Python examples rework

Python/ADC.py

@@ -1,16 +1,29 @@
-import sys, time
+import sys, signal, time
+import navio.Common.util
 
-import navio.adc
-import navio.util
 
-navio.util.check_apm()
+if navio.Common.util.get_navio_version() == "NAVIO2":
+ import navio.Navio2.ADC as ADC
+else:
+ import navio.Navio.ADC as ADC
 
-adc = navio.adc.ADC()
+navio.Common.util.check_apm()
+
+
+def signal_handler(signal, frame):
+ print 'You pressed Ctrl+C!'
+ sys.exit(0)
+
+
+signal.signal(signal.SIGINT, signal_handler)
+# print 'Press Ctrl+C to exit'
+
+adc = ADC()
 results = [0] * adc.channel_count
 
 while (True):
  s = ''
- for i in range (0, adc.channel_count):
+ for i in range(0, adc.channel_count):
  results[i] = adc.read(i)
  s += 'A{0}: {1:6.4f}V '.format(i, results[i] / 1000)
  print(s)

Python/AccelGyroMag.py

@@ -26,38 +26,47 @@
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 """
 
-import spidev
 import time
 import argparse 
 import sys
-import navio.mpu9250
-import navio.util
 
-navio.util.check_apm()
+import navio.Common.mpu9250
+import navio.Common.util
+import navio.Navio2.lsm9ds1
 
-parser = argparse.ArgumentParser()
-parser.add_argument("-i", help = "Sensor selection: -i [sensor name]. Sensors names: mpu is MPU9250, lsm is LSM9DS1")
+navio.Common.util.check_apm()
 
-if len(sys.argv) == 1:
- print "Enter parameter"
- parser.print_help()
- sys.exit(1)
-elif len(sys.argv) == 2:
- sys.exit("Enter sensor name: mpu or lsm")
+def get_inertial_sensor():
 
-args = parser.parse_args()
+ if (navio.Common.util.get_navio_version() == "NAVIO2"):
 
-if args.i == 'mpu':
- print "Selected: MPU9250"
- imu = navio.mpu9250.MPU9250()
-elif args.i == 'lsm':
- print "Selected: LSM9DS1"
- imu = navio.lsm9ds1.LSM9DS1()
-else:
- print "Wrong sensor name. Select: mpu or lsm"
- sys.exit(1)
+ parser = argparse.ArgumentParser()
+ parser.add_argument("-i", help = "Sensor selection: -i [sensor name]. Sensors names: mpu is MPU9250, lsm is LSM9DS1")
+
+ if len(sys.argv) == 1:
+ print "Enter parameter"
+ parser.print_help()
+ sys.exit(1)
+ elif len(sys.argv) == 2:
+ sys.exit("Enter sensor name: mpu or lsm")
+
+ args = parser.parse_args()
+
+ if args.i == 'mpu':
+ print "Selected: MPU9250"
+ return navio.Common.mpu9250.MPU9250()
+ elif args.i == 'lsm':
+ print "Selected: LSM9DS1"
+ return navio.Navio2.lsm9ds1.LSM9DS1()
+ else:
+ print "Wrong sensor name. Select: mpu or lsm"
+ sys.exit(1)
+ else:
+ print "Selected: MPU9250"
+ return navio.Common.mpu9250.MPU9250()
 
 
+imu = get_inertial_sensor();
 
 if imu.testConnection():
  print "Connection established: True"
@@ -69,23 +78,23 @@
 time.sleep(1)
 
 while True:
- # imu.read_all()
- # imu.read_gyro()
- # imu.read_acc()
- # imu.read_temp()
- # imu.read_mag()
+ # imu.read_all()
+ # imu.read_gyro()
+ # imu.read_acc()
+ # imu.read_temp()
+ # imu.read_mag()
 
- # print "Accelerometer: ", imu.accelerometer_data
- # print "Gyroscope: ", imu.gyroscope_data
- # print "Temperature: ", imu.temperature
- # print "Magnetometer: ", imu.magnetometer_data
+ # print "Accelerometer: ", imu.accelerometer_data
+ # print "Gyroscope: ", imu.gyroscope_data
+ # print "Temperature: ", imu.temperature
+ # print "Magnetometer: ", imu.magnetometer_data
 
- # time.sleep(0.1)
+ # time.sleep(0.1)
 
- m9a, m9g, m9m = imu.getMotion9()
+ m9a, m9g, m9m = imu.getMotion9()
 
- print "Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(m9a[1]), "{:+7.3f}".format(m9a[2]),
- print " Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(m9g[1]), "{:+8.3f}".format(m9g[2]),
- print " Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(m9m[1]), "{:+7.3f}".format(m9m[2])
+ print "Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(m9a[1]), "{:+7.3f}".format(m9a[2]),
+ print " Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(m9g[1]), "{:+8.3f}".format(m9g[2]),
+ print " Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(m9m[1]), "{:+7.3f}".format(m9m[2])
 
- time.sleep(0.5)
+ time.sleep(0.5)

Python/Barometer.py

@@ -10,12 +10,13 @@
 
 import time
 
-import navio.ms5611
-import navio.util
+import navio.Common.util
 
-navio.util.check_apm()
+import navio.Common.ms5611
 
-baro = navio.ms5611.MS5611()
+navio.Common.util.check_apm()
+
+baro = navio.Common.ms5611.MS5611()
 baro.initialize()
 
 while(True):

Python/GPS.py

@@ -1,50 +1,48 @@
-import navio.util
-import navio.ublox
-
+import navio.Common.ublox
 
 if __name__ == "__main__":
 
- ubl = navio.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
+ ubl = navio.Common.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
 
  ubl.configure_poll_port()
- ubl.configure_poll(navio.ublox.CLASS_CFG, navio.ublox.MSG_CFG_USB)
+ ubl.configure_poll(navio.Common.ublox.CLASS_CFG, navio.Common.ublox.MSG_CFG_USB)
  #ubl.configure_poll(navio.ublox.CLASS_MON, navio.ublox.MSG_MON_HW)
 
- ubl.configure_port(port=navio.ublox.PORT_SERIAL1, inMask=1, outMask=0)
- ubl.configure_port(port=navio.ublox.PORT_USB, inMask=1, outMask=1)
- ubl.configure_port(port=navio.ublox.PORT_SERIAL2, inMask=1, outMask=0)
+ ubl.configure_port(port=navio.Common.ublox.PORT_SERIAL1, inMask=1, outMask=0)
+ ubl.configure_port(port=navio.Common.ublox.PORT_USB, inMask=1, outMask=1)
+ ubl.configure_port(port=navio.Common.ublox.PORT_SERIAL2, inMask=1, outMask=0)
  ubl.configure_poll_port()
- ubl.configure_poll_port(navio.ublox.PORT_SERIAL1)
- ubl.configure_poll_port(navio.ublox.PORT_SERIAL2)
- ubl.configure_poll_port(navio.ublox.PORT_USB)
+ ubl.configure_poll_port(navio.Common.ublox.PORT_SERIAL1)
+ ubl.configure_poll_port(navio.Common.ublox.PORT_SERIAL2)
+ ubl.configure_poll_port(navio.Common.ublox.PORT_USB)
  ubl.configure_solution_rate(rate_ms=1000)
 
  ubl.set_preferred_dynamic_model(None)
  ubl.set_preferred_usePPP(None)
 
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_POSLLH, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_PVT, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_STATUS, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_SOL, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_VELNED, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_SVINFO, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_VELECEF, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_POSECEF, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_RAW, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_SFRB, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_SVSI, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_ALM, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_EPH, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_TIMEGPS, 5)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_CLOCK, 5)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_POSLLH, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_PVT, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_STATUS, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_SOL, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_VELNED, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_SVINFO, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_VELECEF, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_POSECEF, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_RAW, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_SFRB, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_SVSI, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_ALM, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_EPH, 1)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_TIMEGPS, 5)
+ ubl.configure_message_rate(navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_CLOCK, 5)
  #ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_DGPS, 5)
 
  while True:
  msg = ubl.receive_message()
  if msg is None:
  if opts.reopen:
  ubl.close()
- ubl = navio.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
+ ubl = navio.Common.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
  continue
  print(empty)
  break

Python/LED.py

@@ -1,12 +1,20 @@
-import sys
-
-import navio.leds
 import time
-import navio.util
+import os
+
+import navio.Common.util
+if navio.Common.util.get_navio_version() == "NAVIO2":
+ import navio.Navio2.Led as Led
+else:
+ import navio.Navio.Led as Led
+
 
-navio.util.check_apm()
+if (os.getuid() != 0):
+ print "Not root. Please, launch like this: sudo python LED.py"
+ exit(-1)
 
-led = navio.leds.Led()
+navio.Common.util.check_apm()
+
+led = Led()
 
 led.setColor('Yellow')
 print "LED is yellow"
@@ -37,3 +45,4 @@
  led.setColor('Yellow')
  print "LED is yellow"
  time.sleep(1)
+

Python/RCInput.py

@@ -1,13 +1,17 @@
-import sys, time
+import time
 
-import navio.rcinput
-import navio.util
+import navio.Common.util
 
-navio.util.check_apm()
-
-rcin = navio.rcinput.RCInput()
+if navio.Common.util.get_navio_version() == "NAVIO2":
+ import navio.Navio2.RCInput as RCInput
+else:
+ import navio.Navio.RCInput as RCInput
 
+navio.Common.util.check_apm()
+
+rcin = RCInput()
 while (True):
  period = rcin.read(2)
  print period
  time.sleep(1)
+

Python/Servo.py

@@ -1,16 +1,24 @@
-import sys
 import time
+import os
 
-import navio.pwm
-import navio.util
+import navio.Common.util
 
-navio.util.check_apm()
+if navio.Common.util.get_navio_version() == "NAVIO2":
+ import navio.Navio2.RCOutput as RCOutput
+else:
+ import navio.Navio.RCOutput as RCOutput
 
+SERVO_MIN = 1.250 # ms
+SERVO_MAX = 1.750 # ms
 PWM_OUTPUT = 0
-SERVO_MIN = 1.250 #ms
-SERVO_MAX = 1.750 #ms
 
-with navio.pwm.PWM(PWM_OUTPUT) as pwm:
+if (os.getuid() != 0):
+ print "Not root. Please, launch like this: sudo python Servo.py"
+ exit(-1)
+
+navio.Common.util.check_apm()
+
+with RCOutput(PWM_OUTPUT) as pwm:
  pwm.set_period(50)
  pwm.enable()
 

Python/navio/Common/__init__.py

@@ -0,0 +1,2 @@
+from .mpu9250 import MPU9250
+from .ms5611 import MS5611

Python/navio/util.py → Python/navio/Common/util.py

@@ -5,3 +5,8 @@ def check_apm():
  ret = sub.call(["ps -AT | grep -c ap-timer > /dev/null"], shell = True)
  if ret <= 0:
  sys.exit("APM is running. Can't launch the example")
+
+def get_navio_version():
+ file = open("/sys/firmware/devicetree/base/hat/product_id")
+ version = "NAVIO" if file.readline(6) == "0x0001" else "NAVIO2"
+ return version

Python/navio/Navio/ADC.py

@@ -0,0 +1,36 @@
+from adafruit_ads1x15 import ADS1x15
+
+class ADC():
+ ADS1015 = 0x00 # 12-bit ADC
+ ADS1115 = 0x01 # 16-bit ADC
+
+ # Select the gain
+ # gain = 6144 # +/- 6.144V
+ gain = 4096 # +/- 4.096V
+ # gain = 2048 # +/- 2.048V
+ # gain = 1024 # +/- 1.024V
+ # gain = 512 # +/- 0.512V
+ # gain = 256 # +/- 0.256V
+
+ # Select the sample rate
+ # sps = 8 # 8 samples per second
+ # sps = 16 # 16 samples per second
+ # sps = 32 # 32 samples per second
+ # sps = 64 # 64 samples per second
+ # sps = 128 # 128 samples per second
+ sps = 250 # 250 samples per second
+ # sps = 475 # 475 samples per second
+ # sps = 860 # 860 samples per second
+
+ # Initialise the ADC using the default mode (use default I2C address)
+ # Set this to ADS1015 or ADS1115 depending on the ADC you are using!
+
+ channel_count = 4
+
+ def __init__(self):
+ self.adc = ADS1x15(ic=self.ADS1115)
+
+ def read(self, ch):
+ return self.adc.readADCSingleEnded(ch, self.gain, self.sps)
+
+