mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 04:57:30 +03:00
fcb4d9d36d
The mcp2515 is a CAN bus controller. It was developed using the Seeed CAN bus shield. Signed-off-by: Jon Trulson <jtrulson@ics.com>
80 lines
2.9 KiB
Python
Executable File
80 lines
2.9 KiB
Python
Executable File
#!/usr/bin/python
|
|
# Author: Jon Trulson <jtrulson@ics.com>
|
|
# Copyright (c) 2016 Intel Corporation.
|
|
#
|
|
# 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.
|
|
|
|
from __future__ import print_function
|
|
import time, sys, signal, atexit
|
|
from upm import pyupm_mcp2515 as MCP2515
|
|
|
|
def main():
|
|
# Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
|
|
sensor = MCP2515.MCP2515(0, -1)
|
|
|
|
## Exit handlers ##
|
|
# This function stops python from printing a stacktrace when you
|
|
# hit control-C
|
|
def SIGINTHandler(signum, frame):
|
|
raise SystemExit
|
|
|
|
# This function lets you run code on exit, including functions from sensor
|
|
def exitHandler():
|
|
print("Exiting")
|
|
sys.exit(0)
|
|
|
|
# Register exit handlers
|
|
atexit.register(exitHandler)
|
|
signal.signal(signal.SIGINT, SIGINTHandler)
|
|
|
|
print("Setting loopback mode...")
|
|
|
|
# set the mode to loopback mode. In loopback mode, transmitted
|
|
# packets are sent directly to an appropriate receive buffer
|
|
# without actually going out onto the CAN bus.
|
|
sensor.setOpmode(MCP2515.MCP2515_OPMODE_LOOPBACK);
|
|
|
|
# lets build up a packet and try loading it (8 bytes max).
|
|
myPayload = "01234567";
|
|
print("Loading a packet of 8 numbers (0-7) into a TX buffer...")
|
|
sensor.loadTXBuffer(MCP2515.MCP2515_TX_BUFFER0, 0, False, False, myPayload);
|
|
|
|
# now lets try to transmit it
|
|
print("Transmitting packet...")
|
|
sensor.transmitBuffer(MCP2515.MCP2515_TX_BUFFER0, True);
|
|
|
|
print("Transmit successful")
|
|
|
|
# There should now be a packet waiting for us in RXB0
|
|
if (sensor.rxStatusMsgs() == MCP2515.MCP2515_RXMSG_RXB0):
|
|
print("Packet received in RXB0, decoding...")
|
|
|
|
# now lets retrieve and print it
|
|
sensor.getRXMsg(MCP2515.MCP2515_RX_BUFFER0);
|
|
|
|
sensor.printMsg();
|
|
else:
|
|
print("No packet found, how strange.")
|
|
|
|
print("Exiting...")
|
|
|
|
if __name__ == '__main__':
|
|
main()
|