Verison 1.0.3 Release
Based on Buildbotics 0.4.14
This commit is contained in:
OneFinityCNC
162
src/py/bbctrl/AVR.py
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162
src/py/bbctrl/AVR.py
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################################################################################
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# #
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# This file is part of the Buildbotics firmware. #
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# #
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# Copyright (c) 2015 - 2018, Buildbotics LLC #
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# All rights reserved. #
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# #
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# This file ("the software") is free software: you can redistribute it #
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# and/or modify it under the terms of the GNU General Public License, #
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# version 2 as published by the Free Software Foundation. You should #
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# have received a copy of the GNU General Public License, version 2 #
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# along with the software. If not, see <http://www.gnu.org/licenses/>. #
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# #
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# The software is distributed in the hope that it will be useful, but #
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# WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
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# Lesser General Public License for more details. #
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# #
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# You should have received a copy of the GNU Lesser General Public #
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# License along with the software. If not, see #
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# <http://www.gnu.org/licenses/>. #
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# #
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# For information regarding this software email: #
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# "Joseph Coffland" <joseph@buildbotics.com> #
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# #
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################################################################################
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import serial
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import time
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import traceback
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import ctypes
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import bbctrl
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import bbctrl.Cmd as Cmd
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class serial_struct(ctypes.Structure):
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_fields_ = [
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('type', ctypes.c_int),
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('line', ctypes.c_int),
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('port', ctypes.c_uint),
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('irq', ctypes.c_int),
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('flags', ctypes.c_int),
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('xmit_fifo_size', ctypes.c_int),
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('custom_divisor', ctypes.c_int),
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('baud_base', ctypes.c_int),
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('close_delay', ctypes.c_ushort),
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('io_type', ctypes.c_byte),
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('reserved', ctypes.c_byte),
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('hub6', ctypes.c_int),
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('closing_wait', ctypes.c_ushort),
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('closing_wait2', ctypes.c_ushort),
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('iomem_base', ctypes.c_char_p),
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('iomem_reg_shift', ctypes.c_ushort),
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('port_high', ctypes.c_uint),
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('iomap_base', ctypes.c_ulong),
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]
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def serial_set_low_latency(sp):
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import fcntl
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import termios
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ASYNCB_LOW_LATENCY = 13
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ss = serial_struct()
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fcntl.ioctl(sp, termios.TIOCGSERIAL, ss)
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ss.flags |= 1 << ASYNCB_LOW_LATENCY # pylint: disable=no-member
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fcntl.ioctl(sp, termios.TIOCSSERIAL, ss)
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class AVR(object):
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def __init__(self, ctrl):
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self.ctrl = ctrl
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self.log = ctrl.log.get('AVR')
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self.sp = None
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self.i2c_addr = ctrl.args.avr_addr
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self.read_cb = None
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self.write_cb = None
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def close(self): pass
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def _start(self):
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try:
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self.sp = serial.Serial(self.ctrl.args.serial, self.ctrl.args.baud,
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rtscts = 1, timeout = 0, write_timeout = 0)
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self.sp.nonblocking()
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#serial_set_low_latency(self.sp)
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except Exception as e:
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self.sp = None
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self.log.warning('Failed to open serial port: %s', e)
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if self.sp is not None:
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self.ctrl.ioloop.add_handler(self.sp, self._serial_handler,
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self.ctrl.ioloop.READ)
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def set_handlers(self, read_cb, write_cb):
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if self.read_cb is not None or self.write_cb is not None:
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raise Exception('Handler already set')
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self.read_cb = read_cb
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self.write_cb = write_cb
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self._start()
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def enable_write(self, enable):
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if self.sp is None: return
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flags = self.ctrl.ioloop.READ
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if enable: flags |= self.ctrl.ioloop.WRITE
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self.ctrl.ioloop.update_handler(self.sp, flags)
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def _serial_write(self):
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self.write_cb(lambda data: self.sp.write(data))
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def _serial_read(self):
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try:
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data = ''
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data = self.sp.read(self.sp.in_waiting)
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self.read_cb(data)
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except Exception as e:
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self.log.warning('%s: %s', e, data)
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def _serial_handler(self, fd, events):
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try:
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if self.ctrl.ioloop.READ & events: self._serial_read()
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if self.ctrl.ioloop.WRITE & events: self._serial_write()
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except Exception as e:
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self.log.warning('Serial handler error: %s', traceback.format_exc())
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def i2c_command(self, cmd, byte = None, word = None, block = None):
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self.log.info('I2C: %s b=%s w=%s d=%s' % (cmd, byte, word, block))
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retry = 10
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cmd = ord(cmd[0])
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while True:
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try:
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self.ctrl.i2c.write(self.i2c_addr, cmd, byte, word, block)
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break
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except Exception as e:
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retry -= 1
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if retry:
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self.log.warning('I2C failed, retrying: %s' % e)
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time.sleep(0.25)
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continue
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else:
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self.log.error('I2C failed: %s' % e)
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raise
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