pax_global_header00006660000000000000000000000064145626152410014520gustar00rootroot0000000000000052 comment=c683d704e54870dfd593489b9b865a69a47e49a1 KuttyPy-GUI-2.3/000077500000000000000000000000001456261524100134375ustar00rootroot00000000000000KuttyPy-GUI-2.3/.gitignore000066400000000000000000000003421456261524100154260ustar00rootroot00000000000000# Ignore all in examples. not ASM directory examples/* !examples/ASM examples/ASM/* # Unignore all c extensions !examples/*.c !examples/*.C !examples/ASM/*.S pypi __pycache__ .cache .idea docs/workshopnano.md docs/boards.md KuttyPy-GUI-2.3/.readthedocs.yaml000066400000000000000000000010251456261524100166640ustar00rootroot00000000000000# .readthedocs.yaml # Read the Docs configuration file # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details # Required version: 2 # Set the version of Python and other tools you might need build: os: ubuntu-22.04 tools: python: "3.11" # We recommend specifying your dependencies to enable reproducible builds: # https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html python: install: - requirements: requirements.txt mkdocs: configuration: mkdocs.yml fail_on_warning: false KuttyPy-GUI-2.3/.travis.yml000066400000000000000000000004571456261524100155560ustar00rootroot00000000000000sudo: required dist: bionic language: python cache: bundler: true pip: true python: - "3.4" before_install: - sudo apt-get -qq update - sudo apt-get install -y python3-pyqtgraph python3-pyqt5 python3-serial pyqt5-dev-tools install: - make clean - make script: - nosetests KuttyPy-GUI-2.3/BMP180.py000066400000000000000000000063471456261524100146720ustar00rootroot00000000000000from __future__ import print_function from numpy import int16 import time def connect(route,**args): return BMP180(route,**args) class BMP180: ADDRESS = 0x77 REG_CONTROL = 0xF4 REG_RESULT = 0xF6 CMD_TEMP = 0x2E CMD_P0 = 0x34 CMD_P1 = 0x74 CMD_P2 = 0xB4 CMD_P3 = 0xF4 oversampling=0 NUMPLOTS=3 PLOTNAMES = ['Temperature','Pressure','Altitude'] name = 'Altimeter BMP180' def __init__(self,I2CRead, I2CWrite, **args): self.ADDRESS = args.get('address',self.ADDRESS) self.I2CReadBulk = I2CRead self.I2CWriteBulk = I2CWrite self.MB = self.__readInt__(0xBA) self.c3 = 160.0 * pow(2,-15) * self.__readInt__(0xAE) self.c4 = pow(10,-3) * pow(2,-15) * self.__readUInt__(0xB0) self.b1 = pow(160,2) * pow(2,-30) * self.__readInt__(0xB6) self.c5 = (pow(2,-15) / 160) * self.__readUInt__(0xB2) self.c6 = self.__readUInt__(0xB4) self.mc = (pow(2,11) / pow(160,2)) * self.__readInt__(0xBC) self.md = self.__readInt__(0xBE) / 160.0 self.x0 = self.__readInt__(0xAA) self.x1 = 160.0 * pow(2,-13) * self.__readInt__(0xAC) self.x2 = pow(160,2) * pow(2,-25) * self.__readInt__(0xB8) self.y0 = self.c4 * pow(2,15) self.y1 = self.c4 * self.c3 self.y2 = self.c4 * self.b1 self.p0 = (3791.0 - 8.0) / 1600.0 self.p1 = 1.0 - 7357.0 * pow(2,-20) self.p2 = 3038.0 * 100.0 * pow(2,-36) self.T=25 print ('calib:',self.c3,self.c4,self.b1,self.c5,self.c6,self.mc,self.md,self.x0,self.x1,self.x2,self.y0,self.y1,self.p0,self.p1,self.p2) self.params={'setOversampling':[0,1,2,3]} self.name='BMP180 Altimeter' self.initTemperature() self.readTemperature() self.initPressure() self.baseline=self.readPressure() def __readInt__(self,addr): return int16(self.__readUInt__(addr)) def __readUInt__(self,addr): vals = self.I2CReadBulk(self.ADDRESS,addr,2) v=1.*((vals[0]<<8)|vals[1]) return v def initTemperature(self): self.I2CWriteBulk(self.ADDRESS,[self.REG_CONTROL,self.CMD_TEMP]) time.sleep(0.005) def readTemperature(self): vals = self.I2CReadBulk(self.ADDRESS,self.REG_RESULT,2) if vals: if len(vals)==2: T = (vals[0] <<8 ) + vals[1] a = self.c5 * (T - self.c6) self.T = a + (self.mc / (a + self.md)) return self.T return False def setOversampling(self,num): self.oversampling=num def initPressure(self): os = [0x34,0x74,0xb4,0xf4] delays=[0.005,0.008,0.014,0.026] self.I2CWriteBulk(self.ADDRESS,[self.REG_CONTROL,os[self.oversampling] ]) time.sleep(delays[self.oversampling]) def readPressure(self): vals = self.I2CReadBulk(self.ADDRESS,self.REG_RESULT,3) if len(vals)==3: P = 1.*(vals[0] <<8) + vals[1] + (vals[2]/256.0) s = self.T - 25.0 x = (self.x2 * pow(s,2)) + (self.x1 * s) + self.x0 y = (self.y2 * pow(s,2)) + (self.y1 * s) + self.y0 z = (P - x) / y self.P = (self.p2 * pow(z,2)) + (self.p1 * z) + self.p0 return self.P else: return False def altitude(self): #baseline pressure needs to be provided return (44330.0*(1-pow(self.P/self.baseline,1/5.255))) def sealevel(self,P,A): ''' given a calculated pressure and altitude, return the sealevel ''' return(P/pow(1-(A/44330.0),5.255)) def getRaw(self): self.initTemperature() self.readTemperature() self.initPressure() self.readPressure() return [self.T,self.P,self.altitude()] KuttyPy-GUI-2.3/KuttyPyGUI.py000077500000000000000000000767471456261524100160370ustar00rootroot00000000000000''' ''' #!/usr/bin/python3 import os,sys,time,re,traceback,platform from PyQt5 import QtGui, QtCore, QtWidgets import KuttyPyLib from utilities.templates import ui_layout as layout from utilities import dio,REGISTERS,uploader,syntax import constants import inspect from functools import partial from collections import OrderedDict # translation stuff def translate(lang = None): global app,t,t1 if lang is None: lang=QtCore.QLocale.system().name() t=QtCore.QTranslator() t.load("lang/"+lang, os.path.dirname(__file__)) app.installTranslator(t) t1=QtCore.QTranslator() t1.load("qt_"+lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) app.installTranslator(t1) class myTimer(): def __init__(self,interval): self.interval = interval self.reset() def reset(self): self.timeout = time.time()+self.interval def ready(self): T = time.time() dt = T - self.timeout if dt>0: #timeout is ahead of current time #if self.interval>5:print('reset',self.timeout,dt) self.timeout = T - dt%self.interval + self.interval #if self.interval>5:print(self.timeout) return True return False def progress(self): return 100*(self.interval - self.timeout + time.time())/(self.interval) class AppWindow(QtWidgets.QMainWindow, layout.Ui_MainWindow): p=None ports = ['A','B','C','D'] logThis = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) serialGaugeSignal = QtCore.pyqtSignal(bytes) serialGaugeConvert = 'bytes' serialStream = b'' def __init__(self, parent=None,**kwargs): super(AppWindow, self).__init__(parent) self.setupUi(self) self.VERSION = REGISTERS.VERSION_ATMEGA32 #This needs to be dynamically changed when hardware is connected self.SPECIALS = REGISTERS.VERSIONS[self.VERSION]['SPECIALS'] self.REGISTERS = REGISTERS.VERSIONS[self.VERSION]['REGISTERS'] self.EXAMPLES_DIR = REGISTERS.VERSIONS[self.VERSION]['examples directory'] self.docks = [self.padock,self.pbdock,self.pcdock,self.pddock] self.sensorList = [] self.controllerList = [] self.monitoring = True self.logRegisters = True self.userHexRunning = False self.uploadingHex = False self.autoUpdateUserRegisters = False self.CFile = None #'~/kuttyPy.c' self.ipy = None self.defaultDirectory = path["examples"] self.setTheme("material") examples = [a for a in os.listdir(os.path.join(path["examples"],self.EXAMPLES_DIR)) if ('.py' in a) and a is not 'kuttyPy.py'] #.py files except the library self.exampleList.addItems(examples) blinkindex = self.exampleList.findText('blink.py') if blinkindex!=-1: #default example. blink.py present in examples directory self.exampleList.setCurrentIndex(blinkindex) self.serialGuageButton.hide() #Hide the serial guage button #Define some keyboard shortcuts for ease of use self.shortcutActions={} self.shortcuts={"f":partial(self.setLanguage,'fr_FR'),"e":partial(self.setLanguage,'en_IN'),"m":partial(self.setLanguage,'ml_IN')} for a in self.shortcuts: shortcut = QtWidgets.QShortcut(QtGui.QKeySequence(a), self) shortcut.activated.connect(self.shortcuts[a]) self.shortcutActions[a] = shortcut ######## PYTHON CODE self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) #Connect to the log window self.logThis.connect(self.appendLog) #Connect to the log window self.logThisPlain.connect(self.appendLogPlain) #Connect to the log window self.serialGaugeSignal.connect(self.setSerialgauge) self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) ######### C CODE UPLOADER self.uploadThread = QtCore.QThread() self.UploadObject = self.uploadObject() self.UploadObject.moveToThread(self.uploadThread) self.UploadObject.finished.connect(self.uploadThread.quit) self.UploadObject.logThis.connect(self.appendLog) #Connect to the log window self.UploadObject.logThisPlain.connect(self.appendLogPlain) #Connect to the log window. add plain text self.logThis.connect(self.appendLog) #Connect to the log window self.uploadThread.started.connect(self.UploadObject.execute) self.uploadThread.finished.connect(self.codeFinished) ########## C CODE EDITOR SYNTAX HIGHLIGHTER self.highlight = syntax.PythonHighlighter(self.editor.document()) self.commandQ = [] self.btns={} self.registers = [] self.addPins() self.statusBar = self.statusBar() self.makeBottomMenu() global app self.initializeCommunications() self.pending = { 'status':myTimer(constants.STATUS_UPDATE_INTERVAL), 'update':myTimer(constants.AUTOUPDATE_INTERVAL), } serialgaugeoptions = {'name':'Serial Monitor', 'init':print, 'read':None, 'fields':['Value'], 'min':[0], 'max':[1000], 'config':[{ 'name':'Data Type', 'options':['byte','ASCII'], 'function':self.configSerialGauge } ]} self.serialGauge = dio.DIOSENSOR(self,serialgaugeoptions) self.startTime = time.time() self.timer = QtCore.QTimer() self.timer.timeout.connect(self.updateEverything) self.timer.start(20) #Auto-Detector self.shortlist=KuttyPyLib.getFreePorts() def newRegister(self): reg = dio.REGEDIT(self.commandQ) #self.registerLayout.addWidget(reg) #self.registers.append(reg) #TODO: Convert layout to listwidget to enable re-ordering regItem = QtWidgets.QListWidgetItem() regItem.setSizeHint(QtCore.QSize(200,40)) self.registerList.addItem(regItem) self.registerList.setItemWidget(regItem,reg) self.registers.append(regItem) def addPins(self): for port,dock in zip(self.ports,[self.palayout,self.pblayout,self.pclayout,self.pdlayout]): checkbox = dio.REGVALS(port) dock.addWidget(checkbox) self.btns[port] = checkbox seq = range(7,-1,-1) if port == 'C':seq = reversed(seq) #PORTC pins are ordered top to bottom for a in seq: name = 'P'+port+str(a) checkbox = dio.widget(name,self.commandQ,extra = self.SPECIALS.get(name,'')) dock.addWidget(checkbox) self.btns[name] = checkbox def tabChanged(self,index): if self.userHexRunning: #Firmware was running. Stop it. self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) if index != 0 : #examples/editor tab. disable monitoring self.monitoring = False for a in self.docks: a.hide() else: #Playground . enable monitoring and control. self.monitoring = True self.autoRefreshUserRegisters.setChecked(False) self.userRegistersAutoRefresh(False) self.setLogType('playground') for a in self.docks: a.show() def setLogType(self,tp): self.log.clear() if tp == 'playground': self.logLabel.setText("Monitor registers being read and set during each operation") elif tp == 'avr': self.logLabel.setText("Avr-Gcc compile/upload messages") elif tp == 'monitor': self.logLabel.setText("Monitor data input from the serial port") elif tp == 'python': self.logLabel.setText("Python Code operations monitor") ################USER CODE SECTION#################### class codeObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) code = '' def __init__(self,REGISTERS): super(AppWindow.codeObject, self).__init__() self.PORTMAP = {v: k for k, v in REGISTERS.items()} #Lookup port name based on number self.compiled = '' self.SR = None self.GR = None self.evalGlobals = {} self.evalGlobals['getReg'] = self.getReg self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer def setCode(self,code,**kwargs): try: self.compiled = compile(code.encode(), '', mode='exec') except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno return '''%s at line %d : %s''' % (error_class, line_number, detail) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] return '''%s at line %d: %s''' % (error_class, line_number, detail) self.SR = kwargs.get('setReg') self.GR = kwargs.get('getReg') self.evalGlobals = kwargs self.evalGlobals['getReg'] = self.getReg #Overwrite these three. They will be wrapped. self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer return '' def printer(self,*args): self.logThis.emit('''%s'''%(' '.join([str(a) for a in args]))) def setReg(self,reg,value): html=u'''
W\u2193{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format(self.PORTMAP.get(reg,''),value) self.logThis.emit(html) self.SR(reg,value) def getReg(self,reg): value = self.GR(reg) html=u'''
R\u2191{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format(self.PORTMAP.get(reg,''),value) self.logThis.emit(html) return value def execute(self): #old = sys.stdout #olde = sys.stderr #sys.stdout = self.toLog(self.logThis) #sys.stderr = self.toLog(self.logThis) try: exec(self.compiled,{},self.evalGlobals) except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno self.logThis.emit('''%s at line %d : %s''' % (error_class, line_number, detail)) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] self.logThis.emit('''%s at line %d: %s''' % (error_class, line_number, detail)) #sys.stdout = old #sys.stderr = olde self.logThis.emit("Finished executing user code") self.finished.emit() def runCode(self): if self.codeThread.isRunning(): print('one code is already running') return self.setLogType('python') self.log.clear() #clear the log window self.log.setText('''----------User Code Started-----------''') kwargs = {} for a in dir(self.p): attr = getattr(self.p, a) if inspect.ismethod(attr) and a[:2]!='__': kwargs[a] = attr compilemsg = self.codeEval.setCode('{0:s}'.format(self.userCode.toPlainText()),**kwargs) if len(compilemsg): self.log.append(compilemsg) return self.codeThread.start() self.userCode.setStyleSheet("border: 3px dashed #53ffff;") self.tabs.setTabEnabled(0,False) def codeFinished(self): print('finished') self.tabs.setTabEnabled(0,True) self.userCode.setStyleSheet("") self.uploadingHex = False def abort(self): if self.codeThread.isRunning(): self.log.append('''----------Kill Signal(Doesn't work yet. Restart the application)-----------''') self.codeThread.quit() self.codeThread.terminate() del self.codeThread self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) #Connect to the log window self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) def getReg(self,reg,record = True): val = self.p.getReg(reg) if record: self.updatedRegs[reg] = [0,val] return val def setReg(self,reg,val,record = True): self.p.setReg(reg,val) if record: self.updatedRegs[reg] = [1,val] return val def appendLog(self,txt): self.log.append(txt) def appendLogPlain(self,txt): self.log.moveCursor(QtGui.QTextCursor.End) self.log.insertPlainText(txt.decode('ascii')) def configSerialGauge(self,val): if val == 0: #'byte' print('Byte Mode(0-255)') for a in self.serialGauge.gauges: a.set_MaxValue(255) self.serialGaugeConvert = 'bytes' if val == 1: #'ascii' print('ASCII(0-10000)') for a in self.serialGauge.gauges: a.set_MaxValue(10000) self.serialGaugeConvert = 'ascii' def setSerialgauge(self,vals): if self.serialGaugeConvert == 'bytes': self.serialGauge.setValue([vals[0]]) elif self.serialGaugeConvert == 'ascii': self.serialStream += vals while b'\n' in self.serialStream: val,_,self.serialStream = self.serialStream.partition(b'\n') self.serialGauge.setValue([float(val)]) def genLog(self): html=''''''%(time.ctime()) #html+=''' #''' for a in self.updatedRegs: row = self.updatedRegs[a] html+=u''' '''.format(u'W \u2193' if row[0] else u'R \u2191',a,row[1]) html+="
%s
R/WREGISTERValueHex/Binary
{0:s} {1:s} {2:d} 0b{2:08b} | 0x{2:02x}
" self.log.setHtml(html) def userRegistersAutoRefresh(self,state): self.autoUpdateUserRegisters = state def updateEverything(self): self.locateDevices() if not self.checkConnectionStatus():return #KuttyPy monitor has handed over control to native code. act as serial monitor/ debug window if self.uploadingHex: return if self.userHexRunning: t = self.p.fd.read(self.p.fd.in_waiting) if len(t): self.serialGaugeSignal.emit(t) self.logThisPlain.emit(t) return #self.setTheme('material') if self.codeThread.isRunning(): return if self.autoUpdateUserRegisters: for a in range(self.registerList.count()): self.registerList.itemWidget(self.registerList.item(a)).execute() while len(self.commandQ): if not self.centralWidget().isEnabled(): return a = self.commandQ.pop(0) if a[0] == 'DSTATE': #Digital Out ['DSTATE','Pxx',state] pname = 'PORT'+a[1][1].upper() bit = int(a[1][2]) reg = self.getReg(pname) reg &=~ (1<>a)&1) if portchar == 'A': #ADC if btn.currentPage == 2: #ADC Page displayed self.commandQ.append(['ADC',btn.ADMUX,btn,btn.logstate]) elif type(btn)==dio.DIOCNTR and btn.currentPage==2: # CNTR self.commandQ.append(['CNTR1',btn.slider]) def newStepperController(self): if self.p.connected: dialog = dio.DIOSTEPPER(self,total=200,device=self.p) dialog.launch() self.sensorList.append([dialog,None]) ############ I2C SENSORS ################# def I2CScan(self): if self.p.connected: x = self.p.I2CScan() print('Responses from: ',x) for a in self.sensorList: a[0].setParent(None) a[1].setParent(None) self.sensorList = [] for a in self.controllerList: a[0].setParent(None) a[1].setParent(None) self.controllerList = [] for a in x: s = self.p.sensors.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOSENSOR(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.sensorList.append([dialog,btn]) continue s = self.p.controllers.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOCONTROL(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog,btn]) continue s = self.p.special.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOROBOT(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog,btn]) continue def loadExample(self,filename): self.userCode.setPlainText(open(os.path.join(path["examples"],self.EXAMPLES_DIR,filename), "r").read()) ########################### UPLOAD HEX FILE ####################### class uploadObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) fname = '' p = None def __init__(self): super(AppWindow.uploadObject, self).__init__() def config(self,mode,p,fname): self.p = p self.fname = fname self.mode = mode def execute(self): if 'compile' in self.mode: try: import subprocess if self.fname[-2:] in ['.s','.S']: action = 'Assembl' else:#elif self.fname[-2:] in ['.c','.C']: action = 'Compil' fname = '.'.join(self.fname.split('.')[:-1]) if self.p.version == REGISTERS.VERSION_ATMEGA32 or self.p.connected==False: #by default, compile for ATMEGA32. cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" "%s"' %('atmega32',fname,self.fname) self.logThis.emit('''%sing for Atmega32'''%(action)) elif self.p.version == REGISTERS.VERSION_ATMEGA328P: cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" "%s"' %('atmega328p',fname,self.fname) self.logThis.emit('''%sing for Atmega328p (Nano)'''%(action)) else: self.logThis.emit('''%ser UNAVAILABLE'''%(action)) return print(cmd) res = subprocess.getstatusoutput(cmd) if res[0] != 0: self.logThis.emit('''%se Error: %s'''%(action,res[1].replace('\n','
')) ) self.finished.emit() return else: self.logThis.emit('''%s
'''%res[1]) cmd = 'avr-objcopy -j .text -j .data -O ihex "%s" "%s.hex"' %(fname,fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit(res[1])#'''%s
'''%res[1]) cmd = 'avr-objdump -S "%s" > "%s.lst"'%(fname,fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit(res[1])#'''%s
'''%res[1]) self.logThis.emit('Finished %sing: Generated Hex File'%action) #'''Finished %sing: Generated Hex File'''%(action)) except Exception as err: self.logThis.emit('''Failed to %se:%s'''%str(action,err)) if self.p.connected: if 'upload' in self.mode: try: if self.fname[-2:] in ['.c','.C','.s','.S']: self.fname = self.fname[:-2]+'.hex' #Replace .c with .hex self.logThis.emit('''Upload Code... Trigger Reset...''') self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.1) self.p.get_version() dude = uploader.Uploader(self.p.fd, hexfile=self.fname,logger = self.logThis) dude.program() dude.verify() self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.2) self.p.get_version() self.logThis.emit('''Finished upload''') except Exception as err: print('upload error',err) self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.2) self.p.get_version() self.logThis.emit('''Failed to upload''') #self.jumpToApplication(False) #Force a reset self.finished.emit() def uploadHex(self): filename = QtWidgets.QFileDialog.getOpenFileName(self," Open a hex file to upload to your KuttyPy", "", "Hex Files (*.hex)") if len(filename[0]): #self.userCode.setStyleSheet("border: 3px dashed #53ffff;") #self.tabs.setTabEnabled(0,False) self.uploadingHex = True self.log.clear() self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload',self.p,filename[0]) self.uploadThread.start() def openFile(self): filename = QtWidgets.QFileDialog.getOpenFileName(self," Open a C/Asm file to edit", self.defaultDirectory, "C/ASM Files (*.c *.C *.s *.S);; Asm Files (*.s *.S);; C Files (*.c *.C)") if len(filename[0]): self.defaultDirectory = '' self.filenameLabel.setText(filename[0]) self.CFile = filename[0] self.log.clear() infile = open(filename[0], 'r') self.editor.setPlainText(infile.read()) self.log.setText('''-- Opened File: %s --
'''%filename[0]) def compileAndUpload(self): self.setLogType('avr') self.saveFile() if self.CFile: self.uploadingHex = True self.log.setText('''-- Compiling and Uploading Code --
''') self.UploadObject.config('compileupload',self.p,self.CFile) self.uploadThread.start() def compile(self): self.setLogType('avr') self.saveFile() if self.CFile: self.log.setText('''-- Compiling Code --
''') self.UploadObject.config('compile',self.p,self.CFile) self.uploadThread.start() def upload(self): self.setLogType('avr') if self.CFile: self.uploadingHex = True self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload',self.p,self.CFile) self.uploadThread.start() def saveFile(self): if not self.CFile: name = QtGui.QFileDialog.getSaveFileName(self, 'Save File') print('created new file:',name) self.CFile = name[0] self.log.setText('''-- Created new file: %s --
'''%self.CFile) fn = open(self.CFile,'w') fn.write(self.editor.toPlainText()) fn.close() self.log.setText('''-- Saved to: %s --
'''%self.CFile) ############################## def setTheme(self,theme): self.setStyleSheet("") self.setStyleSheet(open(os.path.join(path["themes"],theme+".qss"), "r").read()) def initializeCommunications(self,port=False): if self.p: try:self.p.fd.close() except:pass if port: self.p = KuttyPyLib.connect(port = port) else: self.p = KuttyPyLib.connect(autoscan=True) if self.p.connected: self.launchFirmwareButton.setChecked(False) self.setWindowTitle('KuttyPy Interactive Console [{0:s}]'.format(self.p.portname)) self.updatedRegs=OrderedDict() self.currentRegister = 0 self.VERSION = self.p.version self.SPECIALS = REGISTERS.VERSIONS[self.VERSION]['SPECIALS'] self.REGISTERS = REGISTERS.VERSIONS[self.VERSION]['REGISTERS'] self.EXAMPLES_DIR = REGISTERS.VERSIONS[self.VERSION]['examples directory'] if self.p.version == REGISTERS.VERSION_ATMEGA328P: self.getRegs=[ ('PINB',self.updateInputs), ('PINC',self.updateInputs), ('PIND',self.updateInputs), ] elif self.p.version == REGISTERS.VERSION_ATMEGA32: self.getRegs=[ ('PINA',self.updateInputs), ('PINB',self.updateInputs), ('PINC',self.updateInputs), ('PIND',self.updateInputs), ] else: self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') def setLanguage(self,lang = 'fr_FR'): translate(lang) self.retranslateUi(self) def showSerialGauge(self): self.serialGauge.show() def jumpToApplication(self,state): if self.p: if state: self.serialGuageButton.show() self.userHexRunning=True self.p.fd.write(b'j') #Skip to application (Bootloader resets) for a in self.docks: a.setEnabled(False) #self.tabs.setEnabled(False) self.setLogType('monitor') self.log.setText('''-- Serial Port Monitor --
''') #self.serialGauge.show() else: self.serialGuageButton.hide() self.p.fd.setRTS(0) #Trigger a reset time.sleep(0.01) self.p.fd.setRTS(1) time.sleep(0.1) while self.p.fd.in_waiting: self.p.fd.read() self.p.get_version() for a in self.docks: a.setEnabled(True) self.userHexRunning=False #self.tabs.setEnabled(True) self.serialGauge.hide() else: if self.isChecked(): self.setChecked(False) def makeBottomMenu(self): try:self.pushbutton.setParent(None) except:pass self.pushbutton = QtWidgets.QPushButton('Menu') self.pushbutton.setStyleSheet("height: 13px;padding:3px;color: #7c7;") menu = QtWidgets.QMenu() menu.addAction('Save Window as Svg', self.exportSvg) menu.addAction('Open Stepper Controller', self.newStepperController) #Theme ''' self.themeAction = QtWidgets.QWidgetAction(menu) themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.themeAction.setDefaultWidget(self.themeBox) menu.addAction(self.themeAction) ''' themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.statusBar.addPermanentWidget(self.themeBox) self.pushbutton.setMenu(menu) #self.userApplication = QtWidgets.QCheckBox("User App"); #self.userApplication.toggled['bool'].connect(self.jumpToApplication) #self.statusBar.addPermanentWidget(self.userApplication) #self.hexUploadButton = QtWidgets.QPushButton("Upload Hex"); #self.hexUploadButton.clicked.connect(self.uploadHex) #self.statusBar.addPermanentWidget(self.hexUploadButton) self.speedbutton = QtWidgets.QComboBox(); self.speedbutton.addItems(['Slow','Fast','Ultra']); self.speedbutton.setCurrentIndex(1); self.speedbutton.currentIndexChanged['int'].connect(self.setSpeed) self.statusBar.addPermanentWidget(self.speedbutton) self.statusBar.addPermanentWidget(self.pushbutton) def setSpeed(self,index): self.timer.setInterval([100,20,5][index]) def locateDevices(self): try:L = KuttyPyLib.getFreePorts(self.p.portname) except Exception as e:print(e) total = len(L) menuChanged = False if L != self.shortlist: menuChanged = True if self.p.connected: if self.p.portname not in L: self.setWindowTitle('Error : Device Disconnected') QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device Disconnected. Please check the connections') try: self.p.close() except:pass self.p.connected = False self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') elif True in L.values(): reply = QtWidgets.QMessageBox.question(self, 'Connection', 'Device Available. Connect?', QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.No) if reply == QtWidgets.QMessageBox.Yes: self.initializeCommunications() #update the shortlist self.shortlist=L def checkConnectionStatus(self,dialog=False): if self.p.connected:return True else: if dialog: QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device not connected. Please connect a KuttyPy to the USB port') return False def updateStatus(self): if not self.checkConnectionStatus(): self.countLabel.setText('Not Connected') return try: state,cnt = self.p.getStatus() self.currentState = state self.countLabel.setText('%s: %d'%("Running" if state else "Paused",cnt)) except: self.countLabel.setText('Disconnect!') self.p.fd.close() ######## WINDOW EXPORT SVG def exportSvg(self): from PyQt5 import QtSvg path, _filter = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File', '~/') if path: generator = QtSvg.QSvgGenerator() generator.setFileName(path) target_rect = QtCore.QRectF(0, 0, 800, 600) generator.setSize(target_rect.size().toSize())#self.size()) generator.setViewBox(self.rect()) generator.setTitle("Your title") generator.setDescription("some description") p = QtGui.QPainter() p.begin(generator) self.render(p) p.end() def ipython(self): #Experimental feature. Import ipython and launch console if not self.p.connected: return from utilities import ipy if not self.ipy: self.ipy = ipy.AppWindow(self,kp = self.p) self.ipy.show() self.ipy.updateDevice(self.p) def translators(langDir, lang=None): """ create a list of translators @param langDir a path containing .qm translation @param lang the preferred locale, like en_IN.UTF-8, fr_FR.UTF-8, etc. @result a list of QtCore.QTranslator instances """ if lang==None: lang=QtCore.QLocale.system().name() result=[] qtTranslator=QtCore.QTranslator() qtTranslator.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) result.append(qtTranslator) # path to the translation files (.qm files) sparkTranslator=QtCore.QTranslator() sparkTranslator.load(lang, langDir); result.append(sparkTranslator) return result def firstExistingPath(l): """ Returns the first existing path taken from a list of possible paths. @param l a list of paths @return the first path which exists in the filesystem, or None """ for p in l: if os.path.exists(p): return p return None def common_paths(): """ Finds common paths @result a dictionary of common paths """ path={} curPath = os.path.dirname(os.path.realpath(__file__)) path["current"] = curPath sharedPath = "/usr/share/kuttypy" path["translation"] = firstExistingPath( [os.path.join(p, "lang") for p in (curPath, sharedPath,)]) path["utilities"] = firstExistingPath( [os.path.join(p,'utilities') for p in (curPath, sharedPath,)]) path["templates"] = firstExistingPath( [os.path.join(p,'utilities','templates') for p in (curPath, sharedPath,)]) path["themes"] = firstExistingPath( [os.path.join(p,'utilities','themes') for p in (curPath, sharedPath,)]) path["examples"] = firstExistingPath( [os.path.join(p,'examples') for p in (curPath, sharedPath,)]) path["editor"] = firstExistingPath( [os.path.join(p,'editor') for p in (curPath, sharedPath,)]) lang=str(QtCore.QLocale.system().name()) shortLang=lang[:2] return path def run(): global path, app, myapp path = common_paths() print('QT Version',QtWidgets.__file__) app = QtWidgets.QApplication(sys.argv) myapp = AppWindow(app=app, path=path) myapp.show() r = app.exec_() ''' if myapp.p.connected: myapp.p.fd.write(b'j') #myapp.p.fd.setRTS(0) #time.sleep(0.01) #myapp.p.fd.setRTS(1) ''' app.deleteLater() sys.exit(r) if __name__ == "__main__": run() KuttyPy-GUI-2.3/KuttyPyIDE.py000066400000000000000000001167271456261524100160020ustar00rootroot00000000000000''' ''' # !/usr/bin/python3 import os, sys, time, re, traceback, platform from PyQt5 import QtGui, QtCore, QtWidgets import KuttyPyLib import socket from utilities.templates import ui_layout_ide as layout from utilities import uploader, syntax, REGISTERS, dio from utilities import texteditor import constants import inspect from functools import partial from collections import OrderedDict # translation stuff def translate(lang=None): global app, t, t1 if lang is None: lang = QtCore.QLocale.system().name() t = QtCore.QTranslator() t.load("lang/" + lang, os.path.dirname(__file__)) app.installTranslator(t) t1 = QtCore.QTranslator() t1.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) app.installTranslator(t1) class myTimer(): def __init__(self, interval): self.interval = interval self.reset() def reset(self): self.timeout = time.time() + self.interval def ready(self): T = time.time() dt = T - self.timeout if dt > 0: # timeout is ahead of current time # if self.interval>5:print('reset',self.timeout,dt) self.timeout = T - dt % self.interval + self.interval # if self.interval>5:print(self.timeout) return True return False def progress(self): return 100 * (self.interval - self.timeout + time.time()) / (self.interval) LKP = True class AppWindow(QtWidgets.QMainWindow, layout.Ui_MainWindow): p = None logThis = QtCore.pyqtSignal(str) showStatusSignal = QtCore.pyqtSignal(str, bool) serverSignal = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) codeOutput = QtCore.pyqtSignal(str, str) serialGaugeSignal = QtCore.pyqtSignal(bytes) serialGaugeConvert = 'bytes' serialStream = b'' def __init__(self, parent=None, **kwargs): super(AppWindow, self).__init__(parent) self.local_ip = '' self.setupUi(self) self.fs_watcher = None self.reloadFrame.setVisible(False) self.compile_thread = None self.monitoring = True self.userHexRunning = False self.uploadingHex = False self.autoUpdateUserRegisters = False self.CFile = None # '~/kuttyPy.c' self.defaultDirectory = path["examples"] self.serverActive = False self.VERSION = REGISTERS.VERSION_ATMEGA32 # This needs to be dynamically changed when hardware is connected self.serialFrame.hide() # Hide the serial guage button # Define some keyboard shortcuts for ease of use self.shortcutActions = {} self.shortcuts = {"f": partial(self.setLanguage, 'fr_FR'), "e": partial(self.setLanguage, 'en_IN'), "m": partial(self.setLanguage, 'ml_IN')} for a in self.shortcuts: shortcut = QtWidgets.QShortcut(QtGui.QKeySequence(a), self) shortcut.activated.connect(self.shortcuts[a]) self.shortcutActions[a] = shortcut ########## C CODE EDITOR SYNTAX HIGHLIGHTER self.code_highlighters = [] ####### C CODE EDITOR ######### self.codingTabs.tabCloseRequested.connect(self.closeCTab) self.codingTabs.tabBarClicked.connect(self.CTabChanged) self.listTab = None self.mapTab = None self.hexTab = None self.serialGaugeSignal.connect(self.setSerialgauge) self.logThisPlain.connect(self.appendLogPlain) # Connect to the log window self.activeEditor = None self.activeSourceTab = None self.sourceTabs = {} self.addSourceTab() ######### C CODE UPLOADER self.uploadThread = QtCore.QThread() self.UploadObject = self.uploadObject() self.UploadObject.moveToThread(self.uploadThread) self.UploadObject.finished.connect(self.uploadThread.quit) self.UploadObject.logThis.connect(self.appendLog) # Connect to the log window self.UploadObject.resultSignal.connect(self.codeOutput) # Load .lst, .hex , .map files self.UploadObject.logThisPlain.connect(self.appendLogPlain) # Connect to the log window. add plain text self.logThis.connect(self.appendLog) # Connect to the log window self.uploadThread.started.connect(self.UploadObject.execute) self.uploadThread.finished.connect(self.codeFinished) self.statusBar = self.statusBar() self.makeBottomMenu() self.addFileMenu() self.addEditMenu() self.addBuildOptionsMenu() self.editorFont = QtGui.QFont() self.editorFont.setPointSize(12) self.editorFont.setFamily('Ubuntu mono') global app self.initializeCommunications() self.pending = { 'status': myTimer(constants.STATUS_UPDATE_INTERVAL), 'update': myTimer(constants.AUTOUPDATE_INTERVAL), } serialgaugeoptions = {'name': 'Serial Monitor', 'init': print, 'read': None, 'fields': ['Value'], 'min': [0], 'max': [1000], 'config': [{ 'name': 'Data Type', 'options': ['byte', 'ASCII'], 'function': self.configSerialGauge } ]} self.serialGauge = dio.DIOSENSOR(self, serialgaugeoptions) self.startTime = time.time() self.timer = QtCore.QTimer() self.timer.timeout.connect(self.updateEverything) self.timer.start(20) # Auto-Detector self.shortlist = KuttyPyLib.getFreePorts() def closeEvent(self, event): self.external.terminate() self.external.waitForFinished(1000) def embedTerminal(self): import subprocess system = platform.system() self.external = QtCore.QProcess(self) if system == 'Linux': self.external.start('gnome-terminal', ["--working-directory", self.defaultDirectory]) if system == 'Windows': self.external.start('cmd') ''' time.sleep(1) self.external.write(b"hello") p = subprocess.run(['xprop', '-root'], stdout=subprocess.PIPE) for line in p.stdout.decode().splitlines(): m = re.fullmatch(r'^_NET_ACTIVE_WINDOW.*[)].*window id # (0x[0-9a-f]+)', line) if m: window = QtGui.QWindow.fromWinId(int(m.group(1), 16)) window.setFlag(QtCore.Qt.FramelessWindowHint, True) widget = QtWidgets.QWidget.createWindowContainer( window, self.termFrame, QtCore.Qt.FramelessWindowHint) widget.setFixedSize(600, 400) self.termLayout.addWidget(widget) # this is where the magic happens... self.external.finished.connect(self.close_maybe) break else: QtWidgets.QMessageBox.warning(self, 'Error', 'Could not find WID for curreent Window') ''' def close_maybe(self): print('terminal closed') pass def activateCompileServer(self): if self.serverActive: # Stop it ''' if self.compile_thread is not None: self.compile_thread.terminate() self.compile_thread.wait() print('quit compile_thread') self.compile_thread_button.setParent(None) self.showStatus("Compiler Stopped ", False) return self.serverActive = False self.compile_thread_button.setText("Online Compiler") ''' return else: s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.settimeout(0.1) # Set a timeout to avoid blocking indefinitely s.connect(("8.8.8.8", 80)) # Connect to a public IP address self.local_ip = s.getsockname()[0] from utilities.compile_server import create_server self.compile_thread = create_server(self.showStatusSignal, self.serverSignal, path["kpy"], self.local_ip) self.showStatusSignal.connect(self.showStatus) self.serverSignal.connect(self.showServerStatus) s.close() self.showStatus("Compiler Active at " + self.local_ip, False) self.compile_thread_button.setText(self.local_ip) self.serverActive = True def addFileMenu(self): codeMenu = QtWidgets.QMenu() newFileAction = QtWidgets.QAction('New File', self) newFileAction.setShortcut(QtGui.QKeySequence("Ctrl+N")) ico = QtGui.QIcon() ico.addPixmap(QtGui.QPixmap(":/control/plus.svg"), QtGui.QIcon.Normal, QtGui.QIcon.Off) newFileAction.setIcon(ico) newFileAction.triggered.connect(self.addSourceTab) codeMenu.addAction(newFileAction) openFileAction = QtWidgets.QAction('Open File', self) openFileAction.setShortcut(QtGui.QKeySequence("Ctrl+O")) openFileAction.triggered.connect(self.openFile) openIcon = QtGui.QIcon() openIcon.addPixmap(QtGui.QPixmap(":/control/document-open.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) openFileAction.setIcon(openIcon) codeMenu.addAction(openFileAction) saveFileAction = QtWidgets.QAction('Save File', self) saveFileAction.setShortcut(QtGui.QKeySequence("Ctrl+S")) saveFileAction.triggered.connect(self.saveFile) saveIcon = QtGui.QIcon() saveIcon.addPixmap(QtGui.QPixmap(":/control/saveall.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) saveFileAction.setIcon(saveIcon) codeMenu.addAction(saveFileAction) saveAsFileAction = QtWidgets.QAction('Save As', self) saveAsFileAction.setShortcut(QtGui.QKeySequence("Ctrl+Shift+S")) saveAsFileAction.triggered.connect(self.saveAs) saveAsFileAction.setIcon(saveIcon) codeMenu.addAction(saveAsFileAction) a = QtWidgets.QAction('Terminal', self) a.setShortcut(QtGui.QKeySequence("Ctrl+Shift+T")) a.triggered.connect(self.embedTerminal) termIcon = QtGui.QIcon() termIcon.addPixmap(QtGui.QPixmap(":/control/utilities-terminal.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) a.setIcon(termIcon) codeMenu.addAction(a) exitAction = QtWidgets.QAction('Exit', self) exitAction.triggered.connect(QtWidgets.qApp.quit) codeMenu.addAction(exitAction) self.fileMenuButton.setMenu(codeMenu) def addBuildOptionsMenu(self): codeMenu = QtWidgets.QMenu() toggleLKPAction = QtWidgets.QAction('Include KP Library', self) toggleLKPAction.setCheckable(True) toggleLKPAction.setChecked(True) toggleLKPAction.triggered[bool].connect(self.setLKP) codeMenu.addAction(toggleLKPAction) self.buildOptionsButton.setMenu(codeMenu) def setLKP(self, state): global LKP print('LKP linking', state) LKP = state def closeEvent(self, evnt): evnt.ignore() self.askBeforeQuit() def askBeforeQuit(self): ask = False for editors in self.sourceTabs: if self.sourceTabs[editors][0].changed: ask = True if ask: reply = QtWidgets.QMessageBox.question(self, 'Warning', 'Files may have unsaved changes.\nReally quit?', QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.No) if reply == QtWidgets.QMessageBox.No: return self.userHexRunning = False global app app.quit() def addEditMenu(self): codeMenu = QtWidgets.QMenu() undoAction = QtWidgets.QAction('Undo', self) undoAction.setShortcut(QtGui.QKeySequence("Ctrl+Z")) undoAction.triggered.connect(self.activeEditor.undo) ico = QtGui.QIcon() ico.addPixmap(QtGui.QPixmap(":/control/reset.svg"), QtGui.QIcon.Normal, QtGui.QIcon.Off) undoAction.setIcon(ico) codeMenu.addAction(undoAction) redoAction = QtWidgets.QAction('Redo', self) redoAction.setShortcut(QtGui.QKeySequence("Ctrl+Shift+Z")) redoAction.triggered.connect(self.activeEditor.redo) codeMenu.addAction(redoAction) a = QtWidgets.QAction('Cut', self) a.setShortcut(QtGui.QKeySequence("Ctrl+X")) a.triggered.connect(self.activeEditor.cut) codeMenu.addAction(a) a = QtWidgets.QAction('Copy', self) a.setShortcut(QtGui.QKeySequence("Ctrl+C")) a.triggered.connect(self.activeEditor.copy) codeMenu.addAction(a) a = QtWidgets.QAction('Paste', self) a.setShortcut(QtGui.QKeySequence("Ctrl+V")) a.triggered.connect(self.activeEditor.paste) codeMenu.addAction(a) a = QtWidgets.QAction('Select All', self) a.setShortcut(QtGui.QKeySequence("Ctrl+A")) a.triggered.connect(self.activeEditor.selectAll) codeMenu.addAction(a) self.editMenuButton.setMenu(codeMenu) def makeBottomMenu(self): try: self.pushbutton.setParent(None) except: pass self.pushbutton = QtWidgets.QPushButton('Menu') self.pushbutton.setStyleSheet("color: #262;") menu = QtWidgets.QMenu() menu.addAction('Save Window as Svg', self.exportSvg) menu.addAction('Upload Hex File', self.uploadHex) # Theme self.themeAction = QtWidgets.QWidgetAction(menu) themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.themeAction.setDefaultWidget(self.themeBox) menu.addAction(self.themeAction) defaultTheme = "newtheme" self.themeBox.setCurrentIndex(themes.index(defaultTheme)) self.setTheme(defaultTheme) self.pushbutton.setMenu(menu) # Compile thread self.compile_thread_button = QtWidgets.QPushButton('Online Compiler') self.compile_thread_button.setStyleSheet("color: #262;") self.compile_thread_button.clicked.connect(self.activateCompileServer) self.statusBar.addPermanentWidget(self.compile_thread_button) self.bottomLabel = QtWidgets.QLabel("Messages") # Menu button self.statusBar.addPermanentWidget(self.pushbutton) def closeCTab(self, index): print('Close Tab', index) widget = self.codingTabs.widget(index) sourceTabClosed = False if widget == self.mapTab: print('closing map tab') self.mapTab = None elif widget == self.hexTab: print('closing hex tab') self.hexTab = None elif widget == self.listTab: print('closing list tab') self.listTab = None elif widget in self.sourceTabs: if len(self.sourceTabs) == 1: print("last tab. won't close.") return else: print('closing source tab', widget.objectName()) self.closeCompileTabs(self.codingTabs.tabText(self.codingTabs.indexOf(widget))) self.sourceTabs.pop(widget) sourceTabClosed = True self.codingTabs.removeTab(index) if sourceTabClosed: # Source Tab closed. Re-assign active source tab self.activeSourceTab = list(self.sourceTabs.keys())[0] self.activeEditor = self.sourceTabs[self.activeSourceTab][0] self.CFile = self.sourceTabs[self.activeSourceTab][1] self.codingTabs.setCurrentIndex(self.codingTabs.indexOf(self.activeSourceTab)) print('New Source Tab:', self.getActiveFilename(), self.CFile) def closeCompileTabs(self, fullname): name = os.path.split(fullname)[1].split('.')[0] for tab, ext in zip([self.mapTab, self.hexTab, self.listTab], ['.map', '.hex', '.lst']): if tab is not None: print(self.codingTabs.tabText(self.codingTabs.indexOf(tab)), name + ext) if self.codingTabs.tabText(self.codingTabs.indexOf(tab)) == name + ext: self.codingTabs.removeTab(self.codingTabs.indexOf(tab)) # print(f"closing {ext} tab") pass def getActiveFilename(self): self.codingTabs.tabText(self.codingTabs.indexOf(self.activeSourceTab)) def addSourceTab(self): sourceTab = QtWidgets.QWidget() sourceTab.setObjectName("sourceTab") horizontalLayout_3 = QtWidgets.QHBoxLayout(sourceTab) horizontalLayout_3.setContentsMargins(0, 0, 0, 0) horizontalLayout_3.setSpacing(0) horizontalLayout_3.setObjectName("horizontalLayout_3") editor = texteditor.myTextEditor(sourceTab, self.codingTabs) font = QtGui.QFont() font.setFamily("Ubuntu Mono") font.setPointSize(12) editor.setFont(font) editor.setObjectName("editor") editor.setTabChangesFocus(False) horizontalLayout_3.addWidget(editor) self.codingTabs.addTab(sourceTab, "") self.sourceTabs[sourceTab] = [editor, None] self.codingTabs.setCurrentIndex(self.codingTabs.indexOf(sourceTab)) self.codingTabs.setTabText(self.codingTabs.indexOf(sourceTab), 'Untitled') self.CFile = None self.activeSourceTab = sourceTab self.activeEditor = editor self.code_highlighters.append(syntax.CHighlighter(editor.document())) def CTabChanged(self, index): widget = self.codingTabs.widget(index) if widget in self.sourceTabs: self.activeSourceTab = widget self.activeEditor = self.sourceTabs[widget][0] self.CFile = self.sourceTabs[widget][1] self.filenameLabel.setText(self.CFile) print('Change Tab', index, self.codingTabs.tabText(index), self.CFile) def newRegister(self): reg = dio.REGEDIT(self.commandQ) # self.registerLayout.addWidget(reg) # self.registers.append(reg) # TODO: Convert layout to listwidget to enable re-ordering regItem = QtWidgets.QListWidgetItem() regItem.setSizeHint(QtCore.QSize(200, 40)) self.registerList.addItem(regItem) self.registerList.setItemWidget(regItem, reg) self.registers.append(regItem) def addPins(self): for port, dock in zip(self.ports, [self.palayout, self.pblayout, self.pclayout, self.pdlayout]): checkbox = dio.REGVALS(port) dock.addWidget(checkbox) self.btns[port] = checkbox seq = range(7, -1, -1) if port == 'C': seq = reversed(seq) # PORTC pins are ordered top to bottom for a in seq: name = 'P' + port + str(a) checkbox = dio.widget(name, self.commandQ, extra=self.SPECIALS.get(name, '')) dock.addWidget(checkbox) self.btns[name] = checkbox def tabChanged(self, index): if self.userHexRunning: # Firmware was running. Stop it. self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) if index != 0: # examples/editor tab. disable monitoring self.monitoring = False else: # Playground . enable monitoring and control. self.monitoring = True self.autoRefreshUserRegisters.setChecked(False) self.userRegistersAutoRefresh(False) self.setLogType('playground') def setLogType(self, tp): self.log.clear() if tp == 'playground': self.logLabel.setText("Monitor registers being read and set during each operation") elif tp == 'avr': self.logLabel.setText("Avr-Gcc compile/upload messages") elif tp == 'monitor': self.logLabel.setText("Monitor data input from the serial port") elif tp == 'python': self.logLabel.setText("Python Code operations monitor") ################USER CODE SECTION#################### def codeOutput(self, filetype, filename): self.openCodeBreakupTab(filetype, filename) try: infile = open(filename, 'r') if filetype == 'list': self.listEditor.setPlainText(infile.read()) if filetype == 'map': self.mapEditor.setPlainText(infile.read()) if filetype == 'hex': self.hexEditor.setPlainText(infile.read()) infile.close() except Exception as e: print(e) def openCodeBreakupTab(self, filetype, filename): tab = None if filetype == 'list': if self.listTab is None: self.openListTab() elif self.listTab.isHidden(): self.codingTabs.addTab(self.listTab, "") tab = self.listTab elif filetype == 'map': if self.mapTab is None: self.openMapTab() elif self.mapTab.isHidden(): self.codingTabs.addTab(self.mapTab, "") tab = self.mapTab elif filetype == 'hex': if self.hexTab is None: self.openHexTab() elif self.hexTab.isHidden(): self.codingTabs.addTab(self.hexTab, "") tab = self.hexTab if tab != None: fname = filename.split self.codingTabs.setTabText(self.codingTabs.indexOf(tab), os.path.basename(filename)) # filetype + ":" + def openListTab(self): self.listTab = QtWidgets.QWidget() self.listTab.setObjectName("listTab") self.verticalLayout = QtWidgets.QVBoxLayout(self.listTab) self.verticalLayout.setContentsMargins(0, 0, 0, 0) self.verticalLayout.setSpacing(0) self.verticalLayout.setObjectName("verticalLayout") self.listEditor = QtWidgets.QTextBrowser(self.listTab) self.listEditor.setObjectName("listEditor") self.verticalLayout.addWidget(self.listEditor) self.codingTabs.addTab(self.listTab, "") def openMapTab(self): self.mapTab = QtWidgets.QWidget() self.mapTab.setObjectName("mapTab") self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.mapTab) self.verticalLayout_3.setContentsMargins(0, 0, 0, 0) self.verticalLayout_3.setSpacing(0) self.verticalLayout_3.setObjectName("verticalLayout_3") self.mapEditor = QtWidgets.QTextBrowser(self.mapTab) self.mapEditor.setObjectName("mapEditor") self.verticalLayout_3.addWidget(self.mapEditor) self.codingTabs.addTab(self.mapTab, "") def openHexTab(self): self.hexTab = QtWidgets.QWidget() self.hexTab.setObjectName("hexTab") self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.hexTab) self.verticalLayout_2.setContentsMargins(0, 0, 0, 0) self.verticalLayout_2.setSpacing(0) self.verticalLayout_2.setObjectName("verticalLayout_2") self.hexEditor = QtWidgets.QTextBrowser(self.hexTab) self.hexEditor.setObjectName("hexEditor") self.verticalLayout_2.addWidget(self.hexEditor) self.codingTabs.addTab(self.hexTab, "") ico = QtGui.QIcon() ico.addPixmap(QtGui.QPixmap(":/control/hex.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.codingTabs.setTabIcon(self.codingTabs.indexOf(self.hexTab), ico) def appendLog(self, txt): self.log.append(txt) def appendLogPlain(self, txt): self.log.moveCursor(QtGui.QTextCursor.End) self.log.insertPlainText(txt.decode('ascii')) def configSerialGauge(self, val): if val == 0: # 'byte' print('Byte Mode(0-255)') for a in self.serialGauge.gauges: a.set_MaxValue(255) self.serialGaugeConvert = 'bytes' if val == 1: # 'ascii' print('ASCII(0-10000)') for a in self.serialGauge.gauges: a.set_MaxValue(10000) self.serialGaugeConvert = 'ascii' def setSerialgauge(self, vals): if self.serialGaugeConvert == 'bytes': self.serialGauge.setValue([vals[0]]) elif self.serialGaugeConvert == 'ascii': self.serialStream += vals while b'\n' in self.serialStream: val, _, self.serialStream = self.serialStream.partition(b'\n') self.serialGauge.setValue([float(val)]) def genLog(self): html = '''''' % (time.ctime()) # html+=''' # ''' for a in self.updatedRegs: row = self.updatedRegs[a] html += u''' '''.format(u'W \u2193' if row[0] else u'R \u2191', a, row[1]) html += "
%s
R/WREGISTERValueHex/Binary
{0:s} {1:s} {2:d} 0b{2:08b} | 0x{2:02x}
" self.log.setHtml(html) def updateEverything(self): self.locateDevices() if not self.checkConnectionStatus(): return # KuttyPy monitor has handed over control to native code. act as serial monitor/ debug window if self.uploadingHex: return if self.userHexRunning: t = self.p.fd.read(self.p.fd.in_waiting) if len(t): self.serialGaugeSignal.emit(t) self.logThisPlain.emit(t) return ########################### UPLOAD HEX FILE ####################### class uploadObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) resultSignal = QtCore.pyqtSignal(str, str) logThisPlain = QtCore.pyqtSignal(bytes) fname = '' p = None def __init__(self): super(AppWindow.uploadObject, self).__init__() def config(self, mode, p, fname): self.p = p self.fname = fname self.mode = mode def execute(self): global LKP if 'compile' in self.mode: try: import subprocess if self.fname[-2:] in ['.s', '.S']: action = 'Assembl' else: # elif self.fname[-2:] in ['.c','.C']: action = 'Compil' fname = '.'.join(self.fname.split('.')[:-1]) if self.p.version == REGISTERS.VERSION_ATMEGA32 or self.p.connected == False: # by default, compile for ATMEGA32. # cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" -Map "%s" "%s"' %('atmega32',fname,fname+'.map',self.fname) cmd = 'avr-gcc -Wall -O2 -mmcu=%s -Wl,-Map="%s" -o "%s" "%s" %s' % ( 'atmega32', fname + '.map', fname, self.fname, "-lkp" if LKP else "") # includes MAP self.logThis.emit('''%sing for Atmega32''' % (action)) elif self.p.version == REGISTERS.VERSION_ATMEGA328P: cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" "%s" %s' % ( 'atmega328p', fname, self.fname, "-lkp" if LKP else "") self.logThis.emit( '''%sing for Atmega328p (Nano)''' % (action)) else: self.logThis.emit('''%ser UNAVAILABLE''' % (action)) return print(cmd) res = subprocess.getstatusoutput(cmd) if res[0] != 0: self.logThis.emit('''%se Error: %s''' % ( action, res[1].replace('\n', '
'))) self.finished.emit() return else: self.logThis.emit('''%s
''' % res[1]) cmd = 'avr-objcopy -j .text -j .data -O ihex "%s" "%s.hex"' % (fname, fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit(res[1]) # '''%s
'''%res[1]) cmd = 'avr-objdump -S "%s" > "%s.lst"' % (fname, fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit(res[1]) # '''%s
'''%res[1]) self.logThis.emit( 'Finished %sing: Generated Hex File' % action) # '''Finished %sing: Generated Hex File'''%(action)) self.resultSignal.emit('list', fname + '.lst') self.resultSignal.emit('hex', fname + '.hex') self.resultSignal.emit('map', fname + '.map') except Exception as err: self.logThis.emit('''Failed to %se:%s''' % str(action, err)) if self.p.connected: if 'upload' in self.mode: try: if self.fname[-2:] in ['.c', '.C', '.s', '.S']: self.fname = self.fname[:-2] + '.hex' # Replace .c with .hex self.logThis.emit('''Upload Code... Trigger Reset...''') dude = uploader.Uploader(self.p.fd, hexfile=self.fname, logger=self.logThis) self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.05) dude.program() dude.verify() self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.25) self.p.get_version() self.logThis.emit('''Finished upload''') except Exception as err: print('upload error', err) self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.25) self.p.get_version() self.logThis.emit('''Failed to upload''') # self.jumpToApplication(False) #Force a reset self.finished.emit() def uploadHex(self): filename = QtWidgets.QFileDialog.getOpenFileName(self, " Open a hex file to upload to your KuttyPy", "", "Hex Files (*.hex)") if len(filename[0]): # self.userCode.setStyleSheet("border: 3px dashed #53ffff;") # self.tabs.setTabEnabled(0,False) self.uploadingHex = True self.log.clear() self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload', self.p, filename[0]) self.uploadThread.start() def openFile(self): filename = QtWidgets.QFileDialog.getOpenFileName(self, " Open a C/Asm file to edit", self.defaultDirectory, "C/ASM Files (*.c *.C *.s *.S);; Asm Files (*.s *.S);; C Files (*.c *.C)") if len(filename[0]): self.openFile_(filename[0]) def openFile_(self, fname): for sourceTab in self.sourceTabs: print(self.sourceTabs[sourceTab][1], fname) if fname == self.sourceTabs[sourceTab][1]: # File is already open self.activeSourceTab = sourceTab self.activeEditor = self.sourceTabs[sourceTab][0] self.CFile = self.sourceTabs[sourceTab][1] self.filenameLabel.setText(self.CFile) self.codingTabs.setCurrentIndex(self.codingTabs.indexOf(sourceTab)) return if self.CFile is not None: # A file is altready open self.addSourceTab() # self.defaultDirectory = '' self.filenameLabel.setText(fname) self.CFile = fname self.defaultDirectory = os.path.split(self.CFile)[0] self.sourceTabs[self.activeSourceTab][1] = self.CFile self.log.clear() infile = open(fname, 'r') self.activeEditor.setPlainText( infile.read()) # self.activeEditor = self.sourceTabs[self.activeSourceTab][0] infile.close() self.codingTabs.setTabText(self.codingTabs.indexOf(self.activeSourceTab), os.path.split(self.CFile)[1]) self.log.setText('''-- Opened File: %s --
''' % fname) filetype = 'c' if self.CFile.endswith('.S') or self.CFile.endswith('.s'): filetype = 'asm' ico = QtGui.QIcon() ico.addPixmap(QtGui.QPixmap(f":/control/{filetype}.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.codingTabs.setTabIcon(self.codingTabs.indexOf(self.activeSourceTab), ico) self.updateWatcher() def updateWatcher(self): paths = [] for sourceTab in self.sourceTabs: paths.append(self.sourceTabs[sourceTab][1]) self.fs_watcher = QtCore.QFileSystemWatcher(paths) self.fs_watcher.fileChanged.connect(self.file_changed) print('updated watcher', paths) def file_changed(self, path): print('File Changed: %s' % path) self.reloadLabel.setText(path) self.reloadFrame.setVisible(True) def reloadFile(self): self.reloadFrame.setVisible(False) fname = self.reloadLabel.text() for sourceTab in self.sourceTabs: print(self.sourceTabs[sourceTab][1], fname) if fname == self.sourceTabs[sourceTab][1]: # File is already open self.activeSourceTab = sourceTab self.activeEditor = self.sourceTabs[sourceTab][0] self.CFile = self.sourceTabs[sourceTab][1] self.filenameLabel.setText(self.CFile) self.codingTabs.setCurrentIndex(self.codingTabs.indexOf(sourceTab)) self.defaultDirectory = os.path.split(self.CFile)[0] self.log.clear() infile = open(fname, 'r') self.activeEditor.setPlainText( infile.read()) # self.activeEditor = self.sourceTabs[self.activeSourceTab][0] infile.close() self.log.setText('''-- Reloaded File: %s --
''' % fname) filetype = 'c' if self.CFile.endswith('.S') or self.CFile.endswith('.s'): filetype = 'asm' ico = QtGui.QIcon() ico.addPixmap(QtGui.QPixmap(f":/control/{filetype}.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.codingTabs.setTabIcon(self.codingTabs.indexOf(self.activeSourceTab), ico) self.updateWatcher() return print(' Modified file is not open anymore', fname) def cancelReload(self): self.reloadFrame.setVisible(False) self.updateWatcher() def fontPlus(self): size = self.editorFont.pointSize() if size > 40: return self.editorFont.setPointSize(size + 1) self.updateFont() def fontMinus(self): size = self.editorFont.pointSize() if size < 5: return self.editorFont.setPointSize(size - 1) self.updateFont() def setFont(self, font): self.editorFont.setFamily(font) self.updateFont() def updateFont(self): for editors in self.sourceTabs: self.sourceTabs[editors][0].setFont(self.editorFont) if hasattr(self, 'hexEditor') and self.hexEditor is not None: self.hexEditor.setFont(self.editorFont) if hasattr(self, 'listEditor') and self.listEditor is not None: self.listEditor.setFont(self.editorFont) if hasattr(self, 'mapEditor') and self.mapEditor is not None: self.mapEditor.setFont(self.editorFont) def compileAndUpload(self): self.setLogType('avr') self.saveFile() if self.CFile: if self.userHexRunning: self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) self.uploadingHex = True self.log.setText('''-- Compiling and Uploading Code --
''') self.UploadObject.config('compileupload', self.p, self.CFile) self.uploadThread.start() def compile(self): self.setLogType('avr') self.saveFile() if self.CFile: self.log.setText('''-- Compiling Code --
''') self.log.setText('''-- %s --
''' % self.CFile) self.UploadObject.config('compile', self.p, self.CFile) self.uploadThread.start() def upload(self): self.setLogType('avr') if self.CFile: if self.userHexRunning: self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) self.uploadingHex = True self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload', self.p, self.CFile) self.uploadThread.start() def saveFile(self): if not self.CFile: self.CFile = self.saveAs() if self.CFile is not None and len(self.CFile) > 1: self.sourceTabs[self.activeSourceTab][1] = self.CFile self.activeEditor.markAsSaved(True) self.fs_watcher.removePath(self.CFile) fn = open(self.CFile, 'w') fn.write(self.activeEditor.toPlainText()) fn.close() self.fs_watcher.addPath(self.CFile) self.codingTabs.setTabText(self.codingTabs.indexOf(self.activeSourceTab), os.path.split(self.CFile)[1]) self.log.setText('''-- Saved to: %s --
''' % self.CFile) else: self.log.setText('''-- No File Selected --
''') def saveAs(self): name = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File') print('created new file:', name) if len(name) > 0 and len(name[0]) > 1: self.CFile = name[0] self.filenameLabel.setText(self.CFile) self.log.setText('''-- Created new file: %s --
''' % self.CFile) self.codingTabs.setTabText(self.codingTabs.indexOf(self.activeSourceTab), os.path.split(self.CFile)[1]) self.saveFile() return self.CFile ############################## def setTheme(self, theme): self.setStyleSheet("") self.setStyleSheet(open(os.path.join(path["themes"], theme + ".qss"), "r").read()) def initializeCommunications(self, port=False): if self.p: try: self.p.fd.close() except: pass if port: self.p = KuttyPyLib.connect(port=port) else: self.p = KuttyPyLib.connect(autoscan=True) if self.p.connected: self.VERSION = self.p.version self.launchFirmwareButton.setChecked(False) self.setWindowTitle('KuttyPy Integrated Development Environment [{0:s}]'.format(self.p.portname)) else: self.setWindowTitle('KuttyPy Integrated Development Environment [ Hardware not detected ]') def setLanguage(self, lang='fr_FR'): translate(lang) self.retranslateUi(self) def showSerialGauge(self): self.serialGauge.show() def codeFinished(self): print('finished') self.uploadingHex = False def jumpToApplication(self, state): print('run firmware', state) if self.p: if state: self.serialFrame.show() self.userHexRunning = True self.p.fd.write(b'j') # Skip to application (Bootloader resets) self.launchFirmwareButton.setText('Stop') self.setLogType('monitor') self.log.setText('''-- Serial Port Monitor --
''') # self.serialGauge.show() else: self.serialFrame.hide() self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.2) while self.p.fd.in_waiting: self.p.fd.read() self.p.get_version() self.userHexRunning = False self.launchFirmwareButton.setText('Run') # self.tabs.setEnabled(True) self.serialGauge.hide() else: if self.isChecked(): self.setChecked(False) def sendASCII(self): s = self.serialData.text() self.p.fd.write(s.encode('utf-8')) def sendBinary(self): s = self.serialData.text() try: self.p.fd.write(chr(int(s) & 0xFF).encode('utf-8')) except Exception as e: print(e) def showServerStatus(self, msg): self.showStatus("Compiler: Error Launching Server (Restart app) ", True) QtWidgets.QMessageBox.warning(self, 'Server Error', msg) self.compile_thread_button.setText("Online Compiler") # self.statusBar.addPermanentWidget(self.compile_thread_button) def showStatus(self, msg, error=None): if error: self.statusBar.setStyleSheet("color:#633") else: self.statusBar.setStyleSheet("color:#333") self.statusBar.showMessage(msg) def locateDevices(self): try: L = KuttyPyLib.getFreePorts(self.p.portname) except Exception as e: print(e) total = len(L) menuChanged = False if L != self.shortlist: menuChanged = True if self.p.connected: if self.p.portname not in L: self.setWindowTitle('Error : Device Disconnected') QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device Disconnected. Please check the connections') try: self.p.close() except: pass self.p.connected = False self.setWindowTitle('KuttyPy Integrated Development Environment [ Hardware not detected ]') elif True in L.values(): reply = QtWidgets.QMessageBox.question(self, 'Connection', 'Device Available. Connect?', QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.No) if reply == QtWidgets.QMessageBox.Yes: self.initializeCommunications() # update the shortlist self.shortlist = L def checkConnectionStatus(self, dialog=False): if self.p.connected: return True else: if dialog: QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device not connected. Please connect a KuttyPy to the USB port') return False ######## WINDOW EXPORT SVG def exportSvg(self): from PyQt5 import QtSvg path, _filter = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File', '~/') if path: generator = QtSvg.QSvgGenerator() generator.setFileName(path) target_rect = QtCore.QRectF(0, 0, 800, 600) generator.setSize(target_rect.size().toSize()) # self.size()) generator.setViewBox(self.rect()) generator.setTitle("Your title") generator.setDescription("some description") p = QtGui.QPainter() p.begin(generator) self.render(p) p.end() def translators(langDir, lang=None): """ create a list of translators @param langDir a path containing .qm translation @param lang the preferred locale, like en_IN.UTF-8, fr_FR.UTF-8, etc. @result a list of QtCore.QTranslator instances """ if lang == None: lang = QtCore.QLocale.system().name() result = [] qtTranslator = QtCore.QTranslator() qtTranslator.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) result.append(qtTranslator) # path to the translation files (.qm files) sparkTranslator = QtCore.QTranslator() sparkTranslator.load(lang, langDir); result.append(sparkTranslator) return result def firstExistingPath(l): """ Returns the first existing path taken from a list of possible paths. @param l a list of paths @return the first path which exists in the filesystem, or None """ for p in l: if os.path.exists(p): return p return None def common_paths(): """ Finds common paths @result a dictionary of common paths """ path = {} curPath = os.path.dirname(os.path.realpath(__file__)) path["current"] = curPath sharedPath = "/usr/share/kuttypy" path["translation"] = firstExistingPath( [os.path.join(p, "lang") for p in (curPath, sharedPath,)]) path["utilities"] = firstExistingPath( [os.path.join(p, 'utilities') for p in (curPath, sharedPath,)]) path["templates"] = firstExistingPath( [os.path.join(p, 'utilities', 'templates') for p in (curPath, sharedPath,)]) path["themes"] = firstExistingPath( [os.path.join(p, 'utilities', 'themes') for p in (curPath, sharedPath,)]) path["examples"] = firstExistingPath( [os.path.join(p, 'examples') for p in (curPath, sharedPath,)]) path["kpy"] = firstExistingPath( [os.path.join(p, 'kpy') for p in (curPath, sharedPath,)]) path["editor"] = firstExistingPath( [os.path.join(p, 'editor') for p in (curPath, sharedPath,)]) lang = str(QtCore.QLocale.system().name()) shortLang = lang[:2] return path def run(): global path, app, myapp path = common_paths() print('QT Version', QtWidgets.__file__) app = QtWidgets.QApplication(sys.argv) myapp = AppWindow(app=app, path=path) myapp.show() r = app.exec_() if myapp.compile_thread is not None: myapp.compile_thread.terminate() print('waiting to quit compile_thread') myapp.compile_thread.wait() app.deleteLater() sys.exit(r) if __name__ == "__main__": run() KuttyPy-GUI-2.3/KuttyPyLib.py000066400000000000000000001276651456261524100161120ustar00rootroot00000000000000''' Code snippet for reading data from the kuttypy ''' import serial, struct, time, platform, os, sys, functools from utilities import REGISTERS from collections import OrderedDict import numpy as np if 'inux' in platform.system(): # Linux based system import fcntl Byte = struct.Struct("B") # size 1 ShortInt = struct.Struct("H") # size 2 Integer = struct.Struct("I") # size 4 def _bv(x): return 1 << x def connect(**kwargs): return KUTTYPY(**kwargs) def listPorts(): ''' Make a list of available serial ports. For auto scanning and connecting ''' import glob system_name = platform.system() if system_name == "Windows": # Scan for available ports. available = [] for i in range(256): try: s = serial.Serial('COM%d' % i) available.append('COM%d' % i) s.close() except serial.SerialException: pass return available elif system_name == "Darwin": # Mac return glob.glob('/dev/tty.usb*') + glob.glob('/dev/cu*') else: # Assume Linux or something else return glob.glob('/dev/ttyACM*') + glob.glob('/dev/ttyUSB*') def isPortFree(portname): try: fd = serial.Serial(portname, KUTTYPY.BAUD, stopbits=1, timeout=1.0) if fd.isOpen(): if 'inux' in platform.system(): # Linux based system try: fcntl.flock(fd.fileno(), fcntl.LOCK_EX | fcntl.LOCK_NB) fd.close() return True # Port is available except IOError: fd.close() return False # Port is not available else: fd.close() return True # Port is available else: fd.close() return False # Port is not available except serial.SerialException as ex: return False # Port is not available def getFreePorts(openPort=None): ''' Find out which ports are currently free ''' portlist = {} for a in listPorts(): if a != openPort: portlist[a] = isPortFree(a) else: portlist[a] = False return portlist class KUTTYPY: VERSIONNUM_168P = Byte.pack(98) VERSIONNUM = Byte.pack(99) VERSIONNUM_328P = Byte.pack(100) VERSIONNUM_UNO = Byte.pack(101) GET_VERSION = Byte.pack(1) READB = Byte.pack(2) WRITEB = Byte.pack(3) I2C_READ = Byte.pack(4) I2C_WRITE = Byte.pack(5) I2C_SCAN = Byte.pack(6) BAUD = 38400 version = 0 portname = None REGS = REGISTERS.VERSIONS[99]['REGISTERS'] # A map of alphanumeric port names to the 8-bit register locations REGSTATES = {} # Store the last written state of the registers SPECIALS = REGISTERS.VERSIONS[99]['SPECIALS'] nano = False # check if atmega328p is found instead of 32 blockingSocket = None def __init__(self, **kwargs): self.sensors = { 0x39: { 'name': 'TSL2561', 'init': self.TSL2561_init, 'read': self.TSL2561_all, 'fields': ['total', 'IR'], 'min': [0, 0], 'max': [2 ** 15, 2 ** 15], 'config': [{ 'name': 'gain', 'options': ['1x', '16x'], 'function': self.TSL2561_gain }, { 'name': 'Integration Time', 'options': ['3 mS', '101 mS', '402 mS'], 'function': self.TSL2561_timing } ]}, 0x1E: { 'name': 'HMC5883L', 'init': self.HMC5883L_init, 'read': self.HMC5883L_all, 'fields': ['Mx', 'My', 'Mz'], 'min': [-5000, -5000, -5000], 'max': [5000, 5000, 5000], 'config': [{ 'name': 'gain', 'options': ['1x', '16x'], 'function': self.TSL2561_gain }, { 'name': 'Integration Time', 'options': ['3 mS', '101 mS', '402 mS'], 'function': self.TSL2561_timing } ]}, 0x48: { 'name': 'ADS1115', 'init': self.ADS1115_init, 'read': self.ADS1115_read, 'fields': ['Voltage'], 'min': [-5], 'max': [5], 'config': [{ 'name': 'channel', 'options': ['UNI_0', 'UNI_1', 'UNI_2', 'UNI_3', 'DIFF_01', 'DIFF_23'], 'function': self.ADS1115_channel }, { 'name': 'Data Rate', 'options': ['8', '16', '32', '64', '128', '250', '475', '860'], 'function': self.ADS1115_rate }, { 'name': 'Gain', 'options': ['GAIN_TWOTHIRDS', 'GAIN_ONE', 'GAIN_TWO', 'GAIN_FOUR', 'GAIN_EIGHT', 'GAIN_SIXTEEN'], 'function': self.ADS1115_gain } ]}, 0x68: { 'name': 'MPU6050', 'init': self.MPU6050_init, 'read': self.MPU6050_all, 'fields': ['Ax', 'Ay', 'Az', 'Temp', 'Gx', 'Gy', 'Gz'], 'min': [-1 * 2 ** 15, -1 * 2 ** 15, -1 * 2 ** 15, 0, -1 * 2 ** 15, -1 * 2 ** 15, -1 * 2 ** 15], 'max': [2 ** 15, 2 ** 15, 2 ** 15, 2 ** 16, 2 ** 15, 2 ** 15, 2 ** 15], 'config': [{ 'name': 'Gyroscope Range', 'options': ['250', '500', '1000', '2000'], 'function': self.MPU6050_gyro_range }, { 'name': 'Accelerometer Range', 'options': ['2x', '4x', '8x', '16x'], 'function': self.MPU6050_accel_range }, { 'name': 'Kalman', 'options': ['OFF', '0.001', '0.01', '0.1', '1', '10'], 'function': self.MPU6050_kalman_set } ]}, 41: { 'name': 'TCS34725: RGB Sensor', 'init': self.TCS34725_init, 'RGB': True, 'read': self.TCS34725_all, 'fields': ['RED', 'GREEN', 'BLUE'], 'min': [0, 0, 0, 0], 'max': [2 ** 16, 2 ** 16, 2 ** 16], 'config': [{ 'name': 'Gain', 'options': ['1', '4', '16', '60'], 'function': self.TCS34725_gain } ]}, 118: { 'name': 'BMP280', 'init': self.BMP280_init, 'read': self.BMP280_all, 'fields': ['Pressure', 'Temp', 'Alt'], 'min': [0, 0, 0], 'max': [1600, 100, 100], }, 12: { # 0xc 'name': 'AK8963 Mag', 'init': self.AK8963_init, 'read': self.AK8963_all, 'fields': ['X', 'Y', 'Z'], 'min': [-32767, -32767, -32767], 'max': [32767, 32767, 32767], }, 119: { 'name': 'MS5611', 'init': self.MS5611_init, 'read': self.MS5611_all, 'fields': ['Pressure', 'Temp', 'Alt'], 'min': [0, 0, 0], 'max': [1600, 100, 10], }, 119: { 'name': 'BMP180', 'init': self.BMP180_init, 'read': self.BMP180_all, 'fields': ['Pressure', 'Temp'], 'min': [0, 0], 'max': [1600, 100], }, 0x41: { # A0 pin connected to Vs . Otherwise address 0x40 conflicts with PCA board. 'name': 'INA3221', 'init': self.INA3221_init, 'read': self.INA3221_all, 'fields': ['CH1', 'CH2', 'CH3'], 'min': [0, 0, 0], 'max': [1000, 1000, 1000], }, 0x5A: { 'name': 'MLX90614', 'init': self.MLX90614_init, 'read': self.MLX90614_all, 'fields': ['TEMP'], 'min': [0], 'max': [350]} } self.controllers = { self.MCP5725_ADDRESS: { 'name': 'MCP4725', 'init': self.MCP4725_init, 'write': [['CH0', 0, 4095, 0, self.MCP4725_set]], }, } self.special = { 0x40: { 'name': 'PCA9685 PWM', 'init': self.PCA9685_init, 'write': [['Channel 1', 0, 180, 90, functools.partial(self.PCA9685_set, 1)], # name, start, stop, default, function ['Channel 2', 0, 180, 90, functools.partial(self.PCA9685_set, 2)], ['Channel 3', 0, 180, 90, functools.partial(self.PCA9685_set, 3)], ['Channel 4', 0, 180, 90, functools.partial(self.PCA9685_set, 4)], ], } } self.connected = False if 'port' in kwargs: self.portname = kwargs.get('port', None) try: self.fd, self.version, self.connected = self.connectToPort(self.portname) if self.connected: # self.fd.setRTS(0) if self.nano: self.REGS = REGISTERS.VERSIONS[self.version][ 'REGISTERS'] # A map of alphanumeric port names to the 8-bit register locations self.REGSTATES = {} # Store the last written state of the registers self.SPECIALS = REGISTERS.VERSIONS[self.version]['SPECIALS'] for a in ['B', 'C', 'D']: # Initialize all inputs self.setReg('DDR' + a, 0) # All inputs self.setReg('PORT' + a, 0) # No Pullup self.setReg('PORTC', (1 << 4) | (1 << 5)) # I2C Pull-Up else: for a in ['A', 'B', 'C', 'D']: # Initialize all inputs self.setReg('DDR' + a, 0) return except Exception as ex: print('Failed to connect to ', self.portname, ex.message) elif kwargs.get('autoscan', False): # Scan and pick a port portList = getFreePorts() for a in portList: if portList[a]: try: self.portname = a self.fd, self.version, self.connected = self.connectToPort(self.portname) if self.connected: # self.fd.setRTS(0) if self.nano: self.REGS = REGISTERS.VERSIONS[self.version][ 'REGISTERS'] # A map of alphanumeric port names to the 8-bit register locations self.REGSTATES = {} # Store the last written state of the registers self.SPECIALS = REGISTERS.VERSIONS[self.version]['SPECIALS'] for a in ['B', 'C', 'D']: # Initialize all inputs self.setReg('DDR' + a, 0) # All inputs self.setReg('PORT' + a, 0) # No Pullup self.setReg('PORTC', (1 << 4) | (1 << 5)) # I2C Pull-Up else: for a in ['A', 'B', 'C', 'D']: # Initialize all inputs self.setReg('DDR' + a, 0) # All inputs self.setReg('PORT' + a, 0) # No Pullup self.setReg('PORTC', 3) # I2C Pull-Up return except Exception as e: print(e) else: print(a, ' is busy') def __get_version__(self, fd): fd.flush() fd.setRTS(0) fd.setDTR(0) time.sleep(0.01) fd.setRTS(1) fd.setDTR(1) st = time.time() while fd.in_waiting: fd.read(fd.in_waiting) time.sleep(max(0, 0.25 - (time.time()-st))) fd.write(self.GET_VERSION) x= fd.read() return x def get_version(self): return self.__get_version__(self.fd) def connectToPort(self, portname): ''' connect to a port, and check for the right version ''' try: if 'inux' in platform.system(): # Linux based system try: # try to lock down the serial port import socket self.blockingSocket = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) self.blockingSocket.bind('\0eyesj2%s' % portname) self.blockingSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) fd = serial.Serial(portname, self.BAUD, timeout=0.2) if not fd.isOpen(): return None, '', False except socket.error as e: # print ('Port {0} is busy'.format(portname)) return None, '', False # raise RuntimeError("Another program is using %s (%d)" % (portname) ) ''' import fcntl try: fcntl.flock(fd.fileno(), fcntl.LOCK_EX | fcntl.LOCK_NB) #print ('locked access to ',portname,fd.fileno()) except IOError: #print ('Port {0} is busy'.format(portname)) return None,'',False ''' else: fd = serial.Serial(portname, self.BAUD, timeout=0.5) # print ('not on linux',platform.system()) if (fd.in_waiting): fd.flush() fd.readall() except serial.SerialException as ex: print('Port {0} is unavailable: {1}'.format(portname, ex)) return None, '', False version = self.__get_version__(fd) self.nano = False if len(version) == 1: if ord(version) == ord(self.VERSIONNUM): return fd, ord(version), True elif ord(version) in [ord(self.VERSIONNUM_168P), ord(self.VERSIONNUM_328P), ord(self.VERSIONNUM_UNO)]: # assume it is mega32. will work with glitches self.nano = True return fd, ord(self.VERSIONNUM), True print('version check failed', len(version), ord(version)) return None, '', False def close(self): self.fd.close() self.portname = None self.connected = False if self.blockingSocket: self.blockingSocket.shutdown(1) self.blockingSocket.close() self.blockingSocket = None def __sendByte__(self, val): """ transmits a BYTE val - byte to send """ # print (val) try: if (type(val) == int): self.fd.write(Byte.pack(val)) else: self.fd.write(val) except: self.connected = False def __getByte__(self): """ reads a byte from the serial port and returns it """ try: ss = self.fd.read(1) except: self.connected = False print('No byte received. Disconnected?', time.ctime()) return 0 if len(ss): return Byte.unpack(ss)[0] else: print('byte communication error.', time.ctime()) return None def setReg(self, reg, data): # print(reg,data) if reg not in self.REGS and type(reg) == str: return False self.REGSTATES[reg] = data self.__sendByte__(self.WRITEB) if reg in self.REGS: self.__sendByte__(self.REGS[reg]) else: # print('missing register',reg) self.__sendByte__(reg) self.__sendByte__(data) def getReg(self, reg): if (reg not in self.REGS) and type(reg) == str: print('unknown register', reg) return 0 self.__sendByte__(self.READB) if reg in self.REGS: self.__sendByte__(self.REGS[reg]) else: # print('missing register',reg) self.__sendByte__(reg) val = self.__getByte__() self.REGSTATES[reg] = val return val def readADC(self, ch): # Read the ADC channel self.setReg(self.REGS['ADMUX'], 64 | ch) self.setReg(self.REGS['ADCSRA'], 197) # Enable the ADC low = self.getReg(self.REGS['ADCL']) hi = self.getReg(self.REGS['ADCH']) return (hi << 8) | low ''' def writeEEPROM(self,data): addr=0 for a in data: timeout=20 #20mS while ((self.getReg('EECR') & 2)): timeout-=1 if timeout==0: print ('wait timeout!') break time.sleep(0.001) self.setReg('EEARL',addr) self.setReg('EEARH',0) self.setReg('EEDR',a) self.setReg('EECR',4) ##EEMPE master write enable self.setReg('EECR',6) # EEPE write addr+=1 def readEEPROM(self,total): addr=0; b = [] for a in range(total): timeout=20 #20mS while ((self.getReg('EECR') & 2)): timeout-=1 if timeout==0: print ('wait timeout!') break time.sleep(0.001) self.setReg('EEARL',addr) self.setReg('EEARH',0) self.setReg('EECR',1) ##EERE. Read b.append(self.getReg('EEDR')) addr+=1 return b ''' # I2C Calls. Will be replaced with firmware level implementation ''' def initI2C(self): # Initialize I2C self.setReg('TWSR',0x00) self.setReg('TWBR',0x46) self.setReg('TWCR',0x04) def startI2C(self): self.setReg('TWCR',(1<<7)|(1<<5) | (1<<2)) timeout=10 #20mS time.sleep(0.001) while (not(self.getReg('TWCR') & (1<<7))): timeout-=1 print('waiy') if timeout==0: print('start timeout') break time.sleep(0.001) def stopI2C(self): self.setReg('TWCR',(1<<7) | (1<<4) | (1<<2)) timeout=10 #20mS time.sleep(0.001) def writeI2C(self,val): self.setReg('TWDR',val) self.setReg('TWCR',(1<<7) | (1<<2)) timeout=20 #20mS while (not(self.getReg('TWCR') & (1<<7))): timeout-=1 if timeout==0: print ('write timeout') break time.sleep(0.001) def readI2C(self,ack): self.setReg('TWCR',(1<<7) | (1<<2) | (ack<<6)) timeout=20 #20mS while (not(self.getReg('TWCR') & (1<<7))): timeout-=1 if timeout==0: print ('read timeout') break time.sleep(0.001) if timeout: return self.getReg('TWDR') else: return None def I2CWriteBulk(self,address,bytestream): # Individual register write based writing. takes a few hundred milliseconds self.startI2C() self.writeI2C(address<<1) for a in bytestream: self.writeI2C(a) self.stopI2C() def I2CReadBulk(self,address,register,total): # Individual register write based reading. takes a few hundred milliseconds self.startI2C() self.writeI2C(address<<1) self.writeI2C(register) self.startI2C() self.writeI2C((address<<1)|1) #Read b=[] for a in range(total-1): b.append(self.readI2C(1) ) b.append(self.readI2C(0)) self.stopI2C() return b # Individual register write based scan. takes a few seconds def I2CScan(self): found = [] for a in range(127): self.startI2C() time.sleep(0.005) self.writeI2C(a<<1) time.sleep(0.005) if self.getReg('TWSR') == 0x18: found.append(a) self.stopI2C() return found ''' def I2CScan(self): self.__sendByte__(self.I2C_SCAN) addrs = [] val = self.__getByte__() if val is None: return [] while val < 254: addrs.append(val) val = self.__getByte__() if (val == 254): print('timed out') # self.setReg('TWBR',0xFF) #I2C speed minimal. testing purposes return addrs def I2CWriteBulk(self, address, bytestream): self.__sendByte__(self.I2C_WRITE) self.__sendByte__(address) # address self.__sendByte__(len(bytestream)) # Total bytes to write. <=255 for a in bytestream: self.__sendByte__(Byte.pack(a)) tmt = self.__getByte__() if tmt: return True # Hasn't Timed out. else: return False # Timeout occured def I2CReadBulk(self, address, register, total): self.__sendByte__(self.I2C_READ) self.__sendByte__(address) # address self.__sendByte__(register) # device register address self.__sendByte__(total) # Total bytes to read. <=255 data = [] for a in range(total): val = self.__getByte__() data.append(val) tmt = self.__getByte__() return data, True if not tmt else False class KalmanFilter(object): ''' Credits:http://scottlobdell.me/2014/08/kalman-filtering-python-reading-sensor-input/ ''' def __init__(self, var, est, initial_values): # var = process variance. est = estimated measurement var self.var = np.array(var) self.est = np.array(est) self.posteri_estimate = np.array(initial_values) self.posteri_error_estimate = np.ones(len(var), dtype=np.float16) def input(self, vals): vals = np.array(vals) priori_estimate = self.posteri_estimate priori_error_estimate = self.posteri_error_estimate + self.var blending_factor = priori_error_estimate / (priori_error_estimate + self.est) self.posteri_estimate = priori_estimate + blending_factor * (vals - priori_estimate) self.posteri_error_estimate = (1 - blending_factor) * priori_error_estimate def output(self): return self.posteri_estimate MPU6050_kalman = 0 def MPU6050_init(self): self.I2CWriteBulk(0x68, [0x1B, 0 << 3]) # Gyro Range . 250 self.I2CWriteBulk(0x68, [0x1C, 0 << 3]) # Accelerometer Range. 2 self.I2CWriteBulk(0x68, [0x6B, 0x00]) # poweron v, tmt = self.I2CReadBulk(0x68, 0x75, 1) self.mag = False if v[0] in [0x71, 0x73]: # MPU9255, MPU9250. Has magnetometer. Enable it. self.mag = True self.I2CWriteBulk(0x68, [0x37, 0x22]) # INT_PIN_CFG . I2C passthrough enabled. Rescan to detect magnetometer. def MPU6050_gyro_range(self, val): self.I2CWriteBulk(0x68, [0x1B, val << 3]) # Gyro Range . 250,500,1000,2000 -> 0,1,2,3 -> shift left by 3 positions def MPU6050_accel_range(self, val): print(val) self.I2CWriteBulk(0x68, [0x1C, val << 3]) # Accelerometer Range. 2,4,8,16 -> 0,1,2,3 -> shift left by 3 positions def MPU6050_kalman_set(self, val): if not val: self.MPU6050_kalman = 0 return noise = [] for a in range(50): noise.append(np.array(self.MPU6050_all(disableKalman=True))) noise = np.array(noise) self.MPU6050_kalman = self.KalmanFilter(1e6 * np.ones(noise.shape[1]) / (10 ** val), np.std(noise, 0) ** 2, noise[-1]) def MPU6050_accel(self): b, tmt = self.I2CReadBulk(0x68, 0x3B, 6) if tmt: return None if None not in b: return [(b[x * 2 + 1] << 8) | b[x * 2] for x in range(3)] # X,Y,Z def MPU6050_gyro(self): b, tmt = self.I2CReadBulk(0x68, 0x3B + 6, 6) if tmt: return None if None not in b: return [(b[x * 2 + 1] << 8) | b[x * 2] for x in range(3)] # X,Y,Z def MPU6050_all(self, disableKalman=False): ''' returns a 7 element list. Ax,Ay,Az,T,Gx,Gy,Gz returns None if communication timed out with I2C sensor disableKalman can be set to True if Kalman was previously enabled. ''' b, tmt = self.I2CReadBulk(0x68, 0x3B, 14) if tmt: return None if None not in b: if (not self.MPU6050_kalman) or disableKalman: return [np.int16((b[x * 2] << 8) | b[x * 2 + 1]) for x in range(7)] # Ax,Ay,Az, Temp, Gx, Gy,Gz else: self.MPU6050_kalman.input([np.int16((b[x * 2] << 8) | b[x * 2 + 1]) for x in range(7)]) return self.MPU6050_kalman.output() ######## AK8963 magnetometer attacched to MPU925x ####### AK8963_ADDRESS = 0x0C _AK8963_CNTL = 0x0A def AK8963_init(self): self.I2CWriteBulk(self.AK8963_ADDRESS, [self._AK8963_CNTL, 0]) # power down mag self.I2CWriteBulk(self.AK8963_ADDRESS, [self._AK8963_CNTL, (1 << 4) | 6]) # mode (0=14bits,1=16bits) <<4 | (2=8Hz , 6=100Hz) def AK8963_all(self, disableKalman=False): vals, tmt = self.I2CReadBulk(self.AK8963_ADDRESS, 0x03, 7) # 6+1 . 1(ST2) should not have bit 4 (0x8) true. It's ideally 16 . overflow bit if tmt: return None ax, ay, az = struct.unpack('hhh', bytes(vals[:6])) if not vals[6] & 0x08: return [ax, ay, az] else: return None ####### BMP280 ################### # https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bme280-ds002.pdf ## Partly from https://github.com/farmerkeith/BMP280-library/blob/master/farmerkeith_BMP280.cpp BMP280_ADDRESS = 118 BMP280_REG_CONTROL = 0xF4 BMP280_REG_RESULT = 0xF6 BMP280_HUMIDITY_ENABLED = False _BMP280_humidity_calib = [0] * 6 BMP280_oversampling = 0 _BMP280_PRESSURE_MIN_HPA = 0 _BMP280_PRESSURE_MAX_HPA = 1600 _BMP280_sea_level_pressure = 1013.25 # for calibration.. from circuitpython library def BMP280_init(self): b = self.I2CWriteBulk(self.BMP280_ADDRESS, [0xE0, 0xB6]) # reset time.sleep(0.1) self.BMP280_HUMIDITY_ENABLED = False b, tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xD0, 1) print(b) if b is None: return None b = b[0] if b in [0x58, 0x56, 0x57]: print('BMP280. ID:', b) elif b == 0x60: self.BMP280_HUMIDITY_ENABLED = True print('BME280 . includes humidity') else: print('ID unknown', b) # get calibration data b, tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0x88, 24) # 24 bytes containing calibration data coeff = list(struct.unpack('> 4)) self._BMP280_humidity_calib[5] = float(coeff[5]) print('calibration data: ', self._BMP280_temp_calib, self._BMP280_humidity_calib) self.I2CWriteBulk(self.BMP280_ADDRESS, [0xF4, 0xFF]) # ctrl_meas (oversampling of pressure, temperature) def _BMP280_calcTemperature(self, adc_t): v1 = (adc_t / 16384.0 - self._BMP280_temp_calib[0] / 1024.0) * self._BMP280_temp_calib[1] v2 = ((adc_t / 131072.0 - self._BMP280_temp_calib[0] / 8192.0) * ( adc_t / 131072.0 - self._BMP280_temp_calib[0] / 8192.0)) * self._BMP280_temp_calib[2] self._BMP280_t_fine = int(v1 + v2) return (v1 + v2) / 5120.0 # actual temperature. def _BMP280_calcPressure(self, adc_p, adc_t): self._BMP280_calcTemperature(adc_t) # t_fine has been set now. # Algorithm from the BMP280 driver. adapted from adafruit adaptation # https://github.com/BoschSensortec/BMP280_driver/blob/master/bmp280.c var1 = self._BMP280_t_fine / 2.0 - 64000.0 var2 = var1 * var1 * self._BMP280_pressure_calib[5] / 32768.0 var2 = var2 + var1 * self._BMP280_pressure_calib[4] * 2.0 var2 = var2 / 4.0 + self._BMP280_pressure_calib[3] * 65536.0 var3 = self._BMP280_pressure_calib[2] * var1 * var1 / 524288.0 var1 = (var3 + self._BMP280_pressure_calib[1] * var1) / 524288.0 var1 = (1.0 + var1 / 32768.0) * self._BMP280_pressure_calib[0] if not var1: return _BMP280_PRESSURE_MIN_HPA pressure = 1048576.0 - adc_p pressure = ((pressure - var2 / 4096.0) * 6250.0) / var1 var1 = self._BMP280_pressure_calib[8] * pressure * pressure / 2147483648.0 var2 = pressure * self._BMP280_pressure_calib[7] / 32768.0 pressure = pressure + (var1 + var2 + self._BMP280_pressure_calib[6]) / 16.0 pressure /= 100 if pressure < self._BMP280_PRESSURE_MIN_HPA: return self._BMP280_PRESSURE_MIN_HPA if pressure > self._BMP280_PRESSURE_MAX_HPA: return self._BMP280_PRESSURE_MAX_HPA return pressure def _BMP280_calcHumidity(self, adc_h, adc_t): self._BMP280_calcTemperature(adc_t) # t fine set. var1 = float(self._BMP280_t_fine) - 76800.0 var2 = (self._BMP280_humidity_calib[3] * 64.0 + (self._BMP280_humidity_calib[4] / 16384.0) * var1) var3 = adc_h - var2 var4 = self._BMP280_humidity_calib[1] / 65536.0 var5 = (1.0 + (self._BMP280_humidity_calib[2] / 67108864.0) * var1) var6 = 1.0 + (self._BMP280_humidity_calib[5] / 67108864.0) * var1 * var5 var6 = var3 * var4 * (var5 * var6) humidity = var6 * (1.0 - self._BMP280_humidity_calib[0] * var6 / 524288.0) if humidity > 100: return 100 if humidity < 0: return 0 return humidity def BMP280_all(self): if self.BMP280_HUMIDITY_ENABLED: data, tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xF7, 8) else: data, tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xF7, 6) # os = [0x34,0x74,0xb4,0xf4] # delays=[0.005,0.008,0.014,0.026] # self.I2CWriteBulk(self.BMP280_ADDRESS,[self.BMP280_REG_CONTROL,os[self.BMP280_oversampling] ]) # time.sleep(delays[self.BMP280_oversampling]) if tmt: return None if data is None: return None if None not in data: # Convert pressure and temperature data to 19-bits adc_p = (((data[0] & 0xFF) * 65536.) + ((data[1] & 0xFF) * 256.) + (data[2] & 0xF0)) / 16. adc_t = (((data[3] & 0xFF) * 65536.) + ((data[4] & 0xFF) * 256.) + (data[5] & 0xF0)) / 16. if self.BMP280_HUMIDITY_ENABLED: adc_h = (data[6] * 256.) + data[7] return [self._BMP280_calcPressure(adc_p, adc_t), self._BMP280_calcTemperature(adc_t), self._BMP280_calcHumidity(adc_h, adc_t)] else: return [self._BMP280_calcPressure(adc_p, adc_t), self._BMP280_calcTemperature(adc_t), 0] return None ########## TCS34725 RGB sensor ########### _TCS34725_COMMAND_BIT = 0x80 _TCS34725_REGISTER_STATUS = 0x13 _TCS34725_REGISTER_CDATA = 0x14 _TCS34725_REGISTER_RDATA = 0x16 _TCS34725_REGISTER_GDATA = 0x18 _TCS34725_REGISTER_BDATA = 0x1a _TCS34725_REGISTER_ENABLE = 0x00 _TCS34725_REGISTER_ATIME = 0x01 _TCS34725_REGISTER_AILT = 0x04 _TCS34725_REGISTER_AIHT = 0x06 _TCS34725_REGISTER_ID = 0x12 _TCS34725_REGISTER_APERS = 0x0c _TCS34725_REGISTER_CONTROL = 0x0f _TCS34725_REGISTER_SENSORID = 0x12 _TCS34725_REGISTER_STATUS = 0x13 _TCS34725_ENABLE_AIEN = 0x10 _TCS34725_ENABLE_WEN = 0x08 _TCS34725_ENABLE_AEN = 0x02 _TCS34725_ENABLE_PON = 0x01 _GAINS = (1, 4, 16, 60) _CYCLES = (0, 1, 2, 3, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60) _INTEGRATION_TIME_THRESHOLD_LOW = 2.4 _INTEGRATION_TIME_THRESHOLD_HIGH = 614.4 TCS34725_ADDRESS = 41 def TCS34725_init(self): enable, tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_ENABLE, 1) enable = enable[0] self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_REGISTER_ENABLE, enable | self._TCS34725_ENABLE_PON]) # time.sleep(0.003) self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_ENABLE, enable | self._TCS34725_ENABLE_PON | self._TCS34725_ENABLE_AEN | self._TCS34725_ENABLE_AIEN]) # self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_APERS, 10]) self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_ATIME, 256 - 40]) def TCS34725_gain(self, g): self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_CONTROL, g]) # Gain def TCS34725_all(self): R, tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_RDATA, 2) G, tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_GDATA, 2) B, tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT | self._TCS34725_REGISTER_BDATA, 2) if tmt: return None return [R[0] | (R[1] << 8), G[0] | (G[1] << 8), B[0] | (B[1] << 8)] def TCS34725_range(self): pass ####### MS5611 Altimeter ################### MS5611_ADDRESS = 119 def MS5611_init(self): self.I2CWriteBulk(self.MS5611_ADDRESS, [0x1E]) # reset time.sleep(0.5) self._MS5611_calib = np.zeros(6) # calibration data. # pressure gain, offset . T coeff of P gain, offset. Ref temp. T coeff of T. all unsigned shorts. b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA2, 2) if tmt: return self._MS5611_calib[0] = struct.unpack('!H', bytes(b))[0] b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA4, 2) self._MS5611_calib[1] = struct.unpack('!H', bytes(b))[0] b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA6, 2) self._MS5611_calib[2] = struct.unpack('!H', bytes(b))[0] b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA8, 2) self._MS5611_calib[3] = struct.unpack('!H', bytes(b))[0] b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xAA, 2) self._MS5611_calib[4] = struct.unpack('!H', bytes(b))[0] b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xAC, 2) self._MS5611_calib[5] = struct.unpack('!H', bytes(b))[0] print('Calibration for MS5611:', self._MS5611_calib) #BMP180 pressure sensor BMP180 = None def BMP180_init(self): import BMP180 self.BMP180 = BMP180(self.I2CReadBulk, self.I2CWriteBulk) def BMP180_all(self): if self.BMP180 is not None: return self.BMP180.getRaw() def MS5611_all(self): self.I2CWriteBulk(self.MS5611_ADDRESS, [0x48]) # 0x48 Pressure conversion(OSR = 4096) command time.sleep(0.01) # 10mS b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0x00, 3) # data. D1 = b[0] * 65536 + b[1] * 256 + b[2] # msb2, msb1, lsb self.I2CWriteBulk(self.MS5611_ADDRESS, [0x58]) # 0x58 Temperature conversion(OSR = 4096) command time.sleep(0.01) b, tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0x00, 3) # data. D2 = b[0] * 65536 + b[1] * 256 + b[2] # msb2, msb1, lsb dT = D2 - self._MS5611_calib[4] * 256 TEMP = 2000 + dT * self._MS5611_calib[5] / 8388608 OFF = self._MS5611_calib[1] * 65536 + (self._MS5611_calib[3] * dT) / 128 SENS = self._MS5611_calib[0] * 32768 + (self._MS5611_calib[2] * dT) / 256 T2 = 0; OFF2 = 0; SENS2 = 0 if TEMP >= 2000: T2 = 0 OFF2 = 0 SENS2 = 0 elif TEMP < 2000: T2 = (dT * dT) / 2147483648 OFF2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 2 SENS2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 4 if TEMP < -1500: OFF2 = OFF2 + 7 * ((TEMP + 1500) * (TEMP + 1500)) SENS2 = SENS2 + 11 * ((TEMP + 1500) * (TEMP + 1500)) / 2 TEMP = TEMP - T2 OFF = OFF - OFF2 SENS = SENS - SENS2 pressure = ((((D1 * SENS) / 2097152) - OFF) / 32768.0) / 100.0 cTemp = TEMP / 100.0 return [pressure, cTemp, 0] ### INA3221 3 channel , high side current sensor ############# INA3221_ADDRESS = 0x41 _INA3221_REG_CONFIG = 0x0 _INA3221_SHUNT_RESISTOR_VALUE = 0.1 _INA3221_REG_SHUNTVOLTAGE = 0x01 _INA3221_REG_BUSVOLTAGE = 0x02 def INA3221_init(self): self.I2CWriteBulk(self.INA3221_ADDRESS, [self._INA3221_REG_CONFIG, 0b01110101, 0b00100111]) # cont shunt. def INA3221_all(self): I = [0., 0., 0.] b, tmt = self.I2CReadBulk(self.INA3221_ADDRESS, self._INA3221_REG_SHUNTVOLTAGE, 2) if tmt: return None b[1] &= 0xF8; I[0] = struct.unpack('!h', bytes(b))[0] b, tmt = self.I2CReadBulk(self.INA3221_ADDRESS, self._INA3221_REG_SHUNTVOLTAGE + 2, 2) if tmt: return None b[1] &= 0xF8; I[1] = struct.unpack('!h', bytes(b))[0] b, tmt = self.I2CReadBulk(self.INA3221_ADDRESS, self._INA3221_REG_SHUNTVOLTAGE + 4, 2) if tmt: return None b[1] &= 0xF8; I[2] = struct.unpack('!h', bytes(b))[0] return [0.005 * I[0] / self._INA3221_SHUNT_RESISTOR_VALUE, 0.005 * I[1] / self._INA3221_SHUNT_RESISTOR_VALUE, 0.005 * I[2] / self._INA3221_SHUNT_RESISTOR_VALUE] ### SHT21 HUMIDITY TEMPERATURE SENSOR ############# SHT21_ADDRESS = 0x41 _SHT21_TEMP = 0xf3 _SHT21_HUM = 0xf5 _SHT21_RESET = 0xFE _INA3221_REG_SHUNTVOLTAGE = 0x01 _INA3221_REG_BUSVOLTAGE = 0x02 def SHT21_init(self): self.I2CWriteBulk(self.SHT21_ADDRESS, [self._SHT21_RESET]) # reset time.sleep(0.1) def SHT21_all(self): self.I2CWriteBulk(self.SHT21_ADDRESS, [self._SHT21_TEMP]) time.sleep(.1) self.startI2C() self.writeI2C((self.SHT21_ADDRESS << 1) | 1) # Read b = [] for a in range(2): b.append(self.readI2C(1)) b.append(self.readI2C(0)) self.stopI2C() temperature, checksum = struct.unpack('>HB', bytes(b)) return [temperature * 175.72 / 65536.0 - 46.85, 0] ####### TSL2561 LIGHT SENSOR ########### TSL_GAIN = 0x00 # 0x00=1x , 0x01 = 16x TSL_TIMING = 0x00 # 0x00=3 mS , 0x01 = 101 mS, 0x02 = 402mS def TSL2561_init(self): self.I2CWriteBulk(0x39, [0x80, 0x03]) # poweron self.I2CWriteBulk(0x39, [0x80 | 0x01, self.TSL_GAIN | self.TSL_TIMING]) return self.TSL2561_all() def TSL2561_gain(self, gain): self.TSL_GAIN = gain << 4 self.TSL2561_config(self.TSL_GAIN, self.TSL_TIMING) def TSL2561_timing(self, timing): self.TSL_TIMING = timing self.TSL2561_config(self.TSL_GAIN, self.TSL_TIMING) def TSL2561_rate(self, timing): self.TSL_TIMING = timing self.TSL2561_config(self.TSL_GAIN, self.TSL_TIMING) def TSL2561_config(self, gain, timing): self.I2CWriteBulk(0x39, [0x80 | 0x01, gain | timing]) # Timing register 0x01. gain[1x,16x] | timing[13mS,100mS,400mS] def TSL2561_all(self): ''' returns a 2 element list. total,IR returns None if communication timed out with I2C sensor ''' b, tmt = self.I2CReadBulk(0x39, 0x80 | 0x20 | 0x0C, 4) if tmt: return None if None not in b: return [(b[x * 2 + 1] << 8) | b[x * 2] for x in range(2)] # total, IR def MLX90614_init(self): pass def MLX90614_all(self): ''' return a single element list. None if failed ''' vals, tmt = self.I2CReadBulk(0x5A, 0x07, 3) if tmt: return None if vals: if len(vals) == 3: return [((((vals[1] & 0x007f) << 8) + vals[0]) * 0.02) - 0.01 - 273.15] else: return None else: return None MCP5725_ADDRESS = 0x60 def MCP4725_init(self): pass def MCP4725_set(self, val): ''' Set the DAC value. 0 - 4095 ''' self.I2CWriteBulk(self.MCP5725_ADDRESS, [0x40, (val >> 4) & 0xFF, (val & 0xF) << 4]) ####################### HMC5883L MAGNETOMETER ############### HMC5883L_ADDRESS = 0x1E HMC_CONFA = 0x00 HMC_CONFB = 0x01 HMC_MODE = 0x02 HMC_STATUS = 0x09 # --------CONFA register bits. 0x00----------- HMCSamplesToAverage = 0 HMCSamplesToAverage_choices = [1, 2, 4, 8] HMCDataOutputRate = 6 HMCDataOutputRate_choices = [0.75, 1.5, 3, 7.5, 15, 30, 75] HMCMeasurementConf = 0 # --------CONFB register bits. 0x01----------- HMCGainValue = 7 # least sensitive HMCGain_choices = [8, 7, 6, 5, 4, 3, 2, 1] HMCGainScaling = [1370., 1090., 820., 660., 440., 390., 330., 230.] def HMC5883L_init(self): self.__writeHMCCONFA__() self.__writeHMCCONFB__() self.I2CWriteBulk(self.HMC5883L_ADDRESS, [self.HMC_MODE, 0]) # enable continuous measurement mode def __writeHMCCONFB__(self): self.I2CWriteBulk(self.HMC5883L_ADDRESS, [self.HMC_CONFB, self.HMCGainValue << 5]) # set gain def __writeHMCCONFA__(self): self.I2CWriteBulk(self.HMC5883L_ADDRESS, [self.HMC_CONFA, (self.HMCDataOutputRate << 2) | (self.HMCSamplesToAverage << 5) | ( self.HMCMeasurementConf)]) def HMC5883L_getVals(self, addr, bytes): vals = self.I2CReadBulk(self.ADDRESS, addr, bytes) return vals def HMC5883L_all(self): vals = self.HMC5883L_getVals(0x03, 6) if vals: if len(vals) == 6: return [np.int16(vals[a * 2] << 8 | vals[a * 2 + 1]) / self.HMCGainScaling[self.HMCGainValue] for a in range(3)] else: return False else: return False PCA9685_address = 64 def PCA9685_init(self): prescale_val = int((25000000.0 / 4096 / 60.) - 1) # default clock at 25MHz # self.I2CWriteBulk(self.PCA9685_address, [0x00,0x10]) #MODE 1 , Sleep print('clock set to,', prescale_val) self.I2CWriteBulk(self.PCA9685_address, [0xFE, prescale_val]) # PRESCALE , prescale value self.I2CWriteBulk(self.PCA9685_address, [0x00, 0x80]) # MODE 1 , restart self.I2CWriteBulk(self.PCA9685_address, [0x01, 0x04]) # MODE 2 , Totem Pole pass CH0 = 0x6 # LED0 start register CH0_ON_L = 0x6 # channel0 output and brightness control byte 0 CH0_ON_H = 0x7 # channel0 output and brightness control byte 1 CH0_OFF_L = 0x8 # channel0 output and brightness control byte 2 CH0_OFF_H = 0x9 # channel0 output and brightness control byte 3 CHAN_WIDTH = 4 def PCA9685_set(self, chan, angle): ''' chan: 1-16 Set the servo angle for SG90: angle(0 - 180) ''' Min = 180 Max = 650 val = int(((Max - Min) * (angle / 180.)) + Min) print(chan, angle, val) self.I2CWriteBulk(self.PCA9685_address, [self.CH0_ON_L + self.CHAN_WIDTH * (chan - 1), 0]) # self.I2CWriteBulk(self.PCA9685_address, [self.CH0_ON_H + self.CHAN_WIDTH * (chan - 1), 0]) # Turn on immediately. At 0. self.I2CWriteBulk(self.PCA9685_address, [self.CH0_OFF_L + self.CHAN_WIDTH * (chan - 1), val & 0xFF]) # Turn off after val width 0-4095 self.I2CWriteBulk(self.PCA9685_address, [self.CH0_OFF_H + self.CHAN_WIDTH * (chan - 1), (val >> 8) & 0xFF]) ## ADS1115 REG_POINTER_MASK = 0x3 REG_POINTER_CONVERT = 0 REG_POINTER_CONFIG = 1 REG_POINTER_LOWTHRESH = 2 REG_POINTER_HITHRESH = 3 REG_CONFIG_OS_MASK = 0x8000 REG_CONFIG_OS_SINGLE = 0x8000 REG_CONFIG_OS_BUSY = 0x0000 REG_CONFIG_OS_NOTBUSY = 0x8000 REG_CONFIG_MUX_MASK = 0x7000 REG_CONFIG_MUX_DIFF_0_1 = 0x0000 # Differential P = AIN0, N = AIN1 =default) REG_CONFIG_MUX_DIFF_0_3 = 0x1000 # Differential P = AIN0, N = AIN3 REG_CONFIG_MUX_DIFF_1_3 = 0x2000 # Differential P = AIN1, N = AIN3 REG_CONFIG_MUX_DIFF_2_3 = 0x3000 # Differential P = AIN2, N = AIN3 REG_CONFIG_MUX_SINGLE_0 = 0x4000 # Single-ended AIN0 REG_CONFIG_MUX_SINGLE_1 = 0x5000 # Single-ended AIN1 REG_CONFIG_MUX_SINGLE_2 = 0x6000 # Single-ended AIN2 REG_CONFIG_MUX_SINGLE_3 = 0x7000 # Single-ended AIN3 REG_CONFIG_PGA_MASK = 0x0E00 # bits 11:9 REG_CONFIG_PGA_6_144V = (0 << 9) # +/-6.144V range = Gain 2/3 REG_CONFIG_PGA_4_096V = (1 << 9) # +/-4.096V range = Gain 1 REG_CONFIG_PGA_2_048V = (2 << 9) # +/-2.048V range = Gain 2 =default) REG_CONFIG_PGA_1_024V = (3 << 9) # +/-1.024V range = Gain 4 REG_CONFIG_PGA_0_512V = (4 << 9) # +/-0.512V range = Gain 8 REG_CONFIG_PGA_0_256V = (5 << 9) # +/-0.256V range = Gain 16 REG_CONFIG_MODE_MASK = 0x0100 # bit 8 REG_CONFIG_MODE_CONTIN = (0 << 8) # Continuous conversion mode REG_CONFIG_MODE_SINGLE = (1 << 8) # Power-down single-shot mode =default) REG_CONFIG_DR_MASK = 0x00E0 REG_CONFIG_DR_8SPS = (0 << 5) # 8 SPS REG_CONFIG_DR_16SPS = (1 << 5) # 16 SPS REG_CONFIG_DR_32SPS = (2 << 5) # 32 SPS REG_CONFIG_DR_64SPS = (3 << 5) # 64 SPS REG_CONFIG_DR_128SPS = (4 << 5) # 128 SPS REG_CONFIG_DR_250SPS = (5 << 5) # 260 SPS REG_CONFIG_DR_475SPS = (6 << 5) # 475 SPS REG_CONFIG_DR_860SPS = (7 << 5) # 860 SPS REG_CONFIG_CMODE_MASK = 0x0010 REG_CONFIG_CMODE_TRAD = 0x0000 REG_CONFIG_CMODE_WINDOW = 0x0010 REG_CONFIG_CPOL_MASK = 0x0008 REG_CONFIG_CPOL_ACTVLOW = 0x0000 REG_CONFIG_CPOL_ACTVHI = 0x0008 REG_CONFIG_CLAT_MASK = 0x0004 REG_CONFIG_CLAT_NONLAT = 0x0000 REG_CONFIG_CLAT_LATCH = 0x0004 REG_CONFIG_CQUE_MASK = 0x0003 REG_CONFIG_CQUE_1CONV = 0x0000 REG_CONFIG_CQUE_2CONV = 0x0001 REG_CONFIG_CQUE_4CONV = 0x0002 REG_CONFIG_CQUE_NONE = 0x0003 ADS1115_gains = OrderedDict([('GAIN_TWOTHIRDS', REG_CONFIG_PGA_6_144V), ('GAIN_ONE', REG_CONFIG_PGA_4_096V), ('GAIN_TWO', REG_CONFIG_PGA_2_048V), ('GAIN_FOUR', REG_CONFIG_PGA_1_024V), ('GAIN_EIGHT', REG_CONFIG_PGA_0_512V), ('GAIN_SIXTEEN', REG_CONFIG_PGA_0_256V)]) ADS1115_gain_scaling = OrderedDict( [('GAIN_TWOTHIRDS', 0.1875), ('GAIN_ONE', 0.125), ('GAIN_TWO', 0.0625), ('GAIN_FOUR', 0.03125), ('GAIN_EIGHT', 0.015625), ('GAIN_SIXTEEN', 0.0078125)]) ADS1115_scaling = 0.125 ADS1115_channels = OrderedDict( [('UNI_0', 0), ('UNI_1', 1), ('UNI_2', 2), ('UNI_3', 3), ('DIFF_01', '01'), ('DIFF_23', '23')]) ADS1115_rates = OrderedDict( [(8, REG_CONFIG_DR_8SPS), (16, REG_CONFIG_DR_16SPS), (32, REG_CONFIG_DR_32SPS), (64, REG_CONFIG_DR_64SPS), (128, REG_CONFIG_DR_128SPS), (250, REG_CONFIG_DR_250SPS), (475, REG_CONFIG_DR_475SPS), (860, REG_CONFIG_DR_860SPS)]) # sampling data rate ADS1115_DATARATE = 250 # 250SPS [ 8, 16, 32, 64, 128, 250, 475, 860 ] ADS1115_GAIN = REG_CONFIG_PGA_4_096V # +/-4.096V range = Gain 1 . [+-6, +-4, +-2, +-1, +-0.5, +- 0.25] ADS1115_CHANNEL = 0 # ref: type_selection ADS1115_ADDRESS = 0x48 def ADS1115_init(self): self.I2CWriteBulk(self.ADS1115_ADDRESS, [0x80, 0x03]) # poweron def ADS1115_gain(self, gain): ''' options : 'GAIN_TWOTHIRDS','GAIN_ONE','GAIN_TWO','GAIN_FOUR','GAIN_EIGHT','GAIN_SIXTEEN' ''' print('setting gain:', str(gain)) if (type(gain) == int): # From the UI selectors which return index self.ADS1115_GAIN = list(self.ADS1115_gains.items())[gain][1] print('set gain with index selection:', self.ADS1115_GAIN) self.ADS1115_scaling = list(self.ADS1115_gain_scaling.items())[gain][1] print('Scaling factor:', self.ADS1115_scaling) else: self.ADS1115_GAIN = self.ADS1115_gains.get(gain, self.REG_CONFIG_PGA_4_096V) self.ADS1115_scaling = self.ADS1115_gain_scaling.get(gain) print('set gain type B:', str(gain), self.ADS1115_GAIN, self.ADS1115_scaling) def ADS1115_channel(self, channel): ''' options 'UNI_0','UNI_1','UNI_2','UNI_3','DIFF_01','DIFF_23' ''' self.ADS1115_CHANNEL = int(channel) print('channel', channel, self.ADS1115_CHANNEL) def ADS1115_rate(self, rate): ''' data rate options 8,16,32,64,128,250,475,860 SPS . string. ''' opts = [8, 16, 32, 64, 128, 250, 475, 860] rate = int(rate) if rate < len(opts): self.ADS1115_DATARATE = opts[rate] print('rate:', rate, self.ADS1115_DATARATE) def ADS1115_read(self): ''' returns a voltage from ADS1115 channel selected using ADS1115_channel. default UNI_0 (Unipolar from channel 0) ''' if self.ADS1115_CHANNEL in [0, 1, 2, 3]: config = (self.REG_CONFIG_CQUE_NONE # Disable the comparator (default val) | self.REG_CONFIG_CLAT_NONLAT # Non-latching (default val) | self.REG_CONFIG_CPOL_ACTVLOW # Alert/Rdy active low (default val) | self.REG_CONFIG_CMODE_TRAD # Traditional comparator (default val) | (self.ADS1115_rates.get(self.ADS1115_DATARATE, self.REG_CONFIG_DR_250SPS)) # 250 samples per second (default) | (self.REG_CONFIG_MODE_SINGLE) # Single-shot mode (default) | self.ADS1115_GAIN) if self.ADS1115_CHANNEL == 0: config |= self.REG_CONFIG_MUX_SINGLE_0 elif self.ADS1115_CHANNEL == 1: config |= self.REG_CONFIG_MUX_SINGLE_1 elif self.ADS1115_CHANNEL == 2: config |= self.REG_CONFIG_MUX_SINGLE_2 elif self.ADS1115_CHANNEL == 3: config |= self.REG_CONFIG_MUX_SINGLE_3 # Set 'start single-conversion' bit config |= self.REG_CONFIG_OS_SINGLE self.I2CWriteBulk(self.ADS1115_ADDRESS, [self.REG_POINTER_CONFIG, (config >> 8) & 0xFF, config & 0xFF]) time.sleep(1. / self.ADS1115_DATARATE + .002) # convert to mS to S b, tmt = self.I2CReadBulk(self.ADS1115_ADDRESS, self.REG_POINTER_CONVERT, 2) if tmt: return None if b is not None: x = ((b[0] << 8) | b[1]) * self.ADS1115_scaling * 1e-3 return [((b[0] << 8) | b[1]) * self.ADS1115_scaling * 1e-3] # scale and convert to volts elif self.ADS1115_CHANNEL in ['01', '23']: return [0] if __name__ == '__main__': a = connect(autoscan=True) print('version', a.version) print('------------') if not a.connected: sys.exit(1) time.sleep(0.01) a.setReg('DDRC', 3) a.setReg('PORTC', 2) time.sleep(1) a.setReg('PORTC', 3) a.setReg('DDRC', 0) print(a.I2CScan()) ''' a.PCA9685_init() a.PCA9685_set(1,650) for x in range(180): a.PCA9685_set(1,x) time.sleep(0.01) a.TSL2561_init() s=time.time() for x in range(1000): print(a.TSL2561_all()) print(time.time()-s) a.MPU6050_init() s=time.time() for x in range(1000): print(a.MPU6050_all()[0]) print(time.time()-s) ''' KuttyPy-GUI-2.3/KuttyPyLibNano.py000066400000000000000000001130201456261524100167020ustar00rootroot00000000000000''' Code snippet for reading data from the kuttypy ''' import serial, struct, time,platform,os,sys,functools from utilities import REGISTERS_NANO as REGISTERS from collections import OrderedDict import numpy as np if 'inux' in platform.system(): #Linux based system import fcntl Byte = struct.Struct("B") # size 1 ShortInt = struct.Struct("H") # size 2 Integer= struct.Struct("I") # size 4 def _bv(x): return 1< 0,1,2,3 -> shift left by 3 positions def MPU6050_accel_range(self,val): print(val) self.I2CWriteBulk(0x68,[0x1C,val<<3]) #Accelerometer Range. 2,4,8,16 -> 0,1,2,3 -> shift left by 3 positions def MPU6050_kalman_set(self,val): if not val: self.MPU6050_kalman = 0 return noise=[] for a in range(50): noise.append(np.array(self.MPU6050_all(disableKalman=True))) noise = np.array(noise) self.MPU6050_kalman = self.KalmanFilter(1e6*np.ones(noise.shape[1])/(10**val), np.std(noise,0)**2, noise[-1]) def MPU6050_accel(self): b,tmt = self.I2CReadBulk(0x68, 0x3B ,6) if tmt:return None if None not in b: return [(b[x*2+1]<<8)|b[x*2] for x in range(3)] #X,Y,Z def MPU6050_gyro(self): b,tmt = self.I2CReadBulk(0x68, 0x3B+6 ,6) if tmt:return None if None not in b: return [(b[x*2+1]<<8)|b[x*2] for x in range(3)] #X,Y,Z def MPU6050_all(self,disableKalman=False): ''' returns a 7 element list. Ax,Ay,Az,T,Gx,Gy,Gz returns None if communication timed out with I2C sensor disableKalman can be set to True if Kalman was previously enabled. ''' b,tmt = self.I2CReadBulk(0x68, 0x3B ,14) if tmt:return None if None not in b: if (not self.MPU6050_kalman) or disableKalman: return [ np.int16((b[x*2]<<8)|b[x*2+1]) for x in range(7) ] #Ax,Ay,Az, Temp, Gx, Gy,Gz else: self.MPU6050_kalman.input([ np.int16((b[x*2]<<8)|b[x*2+1]) for x in range(7) ]) return self.MPU6050_kalman.output() ######## AK8963 magnetometer attacched to MPU925x ####### AK8963_ADDRESS =0x0C _AK8963_CNTL = 0x0A def AK8963_init(self): self.I2CWriteBulk(self.AK8963_ADDRESS,[self._AK8963_CNTL,0]) #power down mag self.I2CWriteBulk(self.AK8963_ADDRESS,[self._AK8963_CNTL,(1<<4)|6]) #mode (0=14bits,1=16bits) <<4 | (2=8Hz , 6=100Hz) def AK8963_all(self,disableKalman=False): vals,tmt=self.I2CReadBulk(self.AK8963_ADDRESS,0x03,7) #6+1 . 1(ST2) should not have bit 4 (0x8) true. It's ideally 16 . overflow bit if tmt:return None ax,ay,az = struct.unpack('hhh',bytes(vals[:6])) if not vals[6]&0x08:return [ax,ay,az] else: return None ####### BMP280 ################### ## Ported from https://github.com/farmerkeith/BMP280-library/blob/master/farmerkeith_BMP280.cpp BMP280_ADDRESS = 118 BMP280_REG_CONTROL = 0xF4 BMP280_REG_RESULT = 0xF6 BMP280_oversampling = 0 _BMP280_PRESSURE_MIN_HPA = 0 _BMP280_PRESSURE_MAX_HPA = 1600 _BMP280_sea_level_pressure = 1013.25 #for calibration.. from circuitpython library def BMP280_init(self): b,tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xD0 ,1) if tmt:return b = b[0] if b in [0x58,0x56,0x57]: print('BMP280. ID:',b) elif b==0x60: print('BME280 . includes humidity') else: print('ID unknown',b) # get calibration data b,tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0x88 ,24) #24 bytes containing calibration data coeff = list(struct.unpack(' self._BMP280_PRESSURE_MAX_HPA: return self._BMP280_PRESSURE_MAX_HPA return pressure def BMP280_all(self): #os = [0x34,0x74,0xb4,0xf4] #delays=[0.005,0.008,0.014,0.026] #self.I2CWriteBulk(self.BMP280_ADDRESS,[self.BMP280_REG_CONTROL,os[self.BMP280_oversampling] ]) #time.sleep(delays[self.BMP280_oversampling]) data,tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xF7,6) if tmt:return None if None not in data: # Convert pressure and temperature data to 19-bits adc_p = (((data[0] & 0xFF) * 65536.) + ((data[1] & 0xFF) * 256.) + (data[2] & 0xF0)) / 16. adc_t = (((data[3] & 0xFF) * 65536.) + ((data[4] & 0xFF) * 256.) + (data[5] & 0xF0)) / 16. return [self._BMP280_calcPressure(adc_p,adc_t), self._BMP280_calcTemperature(adc_t), 0] ########## TCS34725 RGB sensor ########### _TCS34725_COMMAND_BIT = 0x80 _TCS34725_REGISTER_STATUS = 0x13 _TCS34725_REGISTER_CDATA = 0x14 _TCS34725_REGISTER_RDATA = 0x16 _TCS34725_REGISTER_GDATA = 0x18 _TCS34725_REGISTER_BDATA = 0x1a _TCS34725_REGISTER_ENABLE = 0x00 _TCS34725_REGISTER_ATIME = 0x01 _TCS34725_REGISTER_AILT = 0x04 _TCS34725_REGISTER_AIHT = 0x06 _TCS34725_REGISTER_ID = 0x12 _TCS34725_REGISTER_APERS = 0x0c _TCS34725_REGISTER_CONTROL = 0x0f _TCS34725_REGISTER_SENSORID = 0x12 _TCS34725_REGISTER_STATUS = 0x13 _TCS34725_ENABLE_AIEN = 0x10 _TCS34725_ENABLE_WEN = 0x08 _TCS34725_ENABLE_AEN = 0x02 _TCS34725_ENABLE_PON = 0x01 _GAINS = (1, 4, 16, 60) _CYCLES = (0, 1, 2, 3, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60) _INTEGRATION_TIME_THRESHOLD_LOW = 2.4 _INTEGRATION_TIME_THRESHOLD_HIGH = 614.4 TCS34725_ADDRESS = 41 def TCS34725_init(self): enable,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_ENABLE,1) enable = enable[0] self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_REGISTER_ENABLE,enable|self._TCS34725_ENABLE_PON]) # time.sleep(0.003) self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_ENABLE,enable|self._TCS34725_ENABLE_PON | self._TCS34725_ENABLE_AEN| self._TCS34725_ENABLE_AIEN]) # self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_APERS,10]) self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_ATIME,256-40]) def TCS34725_gain(self,g): self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_CONTROL,g]) #Gain def TCS34725_all(self): R,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_RDATA,2) G,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_GDATA,2) B,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_BDATA,2) if tmt:return None return [R[0]|(R[1]<<8),G[0]|(G[1]<<8),B[0]|(B[1]<<8)] def TCS34725_range(self): pass ####### MS5611 Altimeter ################### MS5611_ADDRESS = 119 def MS5611_init(self): self.I2CWriteBulk(self.MS5611_ADDRESS, [0x1E]) # reset time.sleep(0.5) self._MS5611_calib = np.zeros(6) #calibration data. #pressure gain, offset . T coeff of P gain, offset. Ref temp. T coeff of T. all unsigned shorts. b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA2 ,2) if tmt:return self._MS5611_calib[0] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA4 ,2) self._MS5611_calib[1] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA6 ,2) self._MS5611_calib[2] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA8 ,2) self._MS5611_calib[3] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xAA ,2) self._MS5611_calib[4] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xAC ,2) self._MS5611_calib[5] = struct.unpack('!H', bytes(b))[0] print('Calibration for MS5611:',self._MS5611_calib) def MS5611_all(self): self.I2CWriteBulk(self.MS5611_ADDRESS, [0x48]) # 0x48 Pressure conversion(OSR = 4096) command time.sleep(0.01) #10mS b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0x00 ,3) #data. D1 = b[0]*65536 + b[1]*256 + b[2] #msb2, msb1, lsb self.I2CWriteBulk(self.MS5611_ADDRESS, [0x58]) # 0x58 Temperature conversion(OSR = 4096) command time.sleep(0.01) b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0x00 ,3) #data. D2 = b[0]*65536 + b[1]*256 + b[2] #msb2, msb1, lsb dT = D2 - self._MS5611_calib[4] * 256 TEMP = 2000 + dT * self._MS5611_calib[5] / 8388608 OFF = self._MS5611_calib[1] * 65536 + (self._MS5611_calib[3] * dT) / 128 SENS = self._MS5611_calib[0] * 32768 + (self._MS5611_calib[2] * dT ) / 256 T2 = 0; OFF2 = 0; SENS2 = 0 if TEMP >= 2000 : T2 = 0 OFF2 = 0 SENS2 = 0 elif TEMP < 2000 : T2 = (dT * dT) / 2147483648 OFF2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 2 SENS2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 4 if TEMP < -1500 : OFF2 = OFF2 + 7 * ((TEMP + 1500) * (TEMP + 1500)) SENS2 = SENS2 + 11 * ((TEMP + 1500) * (TEMP + 1500)) / 2 TEMP = TEMP - T2 OFF = OFF - OFF2 SENS = SENS - SENS2 pressure = ((((D1 * SENS) / 2097152) - OFF) / 32768.0) / 100.0 cTemp = TEMP / 100.0 return [pressure,cTemp,0] ### INA3221 3 channel , high side current sensor ############# INA3221_ADDRESS = 0x41 _INA3221_REG_CONFIG = 0x0 _INA3221_SHUNT_RESISTOR_VALUE = 0.1 _INA3221_REG_SHUNTVOLTAGE = 0x01 _INA3221_REG_BUSVOLTAGE = 0x02 def INA3221_init(self): self.I2CWriteBulk(self.INA3221_ADDRESS,[self._INA3221_REG_CONFIG, 0b01110101, 0b00100111 ]) #cont shunt. def INA3221_all(self): I = [0.,0.,0.] b,tmt = self.I2CReadBulk(self.INA3221_ADDRESS,self._INA3221_REG_SHUNTVOLTAGE , 2) if tmt:return None b[1]&=0xF8; I[0] = struct.unpack('!h',bytes(b))[0] b,tmt = self.I2CReadBulk(self.INA3221_ADDRESS,self._INA3221_REG_SHUNTVOLTAGE +2 , 2) if tmt:return None b[1]&=0xF8; I[1] = struct.unpack('!h',bytes(b))[0] b,tmt = self.I2CReadBulk(self.INA3221_ADDRESS,self._INA3221_REG_SHUNTVOLTAGE +4 , 2) if tmt:return None b[1]&=0xF8; I[2] = struct.unpack('!h',bytes(b))[0] return [0.005*I[0]/self._INA3221_SHUNT_RESISTOR_VALUE,0.005*I[1]/self._INA3221_SHUNT_RESISTOR_VALUE,0.005*I[2]/self._INA3221_SHUNT_RESISTOR_VALUE] ### SHT21 HUMIDITY TEMPERATURE SENSOR ############# SHT21_ADDRESS = 0x41 _SHT21_TEMP = 0xf3 _SHT21_HUM = 0xf5 _SHT21_RESET = 0xFE _INA3221_REG_SHUNTVOLTAGE = 0x01 _INA3221_REG_BUSVOLTAGE = 0x02 def SHT21_init(self): self.I2CWriteBulk(self.SHT21_ADDRESS,[self._SHT21_RESET ]) #reset time.sleep(0.1) def SHT21_all(self): self.I2CWriteBulk(self.SHT21_ADDRESS,[self._SHT21_TEMP ]) time.sleep(.1) self.startI2C() self.writeI2C((self.SHT21_ADDRESS<<1)|1) #Read b=[] for a in range(2):b.append(self.readI2C(1) ) b.append(self.readI2C(0)) self.stopI2C() temperature,checksum = struct.unpack('>HB',bytes(b)) return [temperature* 175.72 / 65536.0 - 46.85,0] ####### TSL2561 LIGHT SENSOR ########### TSL_GAIN = 0x00 # 0x00=1x , 0x01 = 16x TSL_TIMING = 0x00 # 0x00=3 mS , 0x01 = 101 mS, 0x02 = 402mS def TSL2561_init(self): self.I2CWriteBulk(0x39,[0x80 , 0x03 ]) #poweron self.I2CWriteBulk(0x39,[0x80 | 0x01, self.TSL_GAIN|self.TSL_TIMING ]) return self.TSL2561_all() def TSL2561_gain(self,gain): self.TSL_GAIN = gain<<4 self.TSL2561_config(self.TSL_GAIN,self.TSL_TIMING) def TSL2561_timing(self,timing): self.TSL_TIMING = timing self.TSL2561_config(self.TSL_GAIN,self.TSL_TIMING) def TSL2561_rate(self,timing): self.TSL_TIMING = timing self.TSL2561_config(self.TSL_GAIN,self.TSL_TIMING) def TSL2561_config(self,gain,timing): self.I2CWriteBulk(0x39,[0x80 | 0x01, gain|timing]) #Timing register 0x01. gain[1x,16x] | timing[13mS,100mS,400mS] def TSL2561_all(self): ''' returns a 2 element list. total,IR returns None if communication timed out with I2C sensor ''' b,tmt = self.I2CReadBulk(0x39,0x80 | 0x20 | 0x0C ,4) if tmt:return None if None not in b: return [ (b[x*2+1]<<8)|b[x*2] for x in range(2) ] #total, IR def MLX90614_init(self): pass def MLX90614_all(self): ''' return a single element list. None if failed ''' vals,tmt = self.I2CReadBulk(0x5A, 0x07 ,3) if tmt:return None if vals: if len(vals)==3: return [((((vals[1]&0x007f)<<8)+vals[0])*0.02)-0.01 - 273.15] else: return None else: return None MCP5725_ADDRESS = 0x60 def MCP4725_init(self): pass def MCP4725_set(self,val): ''' Set the DAC value. 0 - 4095 ''' self.I2CWriteBulk(self.MCP5725_ADDRESS, [0x40,(val>>4)&0xFF,(val&0xF)<<4]) ####################### HMC5883L MAGNETOMETER ############### HMC5883L_ADDRESS = 0x1E HMC_CONFA=0x00 HMC_CONFB=0x01 HMC_MODE=0x02 HMC_STATUS=0x09 #--------CONFA register bits. 0x00----------- HMCSamplesToAverage=0 HMCSamplesToAverage_choices=[1,2,4,8] HMCDataOutputRate=6 HMCDataOutputRate_choices=[0.75,1.5,3,7.5,15,30,75] HMCMeasurementConf=0 #--------CONFB register bits. 0x01----------- HMCGainValue = 7 #least sensitive HMCGain_choices = [8,7,6,5,4,3,2,1] HMCGainScaling=[1370.,1090.,820.,660.,440.,390.,330.,230.] def HMC5883L_init(self): self.__writeHMCCONFA__() self.__writeHMCCONFB__() self.I2CWriteBulk(self.HMC5883L_ADDRESS,[self.HMC_MODE,0]) #enable continuous measurement mode def __writeHMCCONFB__(self): self.I2CWriteBulk(self.HMC5883L_ADDRESS,[self.HMC_CONFB,self.HMCGainValue<<5]) #set gain def __writeHMCCONFA__(self): self.I2CWriteBulk(self.HMC5883L_ADDRESS,[self.HMC_CONFA,(self.HMCDataOutputRate<<2)|(self.HMCSamplesToAverage<<5)|(self.HMCMeasurementConf)]) def HMC5883L_getVals(self,addr,bytes): vals = self.I2C.readBulk(self.ADDRESS,addr,bytes) return vals def HMC5883L_all(self): vals=self.HMC5883L_getVals(0x03,6) if vals: if len(vals)==6: return [np.int16(vals[a*2]<<8|vals[a*2+1])/self.HMCGainScaling[self.HMCGainValue] for a in range(3)] else: return False else: return False PCA9685_address = 64 def PCA9685_init(self): prescale_val = int((25000000.0 / 4096 / 60.) - 1) # default clock at 25MHz #self.I2CWriteBulk(self.PCA9685_address, [0x00,0x10]) #MODE 1 , Sleep print('clock set to,',prescale_val) self.I2CWriteBulk(self.PCA9685_address, [0xFE,prescale_val]) #PRESCALE , prescale value self.I2CWriteBulk(self.PCA9685_address, [0x00,0x80]) #MODE 1 , restart self.I2CWriteBulk(self.PCA9685_address, [0x01,0x04]) #MODE 2 , Totem Pole pass CH0 = 0x6 #LED0 start register CH0_ON_L = 0x6 #channel0 output and brightness control byte 0 CH0_ON_H = 0x7 #channel0 output and brightness control byte 1 CH0_OFF_L = 0x8 #channel0 output and brightness control byte 2 CH0_OFF_H = 0x9 #channel0 output and brightness control byte 3 CHAN_WIDTH = 4 def PCA9685_set(self,chan,angle): ''' chan: 1-16 Set the servo angle for SG90: angle(0 - 180) ''' Min = 180 Max = 650 val = int((( Max-Min ) * ( angle/180. ))+Min) print(chan,angle,val) self.I2CWriteBulk(self.PCA9685_address, [self.CH0_ON_L + self.CHAN_WIDTH * (chan - 1),0]) # self.I2CWriteBulk(self.PCA9685_address, [self.CH0_ON_H + self.CHAN_WIDTH * (chan - 1),0]) # Turn on immediately. At 0. self.I2CWriteBulk(self.PCA9685_address, [self.CH0_OFF_L + self.CHAN_WIDTH * (chan - 1),val&0xFF]) #Turn off after val width 0-4095 self.I2CWriteBulk(self.PCA9685_address, [self.CH0_OFF_H + self.CHAN_WIDTH * (chan - 1),(val>>8)&0xFF]) ## ADS1115 REG_POINTER_MASK = 0x3 REG_POINTER_CONVERT = 0 REG_POINTER_CONFIG = 1 REG_POINTER_LOWTHRESH=2 REG_POINTER_HITHRESH =3 REG_CONFIG_OS_MASK =0x8000 REG_CONFIG_OS_SINGLE =0x8000 REG_CONFIG_OS_BUSY =0x0000 REG_CONFIG_OS_NOTBUSY =0x8000 REG_CONFIG_MUX_MASK =0x7000 REG_CONFIG_MUX_DIFF_0_1 =0x0000 # Differential P = AIN0, N = AIN1 =default) REG_CONFIG_MUX_DIFF_0_3 =0x1000 # Differential P = AIN0, N = AIN3 REG_CONFIG_MUX_DIFF_1_3 =0x2000 # Differential P = AIN1, N = AIN3 REG_CONFIG_MUX_DIFF_2_3 =0x3000 # Differential P = AIN2, N = AIN3 REG_CONFIG_MUX_SINGLE_0 =0x4000 # Single-ended AIN0 REG_CONFIG_MUX_SINGLE_1 =0x5000 # Single-ended AIN1 REG_CONFIG_MUX_SINGLE_2 =0x6000 # Single-ended AIN2 REG_CONFIG_MUX_SINGLE_3 =0x7000 # Single-ended AIN3 REG_CONFIG_PGA_MASK =0x0E00 #bits 11:9 REG_CONFIG_PGA_6_144V =(0<<9) # +/-6.144V range = Gain 2/3 REG_CONFIG_PGA_4_096V =(1<<9) # +/-4.096V range = Gain 1 REG_CONFIG_PGA_2_048V =(2<<9) # +/-2.048V range = Gain 2 =default) REG_CONFIG_PGA_1_024V =(3<<9) # +/-1.024V range = Gain 4 REG_CONFIG_PGA_0_512V =(4<<9) # +/-0.512V range = Gain 8 REG_CONFIG_PGA_0_256V =(5<<9) # +/-0.256V range = Gain 16 REG_CONFIG_MODE_MASK =0x0100 #bit 8 REG_CONFIG_MODE_CONTIN =(0<<8) # Continuous conversion mode REG_CONFIG_MODE_SINGLE =(1<<8) # Power-down single-shot mode =default) REG_CONFIG_DR_MASK =0x00E0 REG_CONFIG_DR_8SPS =(0<<5) #8 SPS REG_CONFIG_DR_16SPS =(1<<5) #16 SPS REG_CONFIG_DR_32SPS =(2<<5) #32 SPS REG_CONFIG_DR_64SPS =(3<<5) #64 SPS REG_CONFIG_DR_128SPS =(4<<5) #128 SPS REG_CONFIG_DR_250SPS =(5<<5) #260 SPS REG_CONFIG_DR_475SPS =(6<<5) #475 SPS REG_CONFIG_DR_860SPS =(7<<5) #860 SPS REG_CONFIG_CMODE_MASK =0x0010 REG_CONFIG_CMODE_TRAD =0x0000 REG_CONFIG_CMODE_WINDOW =0x0010 REG_CONFIG_CPOL_MASK =0x0008 REG_CONFIG_CPOL_ACTVLOW =0x0000 REG_CONFIG_CPOL_ACTVHI =0x0008 REG_CONFIG_CLAT_MASK =0x0004 REG_CONFIG_CLAT_NONLAT =0x0000 REG_CONFIG_CLAT_LATCH =0x0004 REG_CONFIG_CQUE_MASK =0x0003 REG_CONFIG_CQUE_1CONV =0x0000 REG_CONFIG_CQUE_2CONV =0x0001 REG_CONFIG_CQUE_4CONV =0x0002 REG_CONFIG_CQUE_NONE =0x0003 gains = OrderedDict([('GAIN_TWOTHIRDS',REG_CONFIG_PGA_6_144V),('GAIN_ONE',REG_CONFIG_PGA_4_096V),('GAIN_TWO',REG_CONFIG_PGA_2_048V),('GAIN_FOUR',REG_CONFIG_PGA_1_024V),('GAIN_EIGHT',REG_CONFIG_PGA_0_512V),('GAIN_SIXTEEN',REG_CONFIG_PGA_0_256V)]) gain_scaling = OrderedDict([('GAIN_TWOTHIRDS',0.1875),('GAIN_ONE',0.125),('GAIN_TWO',0.0625),('GAIN_FOUR',0.03125),('GAIN_EIGHT',0.015625),('GAIN_SIXTEEN',0.0078125)]) type_selection = OrderedDict([('UNI_0',0),('UNI_1',1),('UNI_2',2),('UNI_3',3),('DIFF_01','01'),('DIFF_23','23')]) sdr_selection = OrderedDict([(8,REG_CONFIG_DR_8SPS),(16,REG_CONFIG_DR_16SPS),(32,REG_CONFIG_DR_32SPS),(64,REG_CONFIG_DR_64SPS),(128,REG_CONFIG_DR_128SPS),(250,REG_CONFIG_DR_250SPS),(475,REG_CONFIG_DR_475SPS),(860,REG_CONFIG_DR_860SPS)]) #sampling data rate conversion_time = [8,16,32,64,128,250,460,860] ADS1115_DATARATE = 5 #250SPS [ 8, 16, 32, 64, 128, 250, 475, 860 ] ADS1115_GAIN = REG_CONFIG_PGA_4_096V # +/-4.096V range = Gain 1 . [+-6, +-4, +-2, +-1, +-0.5, +- 0.25] ADS1115_CHANNEL = REG_CONFIG_MUX_SINGLE_0 # ref: type_selection TSL_TIMING = 0x00 # 0x00=3 mS , 0x01 = 101 mS, 0x02 = 402mS ADS1115_ADDRESS = 0x48 def ADS1115_init(self): self.I2CWriteBulk(0x39,[0x80 , 0x03 ]) #poweron def ADS1115_channel(self): pass def ADS1115_read(self): ''' returns a voltage from ADS1115 channel selected using ADS1115_channel. default UNI_0 (Unipolar from channel 0) ''' if chan<=3: config = (self.REG_CONFIG_CQUE_NONE # Disable the comparator (default val) |self.REG_CONFIG_CLAT_NONLAT # Non-latching (default val) |self.REG_CONFIG_CPOL_ACTVLOW #Alert/Rdy active low (default val) |self.REG_CONFIG_CMODE_TRAD # Traditional comparator (default val) |(self.ADS1115_DATARATE<<5) # 1600 samples per second (default) |(self.REG_CONFIG_MODE_SINGLE) # Single-shot mode (default) |self.ADS1115_GAIN) if self.ADS1115_CHANNEL == 0 : config |= self.REG_CONFIG_MUX_SINGLE_0 elif self.ADS1115_CHANNEL == 1 : config |= self.REG_CONFIG_MUX_SINGLE_1 elif self.ADS1115_CHANNEL == 2 : config |= self.REG_CONFIG_MUX_SINGLE_2 elif self.ADS1115_CHANNEL == 3 : config |= self.REG_CONFIG_MUX_SINGLE_3 #Set 'start single-conversion' bit config |= self.REG_CONFIG_OS_SINGLE self.I2CWriteBulk(self.ADS1115_ADDRESS,[self.REG_POINTER_CONFIG,(config>>8)&0xFF,config&0xFF]) time.sleep(1./self.rate+.002) #convert to mS to S return self.readRegister(self.REG_POINTER_CONVERT)*self.gain_scaling[self.gain] b,tmt = self.I2CReadBulk(0x68, 0x3B ,14) if tmt:return None if None not in b: return [ np.int16((b[x*2]<<8)|b[x*2+1]) for x in range(7) ] #Ax,Ay,Az, Temp, Gx, Gy,Gz if __name__ == '__main__': a=connect(autoscan=True) print ('version' , a.version) print ('------------') if not a.connected: sys.exit(1) time.sleep(0.01) a.setReg('DDRC',3) a.setReg('PORTC',2) time.sleep(1) a.setReg('PORTC',3) a.setReg('DDRC',0) print(a.I2CScan()) ''' a.PCA9685_init() a.PCA9685_set(1,650) for x in range(180): a.PCA9685_set(1,x) time.sleep(0.01) a.TSL2561_init() s=time.time() for x in range(1000): print(a.TSL2561_all()) print(time.time()-s) a.MPU6050_init() s=time.time() for x in range(1000): print(a.MPU6050_all()[0]) print(time.time()-s) ''' KuttyPy-GUI-2.3/KuttyPyLibUno.py000066400000000000000000001130171456261524100165560ustar00rootroot00000000000000''' Code snippet for reading data from the kuttypy ''' import serial, struct, time,platform,os,sys,functools from utilities import REGISTERS_UNO as REGISTERS from collections import OrderedDict import numpy as np if 'inux' in platform.system(): #Linux based system import fcntl Byte = struct.Struct("B") # size 1 ShortInt = struct.Struct("H") # size 2 Integer= struct.Struct("I") # size 4 def _bv(x): return 1< 0,1,2,3 -> shift left by 3 positions def MPU6050_accel_range(self,val): print(val) self.I2CWriteBulk(0x68,[0x1C,val<<3]) #Accelerometer Range. 2,4,8,16 -> 0,1,2,3 -> shift left by 3 positions def MPU6050_kalman_set(self,val): if not val: self.MPU6050_kalman = 0 return noise=[] for a in range(50): noise.append(np.array(self.MPU6050_all(disableKalman=True))) noise = np.array(noise) self.MPU6050_kalman = self.KalmanFilter(1e6*np.ones(noise.shape[1])/(10**val), np.std(noise,0)**2, noise[-1]) def MPU6050_accel(self): b,tmt = self.I2CReadBulk(0x68, 0x3B ,6) if tmt:return None if None not in b: return [(b[x*2+1]<<8)|b[x*2] for x in range(3)] #X,Y,Z def MPU6050_gyro(self): b,tmt = self.I2CReadBulk(0x68, 0x3B+6 ,6) if tmt:return None if None not in b: return [(b[x*2+1]<<8)|b[x*2] for x in range(3)] #X,Y,Z def MPU6050_all(self,disableKalman=False): ''' returns a 7 element list. Ax,Ay,Az,T,Gx,Gy,Gz returns None if communication timed out with I2C sensor disableKalman can be set to True if Kalman was previously enabled. ''' b,tmt = self.I2CReadBulk(0x68, 0x3B ,14) if tmt:return None if None not in b: if (not self.MPU6050_kalman) or disableKalman: return [ np.int16((b[x*2]<<8)|b[x*2+1]) for x in range(7) ] #Ax,Ay,Az, Temp, Gx, Gy,Gz else: self.MPU6050_kalman.input([ np.int16((b[x*2]<<8)|b[x*2+1]) for x in range(7) ]) return self.MPU6050_kalman.output() ######## AK8963 magnetometer attacched to MPU925x ####### AK8963_ADDRESS =0x0C _AK8963_CNTL = 0x0A def AK8963_init(self): self.I2CWriteBulk(self.AK8963_ADDRESS,[self._AK8963_CNTL,0]) #power down mag self.I2CWriteBulk(self.AK8963_ADDRESS,[self._AK8963_CNTL,(1<<4)|6]) #mode (0=14bits,1=16bits) <<4 | (2=8Hz , 6=100Hz) def AK8963_all(self,disableKalman=False): vals,tmt=self.I2CReadBulk(self.AK8963_ADDRESS,0x03,7) #6+1 . 1(ST2) should not have bit 4 (0x8) true. It's ideally 16 . overflow bit if tmt:return None ax,ay,az = struct.unpack('hhh',bytes(vals[:6])) if not vals[6]&0x08:return [ax,ay,az] else: return None ####### BMP280 ################### ## Ported from https://github.com/farmerkeith/BMP280-library/blob/master/farmerkeith_BMP280.cpp BMP280_ADDRESS = 118 BMP280_REG_CONTROL = 0xF4 BMP280_REG_RESULT = 0xF6 BMP280_oversampling = 0 _BMP280_PRESSURE_MIN_HPA = 0 _BMP280_PRESSURE_MAX_HPA = 1600 _BMP280_sea_level_pressure = 1013.25 #for calibration.. from circuitpython library def BMP280_init(self): b,tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xD0 ,1) if tmt:return b = b[0] if b in [0x58,0x56,0x57]: print('BMP280. ID:',b) elif b==0x60: print('BME280 . includes humidity') else: print('ID unknown',b) # get calibration data b,tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0x88 ,24) #24 bytes containing calibration data coeff = list(struct.unpack(' self._BMP280_PRESSURE_MAX_HPA: return self._BMP280_PRESSURE_MAX_HPA return pressure def BMP280_all(self): #os = [0x34,0x74,0xb4,0xf4] #delays=[0.005,0.008,0.014,0.026] #self.I2CWriteBulk(self.BMP280_ADDRESS,[self.BMP280_REG_CONTROL,os[self.BMP280_oversampling] ]) #time.sleep(delays[self.BMP280_oversampling]) data,tmt = self.I2CReadBulk(self.BMP280_ADDRESS, 0xF7,6) if tmt:return None if None not in data: # Convert pressure and temperature data to 19-bits adc_p = (((data[0] & 0xFF) * 65536.) + ((data[1] & 0xFF) * 256.) + (data[2] & 0xF0)) / 16. adc_t = (((data[3] & 0xFF) * 65536.) + ((data[4] & 0xFF) * 256.) + (data[5] & 0xF0)) / 16. return [self._BMP280_calcPressure(adc_p,adc_t), self._BMP280_calcTemperature(adc_t), 0] ########## TCS34725 RGB sensor ########### _TCS34725_COMMAND_BIT = 0x80 _TCS34725_REGISTER_STATUS = 0x13 _TCS34725_REGISTER_CDATA = 0x14 _TCS34725_REGISTER_RDATA = 0x16 _TCS34725_REGISTER_GDATA = 0x18 _TCS34725_REGISTER_BDATA = 0x1a _TCS34725_REGISTER_ENABLE = 0x00 _TCS34725_REGISTER_ATIME = 0x01 _TCS34725_REGISTER_AILT = 0x04 _TCS34725_REGISTER_AIHT = 0x06 _TCS34725_REGISTER_ID = 0x12 _TCS34725_REGISTER_APERS = 0x0c _TCS34725_REGISTER_CONTROL = 0x0f _TCS34725_REGISTER_SENSORID = 0x12 _TCS34725_REGISTER_STATUS = 0x13 _TCS34725_ENABLE_AIEN = 0x10 _TCS34725_ENABLE_WEN = 0x08 _TCS34725_ENABLE_AEN = 0x02 _TCS34725_ENABLE_PON = 0x01 _GAINS = (1, 4, 16, 60) _CYCLES = (0, 1, 2, 3, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60) _INTEGRATION_TIME_THRESHOLD_LOW = 2.4 _INTEGRATION_TIME_THRESHOLD_HIGH = 614.4 TCS34725_ADDRESS = 41 def TCS34725_init(self): enable,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_ENABLE,1) enable = enable[0] self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_REGISTER_ENABLE,enable|self._TCS34725_ENABLE_PON]) # time.sleep(0.003) self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_ENABLE,enable|self._TCS34725_ENABLE_PON | self._TCS34725_ENABLE_AEN| self._TCS34725_ENABLE_AIEN]) # self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_APERS,10]) self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_ATIME,256-40]) def TCS34725_gain(self,g): self.I2CWriteBulk(self.TCS34725_ADDRESS, [self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_CONTROL,g]) #Gain def TCS34725_all(self): R,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_RDATA,2) G,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_GDATA,2) B,tmt = self.I2CReadBulk(self.TCS34725_ADDRESS, self._TCS34725_COMMAND_BIT|self._TCS34725_REGISTER_BDATA,2) if tmt:return None return [R[0]|(R[1]<<8),G[0]|(G[1]<<8),B[0]|(B[1]<<8)] def TCS34725_range(self): pass ####### MS5611 Altimeter ################### MS5611_ADDRESS = 119 def MS5611_init(self): self.I2CWriteBulk(self.MS5611_ADDRESS, [0x1E]) # reset time.sleep(0.5) self._MS5611_calib = np.zeros(6) #calibration data. #pressure gain, offset . T coeff of P gain, offset. Ref temp. T coeff of T. all unsigned shorts. b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA2 ,2) if tmt:return self._MS5611_calib[0] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA4 ,2) self._MS5611_calib[1] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA6 ,2) self._MS5611_calib[2] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xA8 ,2) self._MS5611_calib[3] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xAA ,2) self._MS5611_calib[4] = struct.unpack('!H', bytes(b))[0] b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0xAC ,2) self._MS5611_calib[5] = struct.unpack('!H', bytes(b))[0] print('Calibration for MS5611:',self._MS5611_calib) def MS5611_all(self): self.I2CWriteBulk(self.MS5611_ADDRESS, [0x48]) # 0x48 Pressure conversion(OSR = 4096) command time.sleep(0.01) #10mS b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0x00 ,3) #data. D1 = b[0]*65536 + b[1]*256 + b[2] #msb2, msb1, lsb self.I2CWriteBulk(self.MS5611_ADDRESS, [0x58]) # 0x58 Temperature conversion(OSR = 4096) command time.sleep(0.01) b,tmt = self.I2CReadBulk(self.MS5611_ADDRESS, 0x00 ,3) #data. D2 = b[0]*65536 + b[1]*256 + b[2] #msb2, msb1, lsb dT = D2 - self._MS5611_calib[4] * 256 TEMP = 2000 + dT * self._MS5611_calib[5] / 8388608 OFF = self._MS5611_calib[1] * 65536 + (self._MS5611_calib[3] * dT) / 128 SENS = self._MS5611_calib[0] * 32768 + (self._MS5611_calib[2] * dT ) / 256 T2 = 0; OFF2 = 0; SENS2 = 0 if TEMP >= 2000 : T2 = 0 OFF2 = 0 SENS2 = 0 elif TEMP < 2000 : T2 = (dT * dT) / 2147483648 OFF2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 2 SENS2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 4 if TEMP < -1500 : OFF2 = OFF2 + 7 * ((TEMP + 1500) * (TEMP + 1500)) SENS2 = SENS2 + 11 * ((TEMP + 1500) * (TEMP + 1500)) / 2 TEMP = TEMP - T2 OFF = OFF - OFF2 SENS = SENS - SENS2 pressure = ((((D1 * SENS) / 2097152) - OFF) / 32768.0) / 100.0 cTemp = TEMP / 100.0 return [pressure,cTemp,0] ### INA3221 3 channel , high side current sensor ############# INA3221_ADDRESS = 0x41 _INA3221_REG_CONFIG = 0x0 _INA3221_SHUNT_RESISTOR_VALUE = 0.1 _INA3221_REG_SHUNTVOLTAGE = 0x01 _INA3221_REG_BUSVOLTAGE = 0x02 def INA3221_init(self): self.I2CWriteBulk(self.INA3221_ADDRESS,[self._INA3221_REG_CONFIG, 0b01110101, 0b00100111 ]) #cont shunt. def INA3221_all(self): I = [0.,0.,0.] b,tmt = self.I2CReadBulk(self.INA3221_ADDRESS,self._INA3221_REG_SHUNTVOLTAGE , 2) if tmt:return None b[1]&=0xF8; I[0] = struct.unpack('!h',bytes(b))[0] b,tmt = self.I2CReadBulk(self.INA3221_ADDRESS,self._INA3221_REG_SHUNTVOLTAGE +2 , 2) if tmt:return None b[1]&=0xF8; I[1] = struct.unpack('!h',bytes(b))[0] b,tmt = self.I2CReadBulk(self.INA3221_ADDRESS,self._INA3221_REG_SHUNTVOLTAGE +4 , 2) if tmt:return None b[1]&=0xF8; I[2] = struct.unpack('!h',bytes(b))[0] return [0.005*I[0]/self._INA3221_SHUNT_RESISTOR_VALUE,0.005*I[1]/self._INA3221_SHUNT_RESISTOR_VALUE,0.005*I[2]/self._INA3221_SHUNT_RESISTOR_VALUE] ### SHT21 HUMIDITY TEMPERATURE SENSOR ############# SHT21_ADDRESS = 0x41 _SHT21_TEMP = 0xf3 _SHT21_HUM = 0xf5 _SHT21_RESET = 0xFE _INA3221_REG_SHUNTVOLTAGE = 0x01 _INA3221_REG_BUSVOLTAGE = 0x02 def SHT21_init(self): self.I2CWriteBulk(self.SHT21_ADDRESS,[self._SHT21_RESET ]) #reset time.sleep(0.1) def SHT21_all(self): self.I2CWriteBulk(self.SHT21_ADDRESS,[self._SHT21_TEMP ]) time.sleep(.1) self.startI2C() self.writeI2C((self.SHT21_ADDRESS<<1)|1) #Read b=[] for a in range(2):b.append(self.readI2C(1) ) b.append(self.readI2C(0)) self.stopI2C() temperature,checksum = struct.unpack('>HB',bytes(b)) return [temperature* 175.72 / 65536.0 - 46.85,0] ####### TSL2561 LIGHT SENSOR ########### TSL_GAIN = 0x00 # 0x00=1x , 0x01 = 16x TSL_TIMING = 0x00 # 0x00=3 mS , 0x01 = 101 mS, 0x02 = 402mS def TSL2561_init(self): self.I2CWriteBulk(0x39,[0x80 , 0x03 ]) #poweron self.I2CWriteBulk(0x39,[0x80 | 0x01, self.TSL_GAIN|self.TSL_TIMING ]) return self.TSL2561_all() def TSL2561_gain(self,gain): self.TSL_GAIN = gain<<4 self.TSL2561_config(self.TSL_GAIN,self.TSL_TIMING) def TSL2561_timing(self,timing): self.TSL_TIMING = timing self.TSL2561_config(self.TSL_GAIN,self.TSL_TIMING) def TSL2561_rate(self,timing): self.TSL_TIMING = timing self.TSL2561_config(self.TSL_GAIN,self.TSL_TIMING) def TSL2561_config(self,gain,timing): self.I2CWriteBulk(0x39,[0x80 | 0x01, gain|timing]) #Timing register 0x01. gain[1x,16x] | timing[13mS,100mS,400mS] def TSL2561_all(self): ''' returns a 2 element list. total,IR returns None if communication timed out with I2C sensor ''' b,tmt = self.I2CReadBulk(0x39,0x80 | 0x20 | 0x0C ,4) if tmt:return None if None not in b: return [ (b[x*2+1]<<8)|b[x*2] for x in range(2) ] #total, IR def MLX90614_init(self): pass def MLX90614_all(self): ''' return a single element list. None if failed ''' vals,tmt = self.I2CReadBulk(0x5A, 0x07 ,3) if tmt:return None if vals: if len(vals)==3: return [((((vals[1]&0x007f)<<8)+vals[0])*0.02)-0.01 - 273.15] else: return None else: return None MCP5725_ADDRESS = 0x60 def MCP4725_init(self): pass def MCP4725_set(self,val): ''' Set the DAC value. 0 - 4095 ''' self.I2CWriteBulk(self.MCP5725_ADDRESS, [0x40,(val>>4)&0xFF,(val&0xF)<<4]) ####################### HMC5883L MAGNETOMETER ############### HMC5883L_ADDRESS = 0x1E HMC_CONFA=0x00 HMC_CONFB=0x01 HMC_MODE=0x02 HMC_STATUS=0x09 #--------CONFA register bits. 0x00----------- HMCSamplesToAverage=0 HMCSamplesToAverage_choices=[1,2,4,8] HMCDataOutputRate=6 HMCDataOutputRate_choices=[0.75,1.5,3,7.5,15,30,75] HMCMeasurementConf=0 #--------CONFB register bits. 0x01----------- HMCGainValue = 7 #least sensitive HMCGain_choices = [8,7,6,5,4,3,2,1] HMCGainScaling=[1370.,1090.,820.,660.,440.,390.,330.,230.] def HMC5883L_init(self): self.__writeHMCCONFA__() self.__writeHMCCONFB__() self.I2CWriteBulk(self.HMC5883L_ADDRESS,[self.HMC_MODE,0]) #enable continuous measurement mode def __writeHMCCONFB__(self): self.I2CWriteBulk(self.HMC5883L_ADDRESS,[self.HMC_CONFB,self.HMCGainValue<<5]) #set gain def __writeHMCCONFA__(self): self.I2CWriteBulk(self.HMC5883L_ADDRESS,[self.HMC_CONFA,(self.HMCDataOutputRate<<2)|(self.HMCSamplesToAverage<<5)|(self.HMCMeasurementConf)]) def HMC5883L_getVals(self,addr,bytes): vals = self.I2C.readBulk(self.ADDRESS,addr,bytes) return vals def HMC5883L_all(self): vals=self.HMC5883L_getVals(0x03,6) if vals: if len(vals)==6: return [np.int16(vals[a*2]<<8|vals[a*2+1])/self.HMCGainScaling[self.HMCGainValue] for a in range(3)] else: return False else: return False PCA9685_address = 64 def PCA9685_init(self): prescale_val = int((25000000.0 / 4096 / 60.) - 1) # default clock at 25MHz #self.I2CWriteBulk(self.PCA9685_address, [0x00,0x10]) #MODE 1 , Sleep print('clock set to,',prescale_val) self.I2CWriteBulk(self.PCA9685_address, [0xFE,prescale_val]) #PRESCALE , prescale value self.I2CWriteBulk(self.PCA9685_address, [0x00,0x80]) #MODE 1 , restart self.I2CWriteBulk(self.PCA9685_address, [0x01,0x04]) #MODE 2 , Totem Pole pass CH0 = 0x6 #LED0 start register CH0_ON_L = 0x6 #channel0 output and brightness control byte 0 CH0_ON_H = 0x7 #channel0 output and brightness control byte 1 CH0_OFF_L = 0x8 #channel0 output and brightness control byte 2 CH0_OFF_H = 0x9 #channel0 output and brightness control byte 3 CHAN_WIDTH = 4 def PCA9685_set(self,chan,angle): ''' chan: 1-16 Set the servo angle for SG90: angle(0 - 180) ''' Min = 180 Max = 650 val = int((( Max-Min ) * ( angle/180. ))+Min) print(chan,angle,val) self.I2CWriteBulk(self.PCA9685_address, [self.CH0_ON_L + self.CHAN_WIDTH * (chan - 1),0]) # self.I2CWriteBulk(self.PCA9685_address, [self.CH0_ON_H + self.CHAN_WIDTH * (chan - 1),0]) # Turn on immediately. At 0. self.I2CWriteBulk(self.PCA9685_address, [self.CH0_OFF_L + self.CHAN_WIDTH * (chan - 1),val&0xFF]) #Turn off after val width 0-4095 self.I2CWriteBulk(self.PCA9685_address, [self.CH0_OFF_H + self.CHAN_WIDTH * (chan - 1),(val>>8)&0xFF]) ## ADS1115 REG_POINTER_MASK = 0x3 REG_POINTER_CONVERT = 0 REG_POINTER_CONFIG = 1 REG_POINTER_LOWTHRESH=2 REG_POINTER_HITHRESH =3 REG_CONFIG_OS_MASK =0x8000 REG_CONFIG_OS_SINGLE =0x8000 REG_CONFIG_OS_BUSY =0x0000 REG_CONFIG_OS_NOTBUSY =0x8000 REG_CONFIG_MUX_MASK =0x7000 REG_CONFIG_MUX_DIFF_0_1 =0x0000 # Differential P = AIN0, N = AIN1 =default) REG_CONFIG_MUX_DIFF_0_3 =0x1000 # Differential P = AIN0, N = AIN3 REG_CONFIG_MUX_DIFF_1_3 =0x2000 # Differential P = AIN1, N = AIN3 REG_CONFIG_MUX_DIFF_2_3 =0x3000 # Differential P = AIN2, N = AIN3 REG_CONFIG_MUX_SINGLE_0 =0x4000 # Single-ended AIN0 REG_CONFIG_MUX_SINGLE_1 =0x5000 # Single-ended AIN1 REG_CONFIG_MUX_SINGLE_2 =0x6000 # Single-ended AIN2 REG_CONFIG_MUX_SINGLE_3 =0x7000 # Single-ended AIN3 REG_CONFIG_PGA_MASK =0x0E00 #bits 11:9 REG_CONFIG_PGA_6_144V =(0<<9) # +/-6.144V range = Gain 2/3 REG_CONFIG_PGA_4_096V =(1<<9) # +/-4.096V range = Gain 1 REG_CONFIG_PGA_2_048V =(2<<9) # +/-2.048V range = Gain 2 =default) REG_CONFIG_PGA_1_024V =(3<<9) # +/-1.024V range = Gain 4 REG_CONFIG_PGA_0_512V =(4<<9) # +/-0.512V range = Gain 8 REG_CONFIG_PGA_0_256V =(5<<9) # +/-0.256V range = Gain 16 REG_CONFIG_MODE_MASK =0x0100 #bit 8 REG_CONFIG_MODE_CONTIN =(0<<8) # Continuous conversion mode REG_CONFIG_MODE_SINGLE =(1<<8) # Power-down single-shot mode =default) REG_CONFIG_DR_MASK =0x00E0 REG_CONFIG_DR_8SPS =(0<<5) #8 SPS REG_CONFIG_DR_16SPS =(1<<5) #16 SPS REG_CONFIG_DR_32SPS =(2<<5) #32 SPS REG_CONFIG_DR_64SPS =(3<<5) #64 SPS REG_CONFIG_DR_128SPS =(4<<5) #128 SPS REG_CONFIG_DR_250SPS =(5<<5) #260 SPS REG_CONFIG_DR_475SPS =(6<<5) #475 SPS REG_CONFIG_DR_860SPS =(7<<5) #860 SPS REG_CONFIG_CMODE_MASK =0x0010 REG_CONFIG_CMODE_TRAD =0x0000 REG_CONFIG_CMODE_WINDOW =0x0010 REG_CONFIG_CPOL_MASK =0x0008 REG_CONFIG_CPOL_ACTVLOW =0x0000 REG_CONFIG_CPOL_ACTVHI =0x0008 REG_CONFIG_CLAT_MASK =0x0004 REG_CONFIG_CLAT_NONLAT =0x0000 REG_CONFIG_CLAT_LATCH =0x0004 REG_CONFIG_CQUE_MASK =0x0003 REG_CONFIG_CQUE_1CONV =0x0000 REG_CONFIG_CQUE_2CONV =0x0001 REG_CONFIG_CQUE_4CONV =0x0002 REG_CONFIG_CQUE_NONE =0x0003 gains = OrderedDict([('GAIN_TWOTHIRDS',REG_CONFIG_PGA_6_144V),('GAIN_ONE',REG_CONFIG_PGA_4_096V),('GAIN_TWO',REG_CONFIG_PGA_2_048V),('GAIN_FOUR',REG_CONFIG_PGA_1_024V),('GAIN_EIGHT',REG_CONFIG_PGA_0_512V),('GAIN_SIXTEEN',REG_CONFIG_PGA_0_256V)]) gain_scaling = OrderedDict([('GAIN_TWOTHIRDS',0.1875),('GAIN_ONE',0.125),('GAIN_TWO',0.0625),('GAIN_FOUR',0.03125),('GAIN_EIGHT',0.015625),('GAIN_SIXTEEN',0.0078125)]) type_selection = OrderedDict([('UNI_0',0),('UNI_1',1),('UNI_2',2),('UNI_3',3),('DIFF_01','01'),('DIFF_23','23')]) sdr_selection = OrderedDict([(8,REG_CONFIG_DR_8SPS),(16,REG_CONFIG_DR_16SPS),(32,REG_CONFIG_DR_32SPS),(64,REG_CONFIG_DR_64SPS),(128,REG_CONFIG_DR_128SPS),(250,REG_CONFIG_DR_250SPS),(475,REG_CONFIG_DR_475SPS),(860,REG_CONFIG_DR_860SPS)]) #sampling data rate conversion_time = [8,16,32,64,128,250,460,860] ADS1115_DATARATE = 5 #250SPS [ 8, 16, 32, 64, 128, 250, 475, 860 ] ADS1115_GAIN = REG_CONFIG_PGA_4_096V # +/-4.096V range = Gain 1 . [+-6, +-4, +-2, +-1, +-0.5, +- 0.25] ADS1115_CHANNEL = REG_CONFIG_MUX_SINGLE_0 # ref: type_selection TSL_TIMING = 0x00 # 0x00=3 mS , 0x01 = 101 mS, 0x02 = 402mS ADS1115_ADDRESS = 0x48 def ADS1115_init(self): self.I2CWriteBulk(0x39,[0x80 , 0x03 ]) #poweron def ADS1115_channel(self): pass def ADS1115_read(self): ''' returns a voltage from ADS1115 channel selected using ADS1115_channel. default UNI_0 (Unipolar from channel 0) ''' if chan<=3: config = (self.REG_CONFIG_CQUE_NONE # Disable the comparator (default val) |self.REG_CONFIG_CLAT_NONLAT # Non-latching (default val) |self.REG_CONFIG_CPOL_ACTVLOW #Alert/Rdy active low (default val) |self.REG_CONFIG_CMODE_TRAD # Traditional comparator (default val) |(self.ADS1115_DATARATE<<5) # 1600 samples per second (default) |(self.REG_CONFIG_MODE_SINGLE) # Single-shot mode (default) |self.ADS1115_GAIN) if self.ADS1115_CHANNEL == 0 : config |= self.REG_CONFIG_MUX_SINGLE_0 elif self.ADS1115_CHANNEL == 1 : config |= self.REG_CONFIG_MUX_SINGLE_1 elif self.ADS1115_CHANNEL == 2 : config |= self.REG_CONFIG_MUX_SINGLE_2 elif self.ADS1115_CHANNEL == 3 : config |= self.REG_CONFIG_MUX_SINGLE_3 #Set 'start single-conversion' bit config |= self.REG_CONFIG_OS_SINGLE self.I2CWriteBulk(self.ADS1115_ADDRESS,[self.REG_POINTER_CONFIG,(config>>8)&0xFF,config&0xFF]) time.sleep(1./self.rate+.002) #convert to mS to S return self.readRegister(self.REG_POINTER_CONVERT)*self.gain_scaling[self.gain] b,tmt = self.I2CReadBulk(0x68, 0x3B ,14) if tmt:return None if None not in b: return [ np.int16((b[x*2]<<8)|b[x*2+1]) for x in range(7) ] #Ax,Ay,Az, Temp, Gx, Gy,Gz if __name__ == '__main__': a=connect(autoscan=True) print ('version' , a.version) print ('------------') if not a.connected: sys.exit(1) time.sleep(0.01) a.setReg('DDRC',3) a.setReg('PORTC',2) time.sleep(1) a.setReg('PORTC',3) a.setReg('DDRC',0) print(a.I2CScan()) ''' a.PCA9685_init() a.PCA9685_set(1,650) for x in range(180): a.PCA9685_set(1,x) time.sleep(0.01) a.TSL2561_init() s=time.time() for x in range(1000): print(a.TSL2561_all()) print(time.time()-s) a.MPU6050_init() s=time.time() for x in range(1000): print(a.MPU6050_all()[0]) print(time.time()-s) ''' KuttyPy-GUI-2.3/KuttyPyNano.py000066400000000000000000000651101456261524100162610ustar00rootroot00000000000000''' ''' #!/usr/bin/python3 import os,sys,time,re,traceback,platform,inspect from utilities.Qt import QtGui, QtCore, QtWidgets import KuttyPyLibNano from utilities.templates import ui_layoutnano as layout from utilities import dio,uploader from utilities import REGISTERS_NANO as REGISTERS import constants from functools import partial from collections import OrderedDict class myTimer(): def __init__(self,interval): self.interval = interval self.reset() def reset(self): self.timeout = time.time()+self.interval def ready(self): T = time.time() dt = T - self.timeout if dt>0: #timeout is ahead of current time #if self.interval>5:print('reset',self.timeout,dt) self.timeout = T - dt%self.interval + self.interval #if self.interval>5:print(self.timeout) return True return False def progress(self): return 100*(self.interval - self.timeout + time.time())/(self.interval) class AppWindow(QtWidgets.QMainWindow, layout.Ui_MainWindow): p=None logThis = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) serialGaugeSignal = QtCore.pyqtSignal(int) def __init__(self, parent=None,**kwargs): super(AppWindow, self).__init__(parent) self.setupUi(self) self.VERSION = REGISTERS.VERSIONNUM self.SPECIALS = REGISTERS.SPECIALS self.REGISTERS = REGISTERS.REGISTERS self.EXAMPLES_DIR = REGISTERS.EXAMPLES self.ADC_PINS = REGISTERS.ADC self.docks = [self.leftdock,self.rightdock] self.sensorList = [] self.controllerList = [] self.monitoring = True self.logRegisters = True self.userHexRunning = False self.uploadingHex = False self.autoUpdateUserRegisters = False self.CFile = None #'~/kuttyPy.c' self.ipy = None self.setTheme("material") examples = [a for a in os.listdir(os.path.join(path["examples"],self.EXAMPLES_DIR)) if ('.py' in a) and a is not 'kuttyPy.py'] #.py files except the library self.exampleList.addItems(examples) blinkindex = self.exampleList.findText('blink.py') if blinkindex!=-1: #default example. blink.py present in examples directory self.exampleList.setCurrentIndex(blinkindex) ######## PYTHON CODE self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) #Connect to the log window self.logThis.connect(self.appendLog) #Connect to the log window self.logThisPlain.connect(self.appendLogPlain) #Connect to the log window self.serialGaugeSignal.connect(self.setSerialgauge) self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) ######### C CODE UPLOADER self.uploadThread = QtCore.QThread() self.UploadObject = self.uploadObject() self.UploadObject.moveToThread(self.uploadThread) self.UploadObject.finished.connect(self.uploadThread.quit) self.UploadObject.logThis.connect(self.appendLog) #Connect to the log window self.UploadObject.logThisPlain.connect(self.appendLogPlain) #Connect to the log window. add plain text self.logThis.connect(self.appendLog) #Connect to the log window self.uploadThread.started.connect(self.UploadObject.execute) self.uploadThread.finished.connect(self.codeFinished) self.commandQ = [] self.btns={} self.registers = [] self.addPins() self.statusBar = self.statusBar() self.makeBottomMenu() global app self.initializeCommunications() self.pending = { 'status':myTimer(constants.STATUS_UPDATE_INTERVAL), 'update':myTimer(constants.AUTOUPDATE_INTERVAL), } serialgaugeoptions = {'name':'Serial Monitor', 'init':print, 'read':None, 'fields':['Value'], 'min':[0], 'max':[255]} self.serialGauge = dio.DIOSENSOR(self,serialgaugeoptions) self.startTime = time.time() self.timer = QtCore.QTimer() self.timer.timeout.connect(self.updateEverything) self.timer.start(20) #Auto-Detector self.shortlist=KuttyPyLibNano.getFreePorts() def newRegister(self): reg = dio.REGEDIT(self.commandQ) #self.registerLayout.addWidget(reg) #self.registers.append(reg) #TODO: Convert layout to listwidget to enable re-ordering regItem = QtWidgets.QListWidgetItem() regItem.setSizeHint(QtCore.QSize(200,40)) self.registerList.addItem(regItem) self.registerList.setItemWidget(regItem,reg) self.registers.append(regItem) def addPins(self): for a in ['D','B']: self.btns[a] = dio.REGVALS(a) self.leftlayout.addWidget(self.btns[a]) self.btns['C'] = dio.REGVALS('C') self.rightlayout.addWidget(self.btns['C']) for name in ['PD1','PD0','PC6','GND','PD2','PD3','PD4','PD5','PD6','PD7','PB0','PB1','PB2','PB3','PB4']: #left dock checkbox = dio.widget(name,self.commandQ,extra = self.SPECIALS.get(name,'')) self.leftlayout.addWidget(checkbox) self.btns[name] = checkbox for name in ['VIN','GND','PC6','5V','ADC7','ADC6','SCL','SDA','PC3','PC2','PC1','PC0','AREF','3V3','PB5']: #left dock checkbox = dio.widget(name,self.commandQ,extra = self.SPECIALS.get(name,'')) self.rightlayout.addWidget(checkbox) self.btns[name] = checkbox def tabChanged(self,index): if index != 0 : #examples/editor tab. disable monitoring self.monitoring = False for a in self.docks: a.hide() else: #Playground . enable monitoring and control. self.monitoring = True self.autoRefreshUserRegisters.setChecked(False) self.userRegistersAutoRefresh(False) for a in self.docks: a.show() ################USER CODE SECTION#################### class codeObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) code = '' def __init__(self,REGISTERS): super(AppWindow.codeObject, self).__init__() self.PORTMAP = {v: k for k, v in REGISTERS.items()} #Lookup port name based on number self.compiled = '' self.SR = None self.GR = None self.evalGlobals = {} self.evalGlobals['getReg'] = self.getReg self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer def setCode(self,code,**kwargs): try: self.compiled = compile(code.encode(), '', mode='exec') except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno return '''%s at line %d : %s''' % (error_class, line_number, detail) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] return '''%s at line %d: %s''' % (error_class, line_number, detail) self.SR = kwargs.get('setReg') self.GR = kwargs.get('getReg') self.evalGlobals = kwargs self.evalGlobals['getReg'] = self.getReg #Overwrite these three. They will be wrapped. self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer return '' def printer(self,*args): self.logThis.emit('''%s'''%(' '.join([str(a) for a in args]))) def setReg(self,reg,value): html=u'''
W\u2193{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format(self.PORTMAP.get(reg,''),value) self.logThis.emit(html) self.SR(reg,value) def getReg(self,reg): value = self.GR(reg) html=u'''
R\u2191{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format(self.PORTMAP.get(reg,''),value) self.logThis.emit(html) return value def execute(self): #old = sys.stdout #olde = sys.stderr #sys.stdout = self.toLog(self.logThis) #sys.stderr = self.toLog(self.logThis) try: exec(self.compiled,{},self.evalGlobals) except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno self.logThis.emit('''%s at line %d : %s''' % (error_class, line_number, detail)) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] self.logThis.emit('''%s at line %d: %s''' % (error_class, line_number, detail)) #sys.stdout = old #sys.stderr = olde self.logThis.emit("Finished executing user code") self.finished.emit() def runCode(self): #if self.p: # try: # self.p.fd.read() #Clear junk # self.p.fd.close() # except:pass if self.codeThread.isRunning(): print('one code is already running') return self.log.clear() #clear the log window self.log.setText('''----------User Code Started-----------''') kwargs = {} for a in dir(self.p): attr = getattr(self.p, a) if inspect.ismethod(attr) and a[:2]!='__': kwargs[a] = attr compilemsg = self.codeEval.setCode('{0:s}'.format(self.userCode.toPlainText()),**kwargs) if len(compilemsg): self.log.append(compilemsg) return self.codeThread.start() self.userCode.setStyleSheet("border: 3px dashed #53ffff;") self.tabs.setTabEnabled(0,False) def codeFinished(self): print('finished') self.tabs.setTabEnabled(0,True) self.userCode.setStyleSheet("") self.uploadingHex = False def abort(self): if self.codeThread.isRunning(): self.log.append('''----------Kill Signal(Doesn't work yet. Restart the application)-----------''') self.codeThread.quit() self.codeThread.terminate() del self.codeThread self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) #Connect to the log window self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) def getReg(self,reg,record = True): val = self.p.getReg(reg) if record: self.updatedRegs[reg] = [0,val] return val def setReg(self,reg,val,record = True): self.p.setReg(reg,val) if record: self.updatedRegs[reg] = [1,val] return val def appendLog(self,txt): self.log.append(txt) def appendLogPlain(self,txt): self.log.moveCursor(QtGui.QTextCursor.End) self.log.insertPlainText(txt.decode('ascii')) def setSerialgauge(self,val): self.serialGauge.setValue([val]) def genLog(self): html=''''''%(time.ctime()) #html+=''' #''' for a in self.updatedRegs: row = self.updatedRegs[a] html+=u''' '''.format(u'W \u2193' if row[0] else u'R \u2191',a,row[1]) html+="
%s
R/WREGISTERValueHex/Binary
{0:s} {1:s} {2:d} 0b{2:08b} | 0x{2:02x}
" self.log.setHtml(html) def userRegistersAutoRefresh(self,state): self.autoUpdateUserRegisters = state def updateEverything(self): self.locateDevices() if not self.checkConnectionStatus():return #KuttyPy monitor has handed over control to native code. act as serial monitor/ debug window if self.uploadingHex: return if self.userHexRunning: t = self.p.fd.read(self.p.fd.in_waiting) if len(t): self.serialGaugeSignal.emit(t[0]) self.logThisPlain.emit(t) return #self.setTheme('material') if self.codeThread.isRunning(): return if self.autoUpdateUserRegisters: for a in range(self.registerList.count()): self.registerList.itemWidget(self.registerList.item(a)).execute() while len(self.commandQ): if not self.centralWidget().isEnabled(): return a = self.commandQ.pop(0) if a[0] == 'DSTATE': #Digital Out ['DSTATE','Pxx',state] pname = 'PORT'+a[1][1].upper() bit = int(a[1][2]) reg = self.getReg(pname) reg &=~ (1<>a)&1) if name in self.ADC_PINS: #ADC if btn.currentPage == 2: #ADC Page displayed self.commandQ.append(['ADC',btn.ADMUX,btn,btn.logstate]) elif type(btn)==dio.DIOCNTR and btn.currentPage==2: # CNTR self.commandQ.append(['CNTR1',btn.slider]) def newStepperController(self): if self.p.connected: dialog = dio.DIOSTEPPER(self,total=200,device=self.p) dialog.launch() self.sensorList.append([dialog,None]) ############ I2C SENSORS ################# def I2CScan(self): if self.p.connected: x = self.p.I2CScan() print('Responses from: ',x) for a in self.sensorList: a[0].setParent(None) a[1].setParent(None) self.sensorList = [] for a in self.controllerList: a[0].setParent(None) a[1].setParent(None) self.controllerList = [] for a in x: s = self.p.sensors.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOSENSOR(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.sensorList.append([dialog,btn]) continue s = self.p.controllers.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOCONTROL(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog,btn]) continue s = self.p.special.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOROBOT(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog,btn]) continue def loadExample(self,filename): self.userCode.setPlainText(open(os.path.join(path["examples"],self.EXAMPLES_DIR,filename), "r").read()) ########################### UPLOAD HEX FILE ####################### class uploadObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) fname = '' p = None def __init__(self): super(AppWindow.uploadObject, self).__init__() def config(self,mode,p,fname): self.p = p self.fname = fname self.mode = mode def execute(self): if self.mode == 'compileupload': try: import subprocess fname = '.'.join(self.fname.split('.')[:-1]) cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" "%s"' %('atmega328p',fname,self.fname) self.logThis.emit('''Compiling for Atmega328p (Nano)''') print(cmd) res = subprocess.getstatusoutput(cmd) if res[0] != 0: self.logThis.emit('''Compile Error: %s'''%res[1]) self.finished.emit() return else: self.logThis.emit('''%s
'''%res[1]) cmd = 'avr-objcopy -j .text -j .data -O ihex "%s" "%s.hex"' %(fname,fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit('''%s
'''%res[1]) cmd = 'avr-objdump -S "%s" > "%s.lst"'%(fname,fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit('''%s
'''%res[1]) if self.fname[-2:] in ['.c','.C']: self.fname = self.fname[:-2]+'.hex' #Replace .c with .hex self.mode = 'upload' self.logThis.emit('''Generated Hex File''') self.logThis.emit('''Finished Compiling: Generated Hex File''') except Exception as err: self.logThis.emit('''Failed to Compile:%s'''%str(err)) if self.p.connected: if self.mode == 'upload': try: self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.4) dude = uploader.Uploader(self.p.fd, hexfile=self.fname,logger = self.logThis) dude.program() dude.verify() self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.2) self.p.get_version() self.logThis.emit('''Finished upload''') except Exception as err: self.logThis.emit('''Failed to upload''') self.finished.emit() def uploadHex(self): filename = QtWidgets.QFileDialog.getOpenFileName(self," Open a hex file to upload to your KuttyPy", "", "Hex Files (*.hex)") if len(filename[0]): #self.userCode.setStyleSheet("border: 3px dashed #53ffff;") #self.tabs.setTabEnabled(0,False) self.uploadingHex = True self.log.clear() self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload',self.p,filename[0]) self.uploadThread.start() def openFile(self): filename = QtWidgets.QFileDialog.getOpenFileName(self," Open a C file to edit", path["examples"], "C Files (*.c *.C)") if len(filename[0]): self.filenameLabel.setText(filename[0]) self.CFile = filename[0] self.log.clear() self.log.setText('''-- Opened File: %s --
'''%filename[0]) if 'inux' in platform.system(): #Linux based system os.system('%s "%s"' % ('xdg-open', filename[0])) else: os.system('%s "%s"' % ('open', filename[0])) def compileAndUpload(self): if self.CFile: self.uploadingHex = True self.log.clear() self.log.setText('''-- Compiling and Uploading Code --
''') self.UploadObject.config('compileupload',self.p,self.CFile) self.uploadThread.start() ############################## def setTheme(self,theme): self.setStyleSheet("") self.setStyleSheet(open(os.path.join(path["themes"],theme+".qss"), "r").read()) def initializeCommunications(self,port=False): if self.p: try:self.p.fd.close() except:pass if port: self.p = KuttyPyLibNano.connect(port = port) else: self.p = KuttyPyLibNano.connect(autoscan=True) if self.p.connected: self.userApplication.setChecked(False) self.setWindowTitle('KuttyPy Interactive Console [{0:s}]'.format(self.p.portname)) self.updatedRegs=OrderedDict() self.currentRegister = 0 self.getRegs=[ ('PINB',self.updateInputs), ('PINC',self.updateInputs), ('PIND',self.updateInputs), ] else: self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') def jumpToApplication(self,state): if self.p: if state: self.userHexRunning=True self.p.fd.write(b'j') #Skip to application (Bootloader resets) for a in self.docks: a.setEnabled(False) self.tabs.setEnabled(False) self.log.clear() self.log.setText('''-- Serial Port Monitor --
''') self.serialGauge.show() else: self.p.fd.setRTS(0) #Trigger a reset time.sleep(0.01) self.p.fd.setRTS(1) time.sleep(0.1) while self.p.fd.in_waiting: self.p.fd.read() self.p.get_version() for a in self.docks: a.setEnabled(True) self.userHexRunning=False self.tabs.setEnabled(True) self.serialGauge.hide() else: if self.isChecked(): self.setChecked(False) def makeBottomMenu(self): try:self.pushbutton.setParent(None) except:pass self.pushbutton = QtWidgets.QPushButton('Menu') self.pushbutton.setStyleSheet("height: 13px;padding:3px;color: #FFFFFF;") menu = QtWidgets.QMenu() menu.addAction('Save Window as Svg', self.exportSvg) menu.addAction('Open Stepper Controller', self.newStepperController) #Theme self.themeAction = QtWidgets.QWidgetAction(menu) themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.themeAction.setDefaultWidget(self.themeBox) menu.addAction(self.themeAction) self.pushbutton.setMenu(menu) self.userApplication = QtWidgets.QCheckBox("User App"); self.userApplication.toggled['bool'].connect(self.jumpToApplication) self.statusBar.addPermanentWidget(self.userApplication) self.hexUploadButton = QtWidgets.QPushButton("Upload Hex"); self.hexUploadButton.clicked.connect(self.uploadHex) self.statusBar.addPermanentWidget(self.hexUploadButton) self.speedbutton = QtWidgets.QComboBox(); self.speedbutton.addItems(['Slow','Fast','Ultra']); self.speedbutton.setCurrentIndex(1); self.speedbutton.currentIndexChanged['int'].connect(self.setSpeed) self.statusBar.addPermanentWidget(self.speedbutton) self.statusBar.addPermanentWidget(self.pushbutton) def setSpeed(self,index): self.timer.setInterval([100,20,5][index]) def locateDevices(self): try:L = KuttyPyLibNano.getFreePorts(self.p.portname) except Exception as e:print(e) total = len(L) menuChanged = False if L != self.shortlist: menuChanged = True if self.p.connected: if self.p.portname not in L: self.setWindowTitle('Error : Device Disconnected') QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device Disconnected. Please check the connections') try: self.p.fd.close() self.p.portname = None except:pass self.p.connected = False self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') elif True in L.values(): reply = QtWidgets.QMessageBox.question(self, 'Connection', 'Device Available. Connect?', QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.No) if reply == QtWidgets.QMessageBox.Yes: self.initializeCommunications() #update the shortlist self.shortlist=L def checkConnectionStatus(self,dialog=False): if self.p.connected:return True else: if dialog: QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device not connected. Please connect a KuttyPy to the USB port') return False def updateStatus(self): if not self.checkConnectionStatus(): self.countLabel.setText('Not Connected') return try: state,cnt = self.p.getStatus() self.currentState = state self.countLabel.setText('%s: %d'%("Running" if state else "Paused",cnt)) except: self.countLabel.setText('Disconnect!') self.p.fd.close() ######## WINDOW EXPORT SVG def exportSvg(self): from utilities.Qt import QtSvg path, _filter = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File', '~/') if path: generator = QtSvg.QSvgGenerator() generator.setFileName(path) target_rect = QtCore.QRectF(0, 0, 800, 600) generator.setSize(target_rect.size().toSize())#self.size()) generator.setViewBox(self.rect()) generator.setTitle("Your title") generator.setDescription("some description") p = QtGui.QPainter() p.begin(generator) self.render(p) p.end() def ipython(self): #Experimental feature. Import ipython and launch console if not self.p.connected: return from utilities import ipy if not self.ipy: self.ipy = ipy.AppWindow(self,kp = self.p) self.ipy.show() self.ipy.updateDevice(self.p) def translators(langDir, lang=None): """ create a list of translators @param langDir a path containing .qm translation @param lang the preferred locale, like en_IN.UTF-8, fr_FR.UTF-8, etc. @result a list of QtCore.QTranslator instances """ if lang==None: lang=QtCore.QLocale.system().name() result=[] qtTranslator=QtCore.QTranslator() qtTranslator.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) result.append(qtTranslator) # path to the translation files (.qm files) sparkTranslator=QtCore.QTranslator() sparkTranslator.load(lang, langDir); result.append(sparkTranslator) return result def firstExistingPath(l): """ Returns the first existing path taken from a list of possible paths. @param l a list of paths @return the first path which exists in the filesystem, or None """ for p in l: if os.path.exists(p): return p return None def common_paths(): """ Finds common paths @result a dictionary of common paths """ path={} curPath = os.path.dirname(os.path.realpath(__file__)) path["current"] = curPath sharedPath = "/usr/share/kuttypy" path["translation"] = firstExistingPath( [os.path.join(p, "lang") for p in (curPath, sharedPath,)]) path["utilities"] = firstExistingPath( [os.path.join(p,'utilities') for p in (curPath, sharedPath,)]) path["templates"] = firstExistingPath( [os.path.join(p,'utilities','templates') for p in (curPath, sharedPath,)]) path["themes"] = firstExistingPath( [os.path.join(p,'utilities','themes') for p in (curPath, sharedPath,)]) path["examples"] = firstExistingPath( [os.path.join(p,'examples') for p in (curPath, sharedPath,)]) path["editor"] = firstExistingPath( [os.path.join(p,'editor') for p in (curPath, sharedPath,)]) lang=str(QtCore.QLocale.system().name()) shortLang=lang[:2] return path def run(): global path, app, myapp path = common_paths() app = QtWidgets.QApplication(sys.argv) myapp = AppWindow(app=app, path=path) myapp.show() r = app.exec_() ''' if myapp.p.connected: myapp.p.fd.write(b'j') #myapp.p.fd.setRTS(0) #time.sleep(0.01) #myapp.p.fd.setRTS(1) ''' app.deleteLater() sys.exit(r) if __name__ == "__main__": run() KuttyPy-GUI-2.3/KuttyPyPlus.py000066400000000000000000001260741456261524100163200ustar00rootroot00000000000000''' ''' # !/usr/bin/python3 import os, sys, time, re, traceback, platform from PyQt5 import QtGui, QtCore, QtWidgets import KuttyPyLib import socket from utilities.templates import ui_layoutplus as layout from utilities import dio, REGISTERS, uploader, syntax from utilities import texteditor import constants import inspect from functools import partial from collections import OrderedDict # translation stuff def translate(lang=None): global app, t, t1 if lang is None: lang = QtCore.QLocale.system().name() t = QtCore.QTranslator() t.load("lang/" + lang, os.path.dirname(__file__)) app.installTranslator(t) t1 = QtCore.QTranslator() t1.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) app.installTranslator(t1) class myTimer(): def __init__(self, interval): self.interval = interval self.reset() def reset(self): self.timeout = time.time() + self.interval def ready(self): T = time.time() dt = T - self.timeout if dt > 0: # timeout is ahead of current time # if self.interval>5:print('reset',self.timeout,dt) self.timeout = T - dt % self.interval + self.interval # if self.interval>5:print(self.timeout) return True return False def progress(self): return 100 * (self.interval - self.timeout + time.time()) / (self.interval) class AppWindow(QtWidgets.QMainWindow, layout.Ui_MainWindow): p = None ports = ['A', 'B', 'C', 'D'] logThis = QtCore.pyqtSignal(str) showStatusSignal = QtCore.pyqtSignal(str, bool) serverSignal = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) codeOutput = QtCore.pyqtSignal(str, str) serialGaugeSignal = QtCore.pyqtSignal(bytes) serialGaugeConvert = 'bytes' serialStream = b'' def __init__(self, parent=None, **kwargs): super(AppWindow, self).__init__(parent) self.local_ip = '' self.setupUi(self) self.compile_thread = None self.VERSION = REGISTERS.VERSION_ATMEGA32 # This needs to be dynamically changed when hardware is connected self.SPECIALS = REGISTERS.VERSIONS[self.VERSION]['SPECIALS'] self.REGISTERS = REGISTERS.VERSIONS[self.VERSION]['REGISTERS'] self.EXAMPLES_DIR = REGISTERS.VERSIONS[self.VERSION]['examples directory'] self.docks = [self.padock, self.pbdock, self.pcdock, self.pddock] self.sensorList = [] self.controllerList = [] self.monitoring = True self.logRegisters = True self.userHexRunning = False self.uploadingHex = False self.autoUpdateUserRegisters = False self.CFile = None # '~/kuttyPy.c' self.ipy = None self.defaultDirectory = path["examples"] self.serverActive = False examples = [a for a in os.listdir(os.path.join(path["examples"], self.EXAMPLES_DIR)) if ('.py' in a) and a != 'kuttyPy.py'] # .py files except the library self.exampleList.addItems(examples) blinkindex = self.exampleList.findText('blink.py') if blinkindex != -1: # default example. blink.py present in examples directory self.exampleList.setCurrentIndex(blinkindex) self.serialGuageButton.hide() # Hide the serial guage button # Define some keyboard shortcuts for ease of use self.shortcutActions = {} self.shortcuts = {"f": partial(self.setLanguage, 'fr_FR'), "e": partial(self.setLanguage, 'en_IN'), "m": partial(self.setLanguage, 'ml_IN'), "Ctrl+S": self.saveFile, "Ctrl+O": self.openFile, "Ctrl+Shift+S": self.saveAs, "Ctrl+N": self.addSourceTab} for a in self.shortcuts: shortcut = QtWidgets.QShortcut(QtGui.QKeySequence(a), self) shortcut.activated.connect(self.shortcuts[a]) self.shortcutActions[a] = shortcut ######## PYTHON CODE self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) # Connect to the log window self.logThis.connect(self.appendLog) # Connect to the log window self.logThisPlain.connect(self.appendLogPlain) # Connect to the log window self.serialGaugeSignal.connect(self.setSerialgauge) self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) ########## C CODE EDITOR SYNTAX HIGHLIGHTER self.code_highlighters = [] ####### C CODE EDITOR ######### self.codingTabs.tabCloseRequested.connect(self.closeCTab) self.codingTabs.tabBarClicked.connect(self.CTabChanged) self.addFileMenu() self.listTab = None self.mapTab = None self.hexTab = None self.activeEditor = None self.activeSourceTab = None self.sourceTabs = {} self.addSourceTab() ######### C CODE UPLOADER self.uploadThread = QtCore.QThread() self.UploadObject = self.uploadObject() self.UploadObject.moveToThread(self.uploadThread) self.UploadObject.finished.connect(self.uploadThread.quit) self.UploadObject.logThis.connect(self.appendLog) # Connect to the log window self.UploadObject.resultSignal.connect(self.codeOutput) # Load .lst, .hex , .map files self.UploadObject.logThisPlain.connect(self.appendLogPlain) # Connect to the log window. add plain text self.logThis.connect(self.appendLog) # Connect to the log window self.uploadThread.started.connect(self.UploadObject.execute) self.uploadThread.finished.connect(self.codeFinished) self.commandQ = [] self.btns = {} self.registers = [] self.addPins() self.statusBar = self.statusBar() self.makeBottomMenu() global app self.initializeCommunications() self.pending = { 'status': myTimer(constants.STATUS_UPDATE_INTERVAL), 'update': myTimer(constants.AUTOUPDATE_INTERVAL), } serialgaugeoptions = {'name': 'Serial Monitor', 'init': print, 'read': None, 'fields': ['Value'], 'min': [0], 'max': [1000], 'config': [{ 'name': 'Data Type', 'options': ['byte', 'ASCII'], 'function': self.configSerialGauge } ]} self.serialGauge = dio.DIOSENSOR(self, serialgaugeoptions) self.startTime = time.time() self.timer = QtCore.QTimer() self.timer.timeout.connect(self.updateEverything) self.timer.start(20) # Auto-Detector self.shortlist = KuttyPyLib.getFreePorts() def activateCompileServer(self): if self.serverActive: #Stop it if self.compile_thread is not None: self.compile_thread.terminate() self.compile_thread.wait() print('quit compile_thread') self.compile_thread_button.setParent(None) self.showStatus("Compiler Stopped ", False) return self.serverActive = False self.compile_thread_button.setText("Start Online Compiler") else: s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.settimeout(0.1) # Set a timeout to avoid blocking indefinitely s.connect(("8.8.8.8", 80)) # Connect to a public IP address self.local_ip = s.getsockname()[0] from utilities.compile_server import create_server self.compile_thread = create_server(self.showStatusSignal, self.serverSignal, path["kpy"], self.local_ip) self.showStatusSignal.connect(self.showStatus) self.serverSignal.connect(self.showServerStatus) s.close() self.showStatus("Compiler Active at " + self.local_ip, False) self.compile_thread_button.setText("Stop Server") self.serverActive = True def addFileMenu(self): self.myFileMenuBar = QtWidgets.QMenuBar(self.fileMenuButton) codeMenu = self.myFileMenuBar.addMenu('File:') newFileAction = QtWidgets.QAction('New File', self) newFileAction.triggered.connect(self.addSourceTab) codeMenu.addAction(newFileAction) openFileAction = QtWidgets.QAction('Open File', self) openFileAction.triggered.connect(self.openFile) openIcon = QtGui.QIcon() openIcon.addPixmap(QtGui.QPixmap(":/control/document-open.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) openFileAction.setIcon(openIcon) codeMenu.addAction(openFileAction) saveFileAction = QtWidgets.QAction('Save File', self) saveFileAction.triggered.connect(self.saveFile) saveIcon = QtGui.QIcon() saveIcon.addPixmap(QtGui.QPixmap(":/control/saveall.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) saveFileAction.setIcon(saveIcon) codeMenu.addAction(saveFileAction) saveAsFileAction = QtWidgets.QAction('Save As', self) saveAsFileAction.triggered.connect(self.saveAs) saveAsFileAction.setIcon(saveIcon) codeMenu.addAction(saveAsFileAction) exitAction = QtWidgets.QAction('Exit', self) exitAction.triggered.connect(QtWidgets.qApp.quit) codeMenu.addAction(exitAction) def closeCTab(self, index): print('Close Tab', index) widget = self.codingTabs.widget(index) sourceTabClosed = False if widget == self.mapTab: print('closing map tab') self.mapTab = None elif widget == self.hexTab: print('closing hex tab') self.hexTab = None elif widget == self.listTab: print('closing list tab') self.listTab = None elif widget in self.sourceTabs: if len(self.sourceTabs) == 1: print("last tab. won't close.") return else: print('closing source tab', widget.objectName()) self.sourceTabs.pop(widget) sourceTabClosed = True self.codingTabs.removeTab(index) if sourceTabClosed: # Source Tab closed. Re-assign active source tab self.activeSourceTab = list(self.sourceTabs.keys())[0] self.activeEditor = self.sourceTabs[self.activeSourceTab][0] self.CFile = self.sourceTabs[self.activeSourceTab][1] self.codingTabs.setCurrentIndex(self.codingTabs.indexOf(self.activeSourceTab)) print('New Source Tab:', self.getActiveFilename, self.CFile) def getActiveFilename(self): self.codingTabs.tabText(self.codingTabs.indexOf(self.activeSourceTab)) def addSourceTab(self): sourceTab = QtWidgets.QWidget() sourceTab.setObjectName("sourceTab") horizontalLayout_3 = QtWidgets.QHBoxLayout(sourceTab) horizontalLayout_3.setContentsMargins(0, 0, 0, 0) horizontalLayout_3.setSpacing(0) horizontalLayout_3.setObjectName("horizontalLayout_3") editor = texteditor.myTextEditor(sourceTab, self.codingTabs) font = QtGui.QFont() font.setFamily("Ubuntu Mono") font.setPointSize(12) editor.setFont(font) editor.setObjectName("editor") editor.setTabChangesFocus(False) horizontalLayout_3.addWidget(editor) self.codingTabs.addTab(sourceTab, "") self.sourceTabs[sourceTab] = [editor, None] self.codingTabs.setCurrentIndex(self.codingTabs.indexOf(sourceTab)) self.codingTabs.setTabText(self.codingTabs.indexOf(sourceTab), 'new.c') self.activeSourceTab = sourceTab self.activeEditor = editor self.code_highlighters.append(syntax.PythonHighlighter(editor.document())) def CTabChanged(self, index): widget = self.codingTabs.widget(index) if widget in self.sourceTabs: self.activeSourceTab = widget self.activeEditor = self.sourceTabs[widget][0] self.CFile = self.sourceTabs[widget][1] print('Change Tab', index, self.codingTabs.tabText(index), self.CFile) def newRegister(self): reg = dio.REGEDIT(self.commandQ) # self.registerLayout.addWidget(reg) # self.registers.append(reg) # TODO: Convert layout to listwidget to enable re-ordering regItem = QtWidgets.QListWidgetItem() regItem.setSizeHint(QtCore.QSize(200, 40)) self.registerList.addItem(regItem) self.registerList.setItemWidget(regItem, reg) self.registers.append(regItem) def addPins(self): for port, dock in zip(self.ports, [self.palayout, self.pblayout, self.pclayout, self.pdlayout]): checkbox = dio.REGVALS(port) dock.addWidget(checkbox) self.btns[port] = checkbox seq = range(7, -1, -1) if port == 'C': seq = reversed(seq) # PORTC pins are ordered top to bottom for a in seq: name = 'P' + port + str(a) checkbox = dio.widget(name, self.commandQ, extra=self.SPECIALS.get(name, '')) dock.addWidget(checkbox) self.btns[name] = checkbox def tabChanged(self, index): if self.userHexRunning: # Firmware was running. Stop it. self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) if index != 0: # examples/editor tab. disable monitoring self.monitoring = False for a in self.docks: a.hide() else: # Playground . enable monitoring and control. self.monitoring = True self.autoRefreshUserRegisters.setChecked(False) self.userRegistersAutoRefresh(False) self.setLogType('playground') for a in self.docks: a.show() def setLogType(self, tp): self.log.clear() if tp == 'playground': self.logLabel.setText("Monitor registers being read and set during each operation") elif tp == 'avr': self.logLabel.setText("Avr-Gcc compile/upload messages") elif tp == 'monitor': self.logLabel.setText("Monitor data input from the serial port") elif tp == 'python': self.logLabel.setText("Python Code operations monitor") ################USER CODE SECTION#################### def codeOutput(self, filetype, filename): self.openCodeBreakupTab(filetype, filename) try: infile = open(filename, 'r') if filetype == 'list': self.listEditor.setPlainText(infile.read()) if filetype == 'map': self.mapEditor.setPlainText(infile.read()) if filetype == 'hex': self.hexEditor.setPlainText(infile.read()) infile.close() except Exception as e: print(e) def openCodeBreakupTab(self, filetype, filename): tab = None if filetype == 'list': if self.listTab is None: self.openListTab() tab = self.listTab elif filetype == 'map': if self.mapTab is None: self.openMapTab() tab = self.mapTab elif filetype == 'hex': if self.hexTab is None: self.openHexTab() tab = self.hexTab if tab != None: fname = filename.split self.codingTabs.setTabText(self.codingTabs.indexOf(tab), filetype + ":" + os.path.basename(filename)) def openListTab(self): self.listTab = QtWidgets.QWidget() self.listTab.setObjectName("listTab") self.verticalLayout = QtWidgets.QVBoxLayout(self.listTab) self.verticalLayout.setContentsMargins(0, 0, 0, 0) self.verticalLayout.setSpacing(0) self.verticalLayout.setObjectName("verticalLayout") self.listEditor = QtWidgets.QTextBrowser(self.listTab) self.listEditor.setObjectName("listEditor") self.verticalLayout.addWidget(self.listEditor) self.codingTabs.addTab(self.listTab, "") def openMapTab(self): self.mapTab = QtWidgets.QWidget() self.mapTab.setObjectName("mapTab") self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.mapTab) self.verticalLayout_3.setContentsMargins(0, 0, 0, 0) self.verticalLayout_3.setSpacing(0) self.verticalLayout_3.setObjectName("verticalLayout_3") self.mapEditor = QtWidgets.QTextBrowser(self.mapTab) self.mapEditor.setObjectName("mapEditor") self.verticalLayout_3.addWidget(self.mapEditor) self.codingTabs.addTab(self.mapTab, "") def openHexTab(self): self.hexTab = QtWidgets.QWidget() self.hexTab.setObjectName("hexTab") self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.hexTab) self.verticalLayout_2.setContentsMargins(0, 0, 0, 0) self.verticalLayout_2.setSpacing(0) self.verticalLayout_2.setObjectName("verticalLayout_2") self.hexEditor = QtWidgets.QTextBrowser(self.hexTab) self.hexEditor.setObjectName("hexEditor") self.verticalLayout_2.addWidget(self.hexEditor) self.codingTabs.addTab(self.hexTab, "") class codeObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) code = '' def __init__(self, REGISTERS): super(AppWindow.codeObject, self).__init__() self.PORTMAP = {v: k for k, v in REGISTERS.items()} # Lookup port name based on number self.compiled = '' self.SR = None self.GR = None self.evalGlobals = {} self.evalGlobals['getReg'] = self.getReg self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer def setCode(self, code, **kwargs): try: self.compiled = compile(code.encode(), '', mode='exec') except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno return '''%s at line %d : %s''' % (error_class, line_number, detail) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] return '''%s at line %d: %s''' % (error_class, line_number, detail) self.SR = kwargs.get('setReg') self.GR = kwargs.get('getReg') self.evalGlobals = kwargs self.evalGlobals['getReg'] = self.getReg # Overwrite these three. They will be wrapped. self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer return '' def printer(self, *args): self.logThis.emit('''%s''' % (' '.join([str(a) for a in args]))) def setReg(self, reg, value): html = u'''
W\u2193{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format( self.PORTMAP.get(reg, ''), value) self.logThis.emit(html) self.SR(reg, value) def getReg(self, reg): value = self.GR(reg) html = u'''
R\u2191{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format( self.PORTMAP.get(reg, ''), value) self.logThis.emit(html) return value def execute(self): # old = sys.stdout # olde = sys.stderr # sys.stdout = self.toLog(self.logThis) # sys.stderr = self.toLog(self.logThis) try: exec(self.compiled, {}, self.evalGlobals) except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno self.logThis.emit( '''%s at line %d : %s''' % (error_class, line_number, detail)) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] self.logThis.emit( '''%s at line %d: %s''' % (error_class, line_number, detail)) # sys.stdout = old # sys.stderr = olde self.logThis.emit("Finished executing user code") self.finished.emit() def runCode(self): if self.codeThread.isRunning(): print('one code is already running') return self.setLogType('python') self.log.clear() # clear the log window self.log.setText('''----------User Code Started-----------''') kwargs = {} for a in dir(self.p): attr = getattr(self.p, a) if inspect.ismethod(attr) and a[:2] != '__': kwargs[a] = attr compilemsg = self.codeEval.setCode('{0:s}'.format(self.userCode.toPlainText()), **kwargs) if len(compilemsg): self.log.append(compilemsg) return self.codeThread.start() self.userCode.setStyleSheet("border: 3px dashed #53ffff;") self.tabs.setTabEnabled(0, False) def codeFinished(self): print('finished') self.tabs.setTabEnabled(0, True) self.userCode.setStyleSheet("") self.uploadingHex = False def abort(self): if self.codeThread.isRunning(): self.log.append( '''----------Kill Signal(Doesn't work yet. Restart the application)-----------''') self.codeThread.quit() self.codeThread.terminate() del self.codeThread self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) # Connect to the log window self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) def getReg(self, reg, record=True): val = self.p.getReg(reg) if record: self.updatedRegs[reg] = [0, val] return val def setReg(self, reg, val, record=True): self.p.setReg(reg, val) if record: self.updatedRegs[reg] = [1, val] return val def appendLog(self, txt): self.log.append(txt) def appendLogPlain(self, txt): self.log.moveCursor(QtGui.QTextCursor.End) self.log.insertPlainText(txt.decode('ascii')) def configSerialGauge(self, val): if val == 0: # 'byte' print('Byte Mode(0-255)') for a in self.serialGauge.gauges: a.set_MaxValue(255) self.serialGaugeConvert = 'bytes' if val == 1: # 'ascii' print('ASCII(0-10000)') for a in self.serialGauge.gauges: a.set_MaxValue(10000) self.serialGaugeConvert = 'ascii' def setSerialgauge(self, vals): if self.serialGaugeConvert == 'bytes': self.serialGauge.setValue([vals[0]]) elif self.serialGaugeConvert == 'ascii': self.serialStream += vals while b'\n' in self.serialStream: val, _, self.serialStream = self.serialStream.partition(b'\n') self.serialGauge.setValue([float(val)]) def genLog(self): html = '''''' % (time.ctime()) # html+=''' # ''' for a in self.updatedRegs: row = self.updatedRegs[a] html += u''' '''.format(u'W \u2193' if row[0] else u'R \u2191', a, row[1]) html += "
%s
R/WREGISTERValueHex/Binary
{0:s} {1:s} {2:d} 0b{2:08b} | 0x{2:02x}
" self.log.setHtml(html) def userRegistersAutoRefresh(self, state): self.autoUpdateUserRegisters = state def updateEverything(self): self.locateDevices() if not self.checkConnectionStatus(): return # KuttyPy monitor has handed over control to native code. act as serial monitor/ debug window if self.uploadingHex: return if self.userHexRunning: t = self.p.fd.read(self.p.fd.in_waiting) if len(t): self.serialGaugeSignal.emit(t) self.logThisPlain.emit(t) return # self.setTheme('material') if self.codeThread.isRunning(): return if self.autoUpdateUserRegisters: for a in range(self.registerList.count()): self.registerList.itemWidget(self.registerList.item(a)).execute() while len(self.commandQ): if not self.centralWidget().isEnabled(): return a = self.commandQ.pop(0) if a[0] == 'DSTATE': # Digital Out ['DSTATE','Pxx',state] pname = 'PORT' + a[1][1].upper() bit = int(a[1][2]) reg = self.getReg(pname) reg &= ~ (1 << bit) if (a[2]): reg |= (1 << bit) self.setReg(pname, reg) elif a[0] == 'DTYPE': # Digital pin I/O ['DTYPE','Pxx',state] pname = 'DDR' + a[1][1].upper() bit = int(a[1][2]) reg = self.getReg(pname) reg &= ~ (1 << bit) if (a[2]): reg |= (1 << bit) self.setReg(pname, reg); elif a[0] == 'WRITE': # ['WRITE','REGNAME',val] self.setReg(a[1], a[2]); elif a[0] == 'READ': # ['READ','REGNAME',function] val = self.getReg(a[1]) a[2](val) elif a[0] == 'CNTR1': # ['CNTR1',output with setValue function] cl = self.getReg('TCNT1L', False) ch = self.getReg('TCNT1H', False) a[1].setValue(cl | (ch << 8)) elif a[0] == 'ADC': # ['ADC',ADMUX,output with setValue function, to log, or not to log] self.setReg('ADMUX', a[1], a[3]) self.setReg('ADCSRA', 196 | 1, a[3]) adcl = self.getReg('ADCL', a[3]) adch = self.getReg('ADCH', a[3]) a[2].setValue(adcl | (adch << 8)) for a in self.sensorList: if a[0].isVisible(): a[0].setValue(a[0].read()) ''' if self.enableLog.isChecked(): if self.clearLog.isChecked() and len(self.updatedRegs): self.log.clear() if len(self.updatedRegs): self.genLog() self.updatedRegs = OrderedDict() ''' if len(self.updatedRegs): self.genLog() self.updatedRegs = OrderedDict() if self.pending['status'].ready() and self.monitoring: val = self.p.getReg(self.getRegs[self.currentRegister][0]) self.getRegs[self.currentRegister][1](self.getRegs[self.currentRegister][0], val) self.currentRegister += 1 if self.currentRegister == len(self.getRegs): self.currentRegister = 0 for a in self.ports: self.btns[a].setRegs(self.p.REGSTATES) if self.pending['update'].ready(): pass # print('update') def updateInputs(self, port, value): portchar = port[3] for a in range(8): btn = self.btns['P' + portchar + str(a)] btn.nameIn.setChecked((value >> a) & 1) if portchar == 'A': # ADC if btn.currentPage == 2: # ADC Page displayed self.commandQ.append(['ADC', btn.ADMUX, btn, btn.logstate]) elif type(btn) == dio.DIOCNTR and btn.currentPage == 2: # CNTR self.commandQ.append(['CNTR1', btn.slider]) def newStepperController(self): if self.p.connected: dialog = dio.DIOSTEPPER(self, total=200, device=self.p) dialog.launch() self.sensorList.append([dialog, None]) ############ I2C SENSORS ################# def I2CScan(self): if self.p.connected: x = self.p.I2CScan() print('Responses from: ', x) for a in self.sensorList: a[0].setParent(None) a[1].setParent(None) self.sensorList = [] for a in self.controllerList: a[0].setParent(None) a[1].setParent(None) self.controllerList = [] for a in x: s = self.p.sensors.get(a, None) if s != None: btn = QtWidgets.QPushButton(s['name'] + ':' + hex(a)) dialog = dio.DIOSENSOR(self, s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.sensorList.append([dialog, btn]) continue s = self.p.controllers.get(a, None) if s != None: btn = QtWidgets.QPushButton(s['name'] + ':' + hex(a)) dialog = dio.DIOCONTROL(self, s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog, btn]) continue s = self.p.special.get(a, None) if s != None: btn = QtWidgets.QPushButton(s['name'] + ':' + hex(a)) dialog = dio.DIOROBOT(self, s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog, btn]) continue def loadExample(self, filename): self.userCode.setPlainText(open(os.path.join(path["examples"], self.EXAMPLES_DIR, filename), "r").read()) ########################### UPLOAD HEX FILE ####################### class uploadObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) resultSignal = QtCore.pyqtSignal(str, str) logThisPlain = QtCore.pyqtSignal(bytes) fname = '' p = None def __init__(self): super(AppWindow.uploadObject, self).__init__() def config(self, mode, p, fname): self.p = p self.fname = fname self.mode = mode def execute(self): if 'compile' in self.mode: try: import subprocess if self.fname[-2:] in ['.s', '.S']: action = 'Assembl' else: # elif self.fname[-2:] in ['.c','.C']: action = 'Compil' fname = '.'.join(self.fname.split('.')[:-1]) if self.p.version == REGISTERS.VERSION_ATMEGA32 or self.p.connected == False: # by default, compile for ATMEGA32. # cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" -Map "%s" "%s"' %('atmega32',fname,fname+'.map',self.fname) cmd = 'avr-gcc -Wall -O2 -mmcu=%s -Wl,-Map="%s" -o "%s" "%s" -lkp' % ( 'atmega32', fname + '.map', fname, self.fname) # includes MAP self.logThis.emit('''%sing for Atmega32''' % (action)) elif self.p.version == REGISTERS.VERSION_ATMEGA328P: cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" "%s" -lkp' % ('atmega328p', fname, self.fname) self.logThis.emit( '''%sing for Atmega328p (Nano)''' % (action)) else: self.logThis.emit('''%ser UNAVAILABLE''' % (action)) return print(cmd) res = subprocess.getstatusoutput(cmd) if res[0] != 0: self.logThis.emit('''%se Error: %s''' % ( action, res[1].replace('\n', '
'))) self.finished.emit() return else: self.logThis.emit('''%s
''' % res[1]) self.resultSignal.emit('map', fname + '.map') cmd = 'avr-objcopy -j .text -j .data -O ihex "%s" "%s.hex"' % (fname, fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit(res[1]) # '''%s
'''%res[1]) self.resultSignal.emit('hex', fname + '.hex') cmd = 'avr-objdump -S "%s" > "%s.lst"' % (fname, fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit(res[1]) # '''%s
'''%res[1]) self.logThis.emit( 'Finished %sing: Generated Hex File' % action) # '''Finished %sing: Generated Hex File'''%(action)) self.resultSignal.emit('list', fname + '.lst') except Exception as err: self.logThis.emit('''Failed to %se:%s''' % str(action, err)) if self.p.connected: if 'upload' in self.mode: try: if self.fname[-2:] in ['.c', '.C', '.s', '.S']: self.fname = self.fname[:-2] + '.hex' # Replace .c with .hex self.logThis.emit('''Upload Code... Trigger Reset...''') dude = uploader.Uploader(self.p.fd, hexfile=self.fname, logger=self.logThis) self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.05) dude.program() dude.verify() self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.25) self.p.get_version() self.logThis.emit('''Finished upload''') except Exception as err: print('upload error', err) self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.25) self.p.get_version() self.logThis.emit('''Failed to upload''') # self.jumpToApplication(False) #Force a reset self.finished.emit() def uploadHex(self): filename = QtWidgets.QFileDialog.getOpenFileName(self, " Open a hex file to upload to your KuttyPy", "", "Hex Files (*.hex)") if len(filename[0]): # self.userCode.setStyleSheet("border: 3px dashed #53ffff;") # self.tabs.setTabEnabled(0,False) self.uploadingHex = True self.log.clear() self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload', self.p, filename[0]) self.uploadThread.start() def openFile(self): filename = QtWidgets.QFileDialog.getOpenFileName(self, " Open a C/Asm file to edit", self.defaultDirectory, "C/ASM Files (*.c *.C *.s *.S);; Asm Files (*.s *.S);; C Files (*.c *.C)") if len(filename[0]): if self.CFile is not None: # A file is altready open self.addSourceTab() self.defaultDirectory = '' self.filenameLabel.setText(filename[0]) self.CFile = filename[0] self.sourceTabs[self.activeSourceTab][1] = self.CFile self.log.clear() infile = open(filename[0], 'r') self.activeEditor.setPlainText( infile.read()) # self.activeEditor = self.sourceTabs[self.activeSourceTab][0] infile.close() self.codingTabs.setTabText(self.codingTabs.indexOf(self.activeSourceTab), os.path.split(self.CFile)[1]) self.log.setText('''-- Opened File: %s --
''' % filename[0]) def fontPlus(self): size = self.editorFont.pointSize() if size > 40: return self.editorFont.setPointSize(size + 1) self.editor.setFont(self.editorFont) def fontMinus(self): size = self.editorFont.pointSize() if size < 5: return self.editorFont.setPointSize(size - 1) self.editor.setFont(self.editorFont) def setFont(self, font): self.editorFont.setFamily(font) self.editor.setFont(self.editorFont) def compileAndUpload(self): self.setLogType('avr') self.saveFile() if self.CFile: if self.userHexRunning: self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) self.uploadingHex = True self.log.setText('''-- Compiling and Uploading Code --
''') self.UploadObject.config('compileupload', self.p, self.CFile) self.uploadThread.start() def compile(self): self.setLogType('avr') self.saveFile() if self.CFile: self.log.setText('''-- Compiling Code --
''') self.log.setText('''-- %s --
''' % self.CFile) self.UploadObject.config('compile', self.p, self.CFile) self.uploadThread.start() def upload(self): self.setLogType('avr') if self.CFile: if self.userHexRunning: self.launchFirmwareButton.setChecked(False) self.jumpToApplication(False) self.uploadingHex = True self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload', self.p, self.CFile) self.uploadThread.start() def saveFile(self): if not self.CFile: self.CFile = self.saveAs() if self.CFile is not None and len(self.CFile) > 1: self.sourceTabs[self.activeSourceTab][1] = self.CFile fn = open(self.CFile, 'w') fn.write(self.activeEditor.toPlainText()) fn.close() self.codingTabs.setTabText(self.codingTabs.indexOf(self.activeSourceTab), os.path.split(self.CFile)[1]) self.log.setText('''-- Saved to: %s --
''' % self.CFile) else: self.log.setText('''-- No File Selected --
''') def saveAs(self): name = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File') print('created new file:', name) if len(name) > 0 and len(name[0]) > 1: self.CFile = name[0] self.log.setText('''-- Created new file: %s --
''' % self.CFile) self.codingTabs.setTabText(self.codingTabs.indexOf(self.activeSourceTab), os.path.split(self.CFile)[1]) return self.CFile ############################## def setTheme(self, theme): self.setStyleSheet("") self.setStyleSheet(open(os.path.join(path["themes"], theme + ".qss"), "r").read()) def initializeCommunications(self, port=False): if self.p: try: self.p.fd.close() except: pass if port: self.p = KuttyPyLib.connect(port=port) else: self.p = KuttyPyLib.connect(autoscan=True) if self.p.connected: self.launchFirmwareButton.setChecked(False) self.setWindowTitle('KuttyPy Interactive Console [{0:s}]'.format(self.p.portname)) self.updatedRegs = OrderedDict() self.currentRegister = 0 self.VERSION = self.p.version self.SPECIALS = REGISTERS.VERSIONS[self.VERSION]['SPECIALS'] self.REGISTERS = REGISTERS.VERSIONS[self.VERSION]['REGISTERS'] self.EXAMPLES_DIR = REGISTERS.VERSIONS[self.VERSION]['examples directory'] if self.p.version == REGISTERS.VERSION_ATMEGA328P: self.getRegs = [ ('PINB', self.updateInputs), ('PINC', self.updateInputs), ('PIND', self.updateInputs), ] elif self.p.version == REGISTERS.VERSION_ATMEGA32: self.getRegs = [ ('PINA', self.updateInputs), ('PINB', self.updateInputs), ('PINC', self.updateInputs), ('PIND', self.updateInputs), ] else: self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') def setLanguage(self, lang='fr_FR'): translate(lang) self.retranslateUi(self) def showSerialGauge(self): self.serialGauge.show() def jumpToApplication(self, state): if self.p: if state: self.serialGuageButton.show() self.userHexRunning = True self.p.fd.write(b'j') # Skip to application (Bootloader resets) self.launchFirmwareButton.setText('Stop') for a in self.docks: a.setEnabled(False) # self.tabs.setEnabled(False) self.setLogType('monitor') self.log.setText('''-- Serial Port Monitor --
''') # self.serialGauge.show() else: self.serialGuageButton.hide() self.p.fd.setRTS(0); self.p.fd.setDTR(0); time.sleep(0.01); self.p.fd.setRTS(1); self.p.fd.setDTR(1); time.sleep(0.2) while self.p.fd.in_waiting: self.p.fd.read() self.p.get_version() for a in self.docks: a.setEnabled(True) self.userHexRunning = False self.launchFirmwareButton.setText('Run') # self.tabs.setEnabled(True) self.serialGauge.hide() else: if self.isChecked(): self.setChecked(False) def makeBottomMenu(self): try: self.pushbutton.setParent(None) except: pass self.pushbutton = QtWidgets.QPushButton('Menu') self.pushbutton.setStyleSheet("height: 13px;padding:3px;color: #7c7;") menu = QtWidgets.QMenu() menu.addAction('Save Window as Svg', self.exportSvg) menu.addAction('Open Stepper Controller', self.newStepperController) menu.addAction('Upload Hex File', self.uploadHex) # Theme ''' self.themeAction = QtWidgets.QWidgetAction(menu) themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.themeAction.setDefaultWidget(self.themeBox) menu.addAction(self.themeAction) ''' themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.statusBar.addPermanentWidget(self.themeBox) defaultTheme = "material" self.themeBox.setCurrentIndex(themes.index(defaultTheme)) self.setTheme(defaultTheme) self.pushbutton.setMenu(menu) # self.userApplication = QtWidgets.QCheckBox("User App"); # self.userApplication.toggled['bool'].connect(self.jumpToApplication) # self.statusBar.addPermanentWidget(self.userApplication) self.speedbutton = QtWidgets.QComboBox(); self.speedbutton.addItems(['Slow', 'Fast', 'Ultra']); self.speedbutton.setCurrentIndex(1); self.speedbutton.currentIndexChanged['int'].connect(self.setSpeed) self.statusBar.addPermanentWidget(self.speedbutton) # Compile thread self.compile_thread_button = QtWidgets.QPushButton('Online Compiler') self.compile_thread_button.setStyleSheet("height: 13px;padding:3px;color: #7c7;") self.compile_thread_button.clicked.connect(self.activateCompileServer) self.statusBar.addPermanentWidget(self.compile_thread_button) self.bottomLabel = QtWidgets.QLabel("Messages") # Menu button self.statusBar.addPermanentWidget(self.pushbutton) def showServerStatus(self, msg): self.showStatus("Compiler: Error Launching Server (Restart app) ", True) QtWidgets.QMessageBox.warning(self, 'Server Error', msg) #self.statusBar.addPermanentWidget(self.compile_thread_button) def showStatus(self, msg, error=None): if error: self.statusBar.setStyleSheet("color:#F77") else: self.statusBar.setStyleSheet("color:#FFF") self.statusBar.showMessage(msg) def setSpeed(self, index): self.timer.setInterval([100, 20, 5][index]) def locateDevices(self): try: L = KuttyPyLib.getFreePorts(self.p.portname) except Exception as e: print(e) total = len(L) menuChanged = False if L != self.shortlist: menuChanged = True if self.p.connected: if self.p.portname not in L: self.setWindowTitle('Error : Device Disconnected') QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device Disconnected. Please check the connections') try: self.p.close() except: pass self.p.connected = False self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') elif True in L.values(): reply = QtWidgets.QMessageBox.question(self, 'Connection', 'Device Available. Connect?', QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.No) if reply == QtWidgets.QMessageBox.Yes: self.initializeCommunications() # update the shortlist self.shortlist = L def checkConnectionStatus(self, dialog=False): if self.p.connected: return True else: if dialog: QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device not connected. Please connect a KuttyPy to the USB port') return False ######## WINDOW EXPORT SVG def exportSvg(self): from PyQt5 import QtSvg path, _filter = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File', '~/') if path: generator = QtSvg.QSvgGenerator() generator.setFileName(path) target_rect = QtCore.QRectF(0, 0, 800, 600) generator.setSize(target_rect.size().toSize()) # self.size()) generator.setViewBox(self.rect()) generator.setTitle("Your title") generator.setDescription("some description") p = QtGui.QPainter() p.begin(generator) self.render(p) p.end() def ipython(self): # Experimental feature. Import ipython and launch console if not self.p.connected: return from utilities import ipy if not self.ipy: self.ipy = ipy.AppWindow(self, kp=self.p) self.ipy.show() self.ipy.updateDevice(self.p) def translators(langDir, lang=None): """ create a list of translators @param langDir a path containing .qm translation @param lang the preferred locale, like en_IN.UTF-8, fr_FR.UTF-8, etc. @result a list of QtCore.QTranslator instances """ if lang == None: lang = QtCore.QLocale.system().name() result = [] qtTranslator = QtCore.QTranslator() qtTranslator.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) result.append(qtTranslator) # path to the translation files (.qm files) sparkTranslator = QtCore.QTranslator() sparkTranslator.load(lang, langDir); result.append(sparkTranslator) return result def firstExistingPath(l): """ Returns the first existing path taken from a list of possible paths. @param l a list of paths @return the first path which exists in the filesystem, or None """ for p in l: if os.path.exists(p): return p return None def common_paths(): """ Finds common paths @result a dictionary of common paths """ path = {} curPath = os.path.dirname(os.path.realpath(__file__)) path["current"] = curPath sharedPath = "/usr/share/kuttypy" path["translation"] = firstExistingPath( [os.path.join(p, "lang") for p in (curPath, sharedPath,)]) path["utilities"] = firstExistingPath( [os.path.join(p, 'utilities') for p in (curPath, sharedPath,)]) path["templates"] = firstExistingPath( [os.path.join(p, 'utilities', 'templates') for p in (curPath, sharedPath,)]) path["themes"] = firstExistingPath( [os.path.join(p, 'utilities', 'themes') for p in (curPath, sharedPath,)]) path["examples"] = firstExistingPath( [os.path.join(p, 'examples') for p in (curPath, sharedPath,)]) path["kpy"] = firstExistingPath( [os.path.join(p, 'kpy') for p in (curPath, sharedPath,)]) path["editor"] = firstExistingPath( [os.path.join(p, 'editor') for p in (curPath, sharedPath,)]) lang = str(QtCore.QLocale.system().name()) shortLang = lang[:2] return path def run(): global path, app, myapp path = common_paths() print('QT Version', QtWidgets.__file__) app = QtWidgets.QApplication(sys.argv) myapp = AppWindow(app=app, path=path) myapp.show() r = app.exec_() if myapp.compile_thread is not None: myapp.compile_thread.terminate() print('waiting to quit compile_thread') myapp.compile_thread.wait() print('delete app..') app.deleteLater() sys.exit(r) if __name__ == "__main__": run() KuttyPy-GUI-2.3/KuttyPyUno.py000066400000000000000000000661421456261524100161350ustar00rootroot00000000000000''' ''' #!/usr/bin/python3 import os,sys,time,re,traceback,platform,inspect from utilities.Qt import QtGui, QtCore, QtWidgets import KuttyPyLibUno from utilities.templates import ui_layoutuno as layout from utilities import dio,uploader from utilities import REGISTERS_UNO as REGISTERS import constants from functools import partial from collections import OrderedDict class myTimer(): def __init__(self,interval): self.interval = interval self.reset() def reset(self): self.timeout = time.time()+self.interval def ready(self): T = time.time() dt = T - self.timeout if dt>0: #timeout is ahead of current time #if self.interval>5:print('reset',self.timeout,dt) self.timeout = T - dt%self.interval + self.interval #if self.interval>5:print(self.timeout) return True return False def progress(self): return 100*(self.interval - self.timeout + time.time())/(self.interval) class AppWindow(QtWidgets.QMainWindow, layout.Ui_MainWindow): p=None logThis = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) serialGaugeSignal = QtCore.pyqtSignal(int) def __init__(self, parent=None,**kwargs): super(AppWindow, self).__init__(parent) self.setupUi(self) self.VERSION = REGISTERS.VERSIONNUM self.SPECIALS = REGISTERS.SPECIALS self.REGISTERS = REGISTERS.REGISTERS self.EXAMPLES_DIR = REGISTERS.EXAMPLES self.ADC_PINS = REGISTERS.ADC self.docks = [self.leftdock,self.rightdock] self.sensorList = [] self.controllerList = [] self.monitoring = True self.logRegisters = True self.userHexRunning = False self.uploadingHex = False self.autoUpdateUserRegisters = False self.CFile = None #'~/kuttyPy.c' self.ipy = None self.setTheme("material") examples = [a for a in os.listdir(os.path.join(path["examples"],self.EXAMPLES_DIR)) if ('.py' in a) and a is not 'kuttyPy.py'] #.py files except the library self.exampleList.addItems(examples) blinkindex = self.exampleList.findText('blink.py') if blinkindex!=-1: #default example. blink.py present in examples directory self.exampleList.setCurrentIndex(blinkindex) ######## PYTHON CODE self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) #Connect to the log window self.logThis.connect(self.appendLog) #Connect to the log window self.logThisPlain.connect(self.appendLogPlain) #Connect to the log window self.serialGaugeSignal.connect(self.setSerialgauge) self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) ######### C CODE UPLOADER self.uploadThread = QtCore.QThread() self.UploadObject = self.uploadObject() self.UploadObject.moveToThread(self.uploadThread) self.UploadObject.finished.connect(self.uploadThread.quit) self.UploadObject.logThis.connect(self.appendLog) #Connect to the log window self.UploadObject.logThisPlain.connect(self.appendLogPlain) #Connect to the log window. add plain text self.logThis.connect(self.appendLog) #Connect to the log window self.uploadThread.started.connect(self.UploadObject.execute) self.uploadThread.finished.connect(self.codeFinished) self.commandQ = [] self.btns={} self.registers = [] self.addPins() self.statusBar = self.statusBar() self.makeBottomMenu() global app self.initializeCommunications() self.pending = { 'status':myTimer(constants.STATUS_UPDATE_INTERVAL), 'update':myTimer(constants.AUTOUPDATE_INTERVAL), } serialgaugeoptions = {'name':'Serial Monitor', 'init':print, 'read':None, 'fields':['Value'], 'min':[0], 'max':[255]} self.serialGauge = dio.DIOSENSOR(self,serialgaugeoptions) self.startTime = time.time() self.timer = QtCore.QTimer() self.timer.timeout.connect(self.updateEverything) self.timer.start(20) #Auto-Detector self.shortlist=KuttyPyLibUno.getFreePorts() def newRegister(self): reg = dio.REGEDIT(self.commandQ) #self.registerLayout.addWidget(reg) #self.registers.append(reg) #TODO: Convert layout to listwidget to enable re-ordering regItem = QtWidgets.QListWidgetItem() regItem.setSizeHint(QtCore.QSize(200,40)) self.registerList.addItem(regItem) self.registerList.setItemWidget(regItem,reg) self.registers.append(regItem) def addPins(self): ''' This function adds pins in the right order. this should be moved to a configuration file! ''' self.btns['C'] = dio.REGVALS('C') self.leftlayout.addWidget(self.btns['C']) s = QtWidgets.QSpacerItem(20,250,QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.leftlayout.addItem(s) for name in ['PC0','PC1','PC2','PC3','PC4','PC5']: #left dock checkbox = dio.widget(name,self.commandQ,extra = self.SPECIALS.get(name,'')) self.leftlayout.addWidget(checkbox) self.btns[name] = checkbox self.btns['B'] = dio.REGVALS('B') self.rightlayout.addWidget(self.btns['B']) for name in ['PB5','PB4','PB3','PB2','PB1','PB0']: #right dock checkbox = dio.widget(name,self.commandQ,extra = self.SPECIALS.get(name,'')) self.rightlayout.addWidget(checkbox) self.btns[name] = checkbox s = QtWidgets.QSpacerItem(20,20,QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.rightlayout.addItem(s) self.btns['D'] = dio.REGVALS('D') self.rightlayout.addWidget(self.btns['D']) for name in ['PD7','PD6','PD5','PD4','PD3','PD2','PD1','PD0']: #right dock checkbox = dio.widget(name,self.commandQ,extra = self.SPECIALS.get(name,'')) self.rightlayout.addWidget(checkbox) self.btns[name] = checkbox def tabChanged(self,index): if index != 0 : #examples/editor tab. disable monitoring self.monitoring = False for a in self.docks: a.hide() else: #Playground . enable monitoring and control. self.monitoring = True self.autoRefreshUserRegisters.setChecked(False) self.userRegistersAutoRefresh(False) for a in self.docks: a.show() ################USER CODE SECTION#################### class codeObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) code = '' def __init__(self,REGISTERS): super(AppWindow.codeObject, self).__init__() self.PORTMAP = {v: k for k, v in REGISTERS.items()} #Lookup port name based on number self.compiled = '' self.SR = None self.GR = None self.evalGlobals = {} self.evalGlobals['getReg'] = self.getReg self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer def setCode(self,code,**kwargs): try: self.compiled = compile(code.encode(), '', mode='exec') except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno return '''%s at line %d : %s''' % (error_class, line_number, detail) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] return '''%s at line %d: %s''' % (error_class, line_number, detail) self.SR = kwargs.get('setReg') self.GR = kwargs.get('getReg') self.evalGlobals = kwargs self.evalGlobals['getReg'] = self.getReg #Overwrite these three. They will be wrapped. self.evalGlobals['setReg'] = self.setReg self.evalGlobals['print'] = self.printer return '' def printer(self,*args): self.logThis.emit('''%s'''%(' '.join([str(a) for a in args]))) def setReg(self,reg,value): html=u'''
W\u2193{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format(self.PORTMAP.get(reg,''),value) self.logThis.emit(html) self.SR(reg,value) def getReg(self,reg): value = self.GR(reg) html=u'''
R\u2191{0:s}\t{1:d}\t0x{1:02x} / 0b{1:08b}
'''.format(self.PORTMAP.get(reg,''),value) self.logThis.emit(html) return value def execute(self): #old = sys.stdout #olde = sys.stderr #sys.stdout = self.toLog(self.logThis) #sys.stderr = self.toLog(self.logThis) try: exec(self.compiled,{},self.evalGlobals) except SyntaxError as err: error_class = err.__class__.__name__ detail = err.args[0] line_number = err.lineno self.logThis.emit('''%s at line %d : %s''' % (error_class, line_number, detail)) except Exception as err: error_class = err.__class__.__name__ detail = err.args[0] cl, exc, tb = sys.exc_info() line_number = traceback.extract_tb(tb)[-1][1] self.logThis.emit('''%s at line %d: %s''' % (error_class, line_number, detail)) #sys.stdout = old #sys.stderr = olde self.logThis.emit("Finished executing user code") self.finished.emit() def runCode(self): #if self.p: # try: # self.p.fd.read() #Clear junk # self.p.fd.close() # except:pass if self.codeThread.isRunning(): print('one code is already running') return self.log.clear() #clear the log window self.log.setText('''----------User Code Started-----------''') kwargs = {} for a in dir(self.p): attr = getattr(self.p, a) if inspect.ismethod(attr) and a[:2]!='__': kwargs[a] = attr compilemsg = self.codeEval.setCode('{0:s}'.format(self.userCode.toPlainText()),**kwargs) if len(compilemsg): self.log.append(compilemsg) return self.codeThread.start() self.userCode.setStyleSheet("border: 3px dashed #53ffff;") self.tabs.setTabEnabled(0,False) def codeFinished(self): print('finished') self.tabs.setTabEnabled(0,True) self.userCode.setStyleSheet("") self.uploadingHex = False def abort(self): if self.codeThread.isRunning(): self.log.append('''----------Kill Signal(Doesn't work yet. Restart the application)-----------''') self.codeThread.quit() self.codeThread.terminate() del self.codeThread self.codeThread = QtCore.QThread() self.codeEval = self.codeObject(self.REGISTERS) self.codeEval.moveToThread(self.codeThread) self.codeEval.finished.connect(self.codeThread.quit) self.codeEval.logThis.connect(self.appendLog) #Connect to the log window self.codeThread.started.connect(self.codeEval.execute) self.codeThread.finished.connect(self.codeFinished) def getReg(self,reg,record = True): val = self.p.getReg(reg) if record: self.updatedRegs[reg] = [0,val] return val def setReg(self,reg,val,record = True): self.p.setReg(reg,val) if record: self.updatedRegs[reg] = [1,val] return val def appendLog(self,txt): self.log.append(txt) def appendLogPlain(self,txt): self.log.moveCursor(QtGui.QTextCursor.End) self.log.insertPlainText(txt.decode('ascii')) def setSerialgauge(self,val): self.serialGauge.setValue([val]) def genLog(self): html=''''''%(time.ctime()) #html+=''' #''' for a in self.updatedRegs: row = self.updatedRegs[a] html+=u''' '''.format(u'W \u2193' if row[0] else u'R \u2191',a,row[1]) html+="
%s
R/WREGISTERValueHex/Binary
{0:s} {1:s} {2:d} 0b{2:08b} | 0x{2:02x}
" self.log.setHtml(html) def userRegistersAutoRefresh(self,state): self.autoUpdateUserRegisters = state def updateEverything(self): self.locateDevices() if not self.checkConnectionStatus():return #KuttyPy monitor has handed over control to native code. act as serial monitor/ debug window if self.uploadingHex: return if self.userHexRunning: t = self.p.fd.read(self.p.fd.in_waiting) if len(t): self.serialGaugeSignal.emit(t[0]) self.logThisPlain.emit(t) return #self.setTheme('material') if self.codeThread.isRunning(): return if self.autoUpdateUserRegisters: for a in range(self.registerList.count()): self.registerList.itemWidget(self.registerList.item(a)).execute() while len(self.commandQ): if not self.centralWidget().isEnabled(): return a = self.commandQ.pop(0) if a[0] == 'DSTATE': #Digital Out ['DSTATE','Pxx',state] pname = 'PORT'+a[1][1].upper() bit = int(a[1][2]) reg = self.getReg(pname) reg &=~ (1<>a)&1) if name in self.ADC_PINS: #ADC if btn.currentPage == 2: #ADC Page displayed self.commandQ.append(['ADC',btn.ADMUX,btn,btn.logstate]) elif type(btn)==dio.DIOCNTR and btn.currentPage==2: # CNTR self.commandQ.append(['CNTR1',btn.slider]) def newStepperController(self): if self.p.connected: dialog = dio.DIOSTEPPER(self,total=200,device=self.p) dialog.launch() self.sensorList.append([dialog,None]) ############ I2C SENSORS ################# def I2CScan(self): if self.p.connected: x = self.p.I2CScan() print('Responses from: ',x) for a in self.sensorList: a[0].setParent(None) a[1].setParent(None) self.sensorList = [] for a in self.controllerList: a[0].setParent(None) a[1].setParent(None) self.controllerList = [] for a in x: s = self.p.sensors.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOSENSOR(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.sensorList.append([dialog,btn]) continue s = self.p.controllers.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOCONTROL(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog,btn]) continue s = self.p.special.get(a,None) if s is not None: btn = QtWidgets.QPushButton(s['name']+':'+hex(a)) dialog = dio.DIOROBOT(self,s) btn.clicked.connect(dialog.launch) self.sensorLayout.addWidget(btn) self.controllerList.append([dialog,btn]) continue def loadExample(self,filename): self.userCode.setPlainText(open(os.path.join(path["examples"],self.EXAMPLES_DIR,filename), "r").read()) ########################### UPLOAD HEX FILE ####################### class uploadObject(QtCore.QObject): finished = QtCore.pyqtSignal() logThis = QtCore.pyqtSignal(str) logThisPlain = QtCore.pyqtSignal(bytes) fname = '' p = None def __init__(self): super(AppWindow.uploadObject, self).__init__() def config(self,mode,p,fname): self.p = p self.fname = fname self.mode = mode def execute(self): if self.mode == 'compileupload': try: import subprocess fname = '.'.join(self.fname.split('.')[:-1]) cmd = 'avr-gcc -Wall -O2 -mmcu=%s -o "%s" "%s"' %('atmega328p',fname,self.fname) self.logThis.emit('''Compiling for Atmega328p (Uno)''') print(cmd) res = subprocess.getstatusoutput(cmd) if res[0] != 0: self.logThis.emit('''Compile Error: %s'''%res[1]) self.finished.emit() return else: self.logThis.emit('''%s
'''%res[1]) cmd = 'avr-objcopy -j .text -j .data -O ihex "%s" "%s.hex"' %(fname,fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit('''%s
'''%res[1]) cmd = 'avr-objdump -S "%s" > "%s.lst"'%(fname,fname) res = subprocess.getstatusoutput(cmd) self.logThis.emit('''%s
'''%res[1]) if self.fname[-2:] in ['.c','.C']: self.fname = self.fname[:-2]+'.hex' #Replace .c with .hex self.mode = 'upload' self.logThis.emit('''Generated Hex File''') self.logThis.emit('''Finished Compiling: Generated Hex File''') except Exception as err: self.logThis.emit('''Failed to Compile:%s'''%str(err)) if self.p.connected: if self.mode == 'upload': try: self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.4) dude = uploader.Uploader(self.p.fd, hexfile=self.fname,logger = self.logThis) dude.program() dude.verify() self.p.fd.setRTS(0);time.sleep(0.01);self.p.fd.setRTS(1);time.sleep(0.2) self.p.get_version() self.logThis.emit('''Finished upload''') except Exception as err: self.logThis.emit('''Failed to upload''') self.finished.emit() def uploadHex(self): filename = QtWidgets.QFileDialog.getOpenFileName(self," Open a hex file to upload to your KuttyPy", "", "Hex Files (*.hex)") if len(filename[0]): #self.userCode.setStyleSheet("border: 3px dashed #53ffff;") #self.tabs.setTabEnabled(0,False) self.uploadingHex = True self.log.clear() self.log.setText('''-- Uploading Code --
''') self.UploadObject.config('upload',self.p,filename[0]) self.uploadThread.start() def openFile(self): filename = QtWidgets.QFileDialog.getOpenFileName(self," Open a C file to edit", path["examples"], "C Files (*.c *.C)") if len(filename[0]): self.filenameLabel.setText(filename[0]) self.CFile = filename[0] self.log.clear() self.log.setText('''-- Opened File: %s --
'''%filename[0]) if 'inux' in platform.system(): #Linux based system os.system('%s "%s"' % ('xdg-open', filename[0])) else: os.system('%s "%s"' % ('open', filename[0])) def compileAndUpload(self): if self.CFile: self.uploadingHex = True self.log.clear() self.log.setText('''-- Compiling and Uploading Code --
''') self.UploadObject.config('compileupload',self.p,self.CFile) self.uploadThread.start() ############################## def setTheme(self,theme): self.setStyleSheet("") self.setStyleSheet(open(os.path.join(path["themes"],theme+".qss"), "r").read()) def initializeCommunications(self,port=False): if self.p: try:self.p.fd.close() except:pass if port: self.p = KuttyPyLibUno.connect(port = port) else: self.p = KuttyPyLibUno.connect(autoscan=True) if self.p.connected: self.userApplication.setChecked(False) self.setWindowTitle('KuttyPy Interactive Console [{0:s}]'.format(self.p.portname)) self.updatedRegs=OrderedDict() self.currentRegister = 0 self.getRegs=[ ('PINB',self.updateInputs), ('PINC',self.updateInputs), ('PIND',self.updateInputs), ] else: self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') def jumpToApplication(self,state): if self.p: if state: self.userHexRunning=True self.p.fd.write(b'j') #Skip to application (Bootloader resets) for a in self.docks: a.setEnabled(False) self.tabs.setEnabled(False) self.log.clear() self.log.setText('''-- Serial Port Monitor --
''') self.serialGauge.show() else: self.p.fd.setRTS(0) #Trigger a reset time.sleep(0.01) self.p.fd.setRTS(1) time.sleep(0.1) while self.p.fd.in_waiting: self.p.fd.read() self.p.get_version() for a in self.docks: a.setEnabled(True) self.userHexRunning=False self.tabs.setEnabled(True) self.serialGauge.hide() else: if self.isChecked(): self.setChecked(False) def makeBottomMenu(self): try:self.pushbutton.setParent(None) except:pass self.pushbutton = QtWidgets.QPushButton('Menu') self.pushbutton.setStyleSheet("height: 13px;padding:3px;color: #FFFFFF;") menu = QtWidgets.QMenu() menu.addAction('Save Window as Svg', self.exportSvg) menu.addAction('Open Stepper Controller', self.newStepperController) #Theme self.themeAction = QtWidgets.QWidgetAction(menu) themes = [a.split('.qss')[0] for a in os.listdir(path["themes"]) if '.qss' in a] self.themeBox = QtWidgets.QComboBox(); self.themeBox.addItems(themes) self.themeBox.currentIndexChanged['QString'].connect(self.setTheme) self.themeAction.setDefaultWidget(self.themeBox) menu.addAction(self.themeAction) self.pushbutton.setMenu(menu) self.userApplication = QtWidgets.QCheckBox("User App"); self.userApplication.toggled['bool'].connect(self.jumpToApplication) self.statusBar.addPermanentWidget(self.userApplication) self.hexUploadButton = QtWidgets.QPushButton("Upload Hex"); self.hexUploadButton.clicked.connect(self.uploadHex) self.statusBar.addPermanentWidget(self.hexUploadButton) self.speedbutton = QtWidgets.QComboBox(); self.speedbutton.addItems(['Slow','Fast','Ultra']); self.speedbutton.setCurrentIndex(1); self.speedbutton.currentIndexChanged['int'].connect(self.setSpeed) self.statusBar.addPermanentWidget(self.speedbutton) self.statusBar.addPermanentWidget(self.pushbutton) def setSpeed(self,index): self.timer.setInterval([100,20,5][index]) def locateDevices(self): try:L = KuttyPyLibUno.getFreePorts(self.p.portname) except Exception as e:print(e) total = len(L) menuChanged = False if L != self.shortlist: menuChanged = True if self.p.connected: if self.p.portname not in L: self.setWindowTitle('Error : Device Disconnected') QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device Disconnected. Please check the connections') try: self.p.fd.close() self.p.portname = None except:pass self.p.connected = False self.setWindowTitle('KuttyPy Interactive Console [ Hardware not detected ]') elif True in L.values(): reply = QtWidgets.QMessageBox.question(self, 'Connection', 'Device Available. Connect?', QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.No) if reply == QtWidgets.QMessageBox.Yes: self.initializeCommunications() #update the shortlist self.shortlist=L def checkConnectionStatus(self,dialog=False): if self.p.connected:return True else: if dialog: QtWidgets.QMessageBox.warning(self, 'Connection Error', 'Device not connected. Please connect a KuttyPy to the USB port') return False def updateStatus(self): if not self.checkConnectionStatus(): self.countLabel.setText('Not Connected') return try: state,cnt = self.p.getStatus() self.currentState = state self.countLabel.setText('%s: %d'%("Running" if state else "Paused",cnt)) except: self.countLabel.setText('Disconnect!') self.p.fd.close() ######## WINDOW EXPORT SVG def exportSvg(self): from utilities.Qt import QtSvg path, _filter = QtWidgets.QFileDialog.getSaveFileName(self, 'Save File', '~/') if path: generator = QtSvg.QSvgGenerator() generator.setFileName(path) target_rect = QtCore.QRectF(0, 0, 800, 600) generator.setSize(target_rect.size().toSize())#self.size()) generator.setViewBox(self.rect()) generator.setTitle("Your title") generator.setDescription("some description") p = QtGui.QPainter() p.begin(generator) self.render(p) p.end() def ipython(self): #Experimental feature. Import ipython and launch console if not self.p.connected: return from utilities import ipy if not self.ipy: self.ipy = ipy.AppWindow(self,kp = self.p) self.ipy.show() self.ipy.updateDevice(self.p) def translators(langDir, lang=None): """ create a list of translators @param langDir a path containing .qm translation @param lang the preferred locale, like en_IN.UTF-8, fr_FR.UTF-8, etc. @result a list of QtCore.QTranslator instances """ if lang==None: lang=QtCore.QLocale.system().name() result=[] qtTranslator=QtCore.QTranslator() qtTranslator.load("qt_" + lang, QtCore.QLibraryInfo.location(QtCore.QLibraryInfo.TranslationsPath)) result.append(qtTranslator) # path to the translation files (.qm files) sparkTranslator=QtCore.QTranslator() sparkTranslator.load(lang, langDir); result.append(sparkTranslator) return result def firstExistingPath(l): """ Returns the first existing path taken from a list of possible paths. @param l a list of paths @return the first path which exists in the filesystem, or None """ for p in l: if os.path.exists(p): return p return None def common_paths(): """ Finds common paths @result a dictionary of common paths """ path={} curPath = os.path.dirname(os.path.realpath(__file__)) path["current"] = curPath sharedPath = "/usr/share/kuttypy" path["translation"] = firstExistingPath( [os.path.join(p, "lang") for p in (curPath, sharedPath,)]) path["utilities"] = firstExistingPath( [os.path.join(p,'utilities') for p in (curPath, sharedPath,)]) path["templates"] = firstExistingPath( [os.path.join(p,'utilities','templates') for p in (curPath, sharedPath,)]) path["themes"] = firstExistingPath( [os.path.join(p,'utilities','themes') for p in (curPath, sharedPath,)]) path["examples"] = firstExistingPath( [os.path.join(p,'examples') for p in (curPath, sharedPath,)]) path["editor"] = firstExistingPath( [os.path.join(p,'editor') for p in (curPath, sharedPath,)]) lang=str(QtCore.QLocale.system().name()) shortLang=lang[:2] return path def run(): global path, app, myapp path = common_paths() app = QtWidgets.QApplication(sys.argv) myapp = AppWindow(app=app, path=path) myapp.show() r = app.exec_() ''' if myapp.p.connected: myapp.p.fd.write(b'j') #myapp.p.fd.setRTS(0) #time.sleep(0.01) #myapp.p.fd.setRTS(1) ''' app.deleteLater() sys.exit(r) if __name__ == "__main__": run() KuttyPy-GUI-2.3/LICENSE000066400000000000000000000020601456261524100144420ustar00rootroot00000000000000MIT License Copyright (c) 2018 CSpark Research Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. KuttyPy-GUI-2.3/Makefile000066400000000000000000000016521456261524100151030ustar00rootroot00000000000000QT_VERSION?=PyQt5 PY_VERSION?=3 export QT_VERSION ifeq ($(QT_VERSION),PyQt5) PYUIC = pyuic5 PYRCC = pyrcc5 PYLUPDATE = pylupdate5 else ifeq ($(QT_VERSION),PyQt4) PYUIC = pyuic4 PYRCC = pyrcc4 PYLUPDATE = pylupdate4 else ifeq ($(QT_VERSION),PySide) PYUIC = pyside-uic PYRCC = pyside-rcc PYLUPDATE = pylupdate4 else PYUIC = pyuic4 PYRCC = pyrcc4 PYLUPDATE = pylupdate4 endif SUBDIRS = utilities all: recursive_all recursive_all: @echo '?. Using QT Version:' $(QT_VERSION) $(PYUIC) $(PYRCC) $(PYLUPDATE) $(PY_VERSION) @echo "QT_VERSION = '$(QT_VERSION)'\nPY_VERSION = $(PY_VERSION)\n" > utilities/build_details.py for d in $(SUBDIRS); do make PYUIC=$(PYUIC) PYRCC=$(PYRCC) PYLUPDATE=$(PYLUPDATE) PY_VERSION=$(PY_VERSION) -C $$d all; done clean: recursive_clean rm -rf *.pyc *~ __pycache__ recursive_clean: for d in $(SUBDIRS); do make -C $$d clean; done .PHONY: all recursive_all clean recursive_clean KuttyPy-GUI-2.3/README.md000066400000000000000000000132311456261524100147160ustar00rootroot00000000000000## KuttyPy Interactive Playground [ Microcontroller Training Utility ] [![PyPI version](https://badge.fury.io/py/kuttyPy.svg)](https://badge.fury.io/py/kuttyPy) [![Documentation Status](https://readthedocs.org/projects/kuttypy/badge/?version=latest)](https://kuttypy.readthedocs.io/en/latest/?badge=latest) ![Screenshot](/docs/images/main.gif?raw=true "Recording of the User Interface") --- The kuttyPy (/kʊtipʌɪ/) Microcontroller training utility allows live manipulation of the registers in microcontrollers via a connected computer containing its python library. setReg and getReg function calls act as debugging and monitoring tools, and combined with Python's visualization and analytical utilities, this approach has immense pedagogical potential for beginners to the microcontroller world. The kuttyPy hardware is an ATMEGA32 microcontroller development board developed by the [ExpEYES](http://expeyes.in) project, and is currently supported by this software. It contains the kuttyPy firmware, but can also be used to run other programs via its bootloader. --- ## What can I use it for? + It's an atmega32 development board with a bootloader supporting the 'arduino' protocol + The bootloader also allows real-time manipulation of registers through commmands sent via the serial port. + This is done by the associated Python library and companion GUI + You can monitor every input + Toggle every output + Deal with Peripherals such as PWMs and Counters + View ADC readings via an analog gauge + Scan for sensors connected to the I2C Bus + Monitor readings from sensors [TSL2561 luminosity, and MPU6050 IMU supported] + Compile code to hex with the avr-gcc compiler + Upload hex via the built-in uploader + Rapidly prototype and debug educational projects. For example, you can verify ADC input values before handing over control to the uploaded hex file which will likely have very limited debugging capabilities. + Learn how registers are the key to microcontroller operation, as opposed to the Arduino ecosystem which prefers obfuscation of these details underneath abstraction layers. ## Python library and Graphical utility ### 7 channel voltmeter [ 0-5000mV without analog frontend ] ![Screenshot](/docs/images/voltmeter.gif?raw=true "Voltmeter") ### Monitor I2C Sensors Supports I2C sensors: Luminosity Example. | Video recording ---|--- ![sensor](https://user-images.githubusercontent.com/19327143/52988950-5c64f580-3427-11e9-8516-d6708ef2532b.gif) | ![ezgif com-optimize](https://user-images.githubusercontent.com/19327143/52989158-2bd18b80-3428-11e9-9b26-21f21f8fe99a.gif) + Scan for Sensors + Click to monitor via analog gauge + List of I2C sensors supported thus far (Minimal data logging. Configuration options via the graphical utility might be incomplete) + MPU6050 3 Axis Accelerometer, 3 axis Angular velocity (Gyro) + TSL2561 Luminosity measurements + BMP280 Pressure and Temperature sensor + MCP4725 Single channel DAC + PCA9685 PWM controller + MLX90614 Passive IR Programming library and examples : [READ THE DOCS](https://kuttypy.readthedocs.io/en/latest/) ![Screenshot](/docs/images/mpu6050.gif?raw=true "6 DOF inertial measurement unit MPU6050") ### Plotting ADC values using matplotlib ![Screenshot](/docs/images/code.gif?raw=true "Recording of the ADC logging example") ![Screencast](/docs/images/monitor.gif?raw=true "Monitor your code!") Hall Sensor|Servo Motor ---|--- ![Screencast](/docs/images/hall_sensor.webp?raw=true "Hall sensor!") | ![Screencast](/docs/images/servo_motor.webp?raw=true "Hall sensor!") Plug and play various accessories such as this Hall Sensor, & servo motor. ### Simple blink.py example ![Screenshot](/docs/images/blink.gif?raw=true "Write Python code to blink all of PORT D") ![Screencast](/docs/images/monitor.gif?raw=true "Monitor your code!") Monitor your code's activity while it executes ![Screencast](/docs/images/custom_registers.gif?raw=true "Add Register widgets, twiddle bits, and see what happens!") Add custom register blocks, twiddle bits, and observe! In this demo, the ADC is read by first setting the bits in the ADCSRA(control and status register), then reading back ADCL(8LSB)+ADCH(2MSB), and also checking the new status of ADCSRA after the operation. ## C Code compilation and uploading ### Seamless switching between the KuttyPy monitor, and user uploaded hex file. --- The KuttyPy monitor code is part of the bootloader. This allows users to upload their own Hex files without losing the training utility features. ![App Switching](/docs/images/switch.gif?raw=true "App Switching") This example shows how to skip back and forth to an LED scanning code (which also prints letters to the serial port) written in C and uploaded. In the animation, after fiddling a little with the PWM controls on the monitor, the 'user app' button is clicked. This triggers the following: + Within a few ten milliseconds the user uploaded hex file starts executing + The console turns into a serial monitor, and shows any text sent by the user uploaded hex. The user can switch back to the monitoring utility in a snap! ![Screencast](/docs/images/pov_display.webp?raw=true "POV display!") A persistence of vision display made with C code! Write text in thin air using 8 LEDs on PORTB. ### Installing on Ubuntu + sudo apt-get install python3 python3-pyqt5 python3-serial --- + python3 KuttyPyGUI.py ### Installing on windows. + This code can be run from source, provided python3 and pyqt5 are installed. + [Download Bundled Installer](https://drive.google.com/uc?export=download&id=1giJuDNIql8X5oaIcOLFACXD05-hmkBAy) License: MIT --- Developed by Jithin B.P @CSpark Research, 2018. Special thanks to Georges Khazanadar for Debianizing efforts. 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This makes it easy to record expected input values from analog sensors before hard-coding them into C programs. This 2 axis joystick's output is being monitored on PA6 and PA7. Notice how the values change when the joystick is tilted along either axis ## Access via Python === "readADC" ```python hl_lines="1" def readADC(channel) reads a voltage value from the specified channel, and returns it channel : 0 to 7 return: 10 bit number( an integer between 0 and 1023 ) ``` === "data logger example with matplotlib" ```python hl_lines="1" # Read values from Analog to Digital converter(ADC) channel 5 (PA5), and plot them import time from kuttyPy import * from matplotlib import pyplot as plt setReg('ADMUX', (1<<6) | 5) #REF_AVCC | Channel 5 for a in range(50): setReg('ADCSRA', 196) cl = getReg('ADCL') ch = getReg('ADCH') plt.scatter(a, (ch<<8)|cl ,s=5) plt.pause(0.01) #Wait 10 mS ``` ![Screenshot](images/code.gif?raw=true "Recording of the ADC logging example") 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Probably the disk is fullRead error in the file %sFile close errorThe required volume is absent2The archive is either in unknown format or damagedExtracting from %s Next volumeThe archive header is corruptCloseErroraErrors encountered while performing the operation Look at the information window for more detailsPAbytes modified onfolder is not accessiblelSome files could not be created. Please close all applications, reboot Windows and restart this installation\Some installation files are corrupt. Please download a fresh copy and retry the installation All filesPAE<ul><li>Press <b>Install</b> button to start extraction.</li><br><br>6<li>Use <b>Browse</b> button to select the destination4folder from the folders tree. 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