITE_REGISTER = 1 << 4
    MISC_COMMANDS = 4
    WS2812B_CMD = 0 << 4
    def __init__(self, NRF, **args):
        self.NRF = NRF
        if 'address' in args:
            self.ADDRESS = args.get('address', False)
        else:
            print('Address not specified. Add "address=0x....." argument while instantiating')
            self.ADDRESS = 0x010101
    def __selectMe__(self):
        if self.NRF.CURRENT_ADDRESS != self.ADDRESS:
            self.NRF.selectAddress(self.ADDRESS)
    def I2C_scan(self):
        self.__selectMe__()
        from PSL import sensorlist
        print('Scanning addresses 0-127...')
        x = self.NRF.transaction([self.I2C_COMMANDS | self.SCAN_I2C | 0x80], timeout=500)
        if not x: return []
        if not sum(x): return []
        addrs = []
        print('Address', '\t', 'Possible Devices')
        for a in range(16):
            if (x[a] ^ 255):
                for b in range(8):
                    if x[a] & (0x80 >> b) == 0:
                        addr = 8 * a + b
                        addrs.append(addr)
                        print(hex(addr), '\t\t', sensorlist.sensors.get(addr, 'None'))
        return addrs
    @staticmethod
    def __decode_I2C_list__(data):
        lst = []
        if sum(data) == 0:
            return lst
        for i, d in enumerate(data):
            if (d ^ 255):
                for b in range(8):
                    if d & (0x80 >> b) == 0:
                        addr = 8 * i + b
                        lst.append(addr)
        return lst
    def writeI2C(self, I2C_addr, regaddress, data_bytes):
        self.__selectMe__()
        return self.NRF.transaction([self.I2C_COMMANDS | self.I2C_WRITE] + [I2C_addr] + [regaddress] + data_bytes)
    def readI2C(self, I2C_addr, regaddress, numbytes):
        self.__selectMe__()
        return self.NRF.transaction([self.I2C_COMMANDS | self.I2C_TRANSACTION] + [I2C_addr] + [regaddress] + [numbytes])
    def writeBulk(self, I2C_addr, data_bytes):
        self.__selectMe__()
        return self.NRF.transaction([self.I2C_COMMANDS | self.I2C_WRITE] + [I2C_addr] + data_bytes)
    def readBulk(self, I2C_addr, regaddress, numbytes):
        self.__selectMe__()
        return self.NRF.transactionWithRetries(
            [self.I2C_COMMANDS | self.I2C_TRANSACTION] + [I2C_addr] + [regaddress] + [numbytes])
    def simpleRead(self, I2C_addr, numbytes):
        self.__selectMe__()
        return self.NRF.transactionWithRetries([self.I2C_COMMANDS | self.I2C_READ] + [I2C_addr] + [numbytes])
    def readADC(self, channel):
        self.__selectMe__()
        return self.NRF.transaction([self.ADC_COMMANDS | self.READ_ADC] + [channel])
    def pullSCLLow(self, t_ms):
        self.__selectMe__()
        dat = self.NRF.transaction([self.I2C_COMMANDS | self.PULL_SCL_LOW] + [t_ms])
        if dat:
            return self.__decode_I2C_list__(dat)
        else:
            return []
    def configI2C(self, freq):
        self.__selectMe__()
        brgval = int(32e6 / freq / 4 - 1)
        print(brgval)
        return self.NRF.transaction([self.I2C_COMMANDS | self.I2C_CONFIG] + [brgval], listen=False)
    def write_register(self, reg, val):
        self.__selectMe__()
        # print ('writing to ',reg,val)
        return self.NRF.transaction([self.NRF_COMMANDS | self.NRF_WRITE_REGISTER] + [reg, val], listen=False)
    def WS2812B(self, cols):
        """
        set shade of WS2182 LED on CS1/RC0
        .. tabularcolumns:: |p{3cm}|p{11cm}|
        ==============  ============================================================================================
        **Arguments**
        ==============  ============================================================================================
        cols                2Darray [[R,G,B],[R2,G2,B2],[R3,G3,B3]...]
                            brightness of R,G,B ( 0-255  )
        ==============  ============================================================================================
        example::
            >>> WS2812B([[10,0,0],[0,10,10],[10,0,10]])
            #sets red, cyan, magenta to three daisy chained LEDs
        """
        self.__selectMe__()
        colarray = []
        for a in cols:
            colarray.append(int('{:08b}'.format(int(a[1]))[::-1], 2))
            colarray.append(int('{:08b}'.format(int(a[0]))[::-1], 2))
            colarray.append(int('{:08b}'.format(int(a[2]))[::-1], 2))
        res = self.NRF.transaction([self.MISC_COMMANDS | self.WS2812B_CMD] + colarray, listen=False)
        return res
    def read_register(self, reg):
        self.__selectMe__()
        x = self.NRF.transaction([self.NRF_COMMANDS | self.NRF_READ_REGISTER] + [reg])
        if x:
            return x[0]
        else:
            return False
Provide feedback

Saved searches

Use saved searches to filter your results more quickly

FilesExpand file tree

peripherals.py

Latest commit

History

peripherals.py

File metadata and controls
