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import serial, time, platform, sys,struct
VERSION = 99 # uC return this when GETVER is send
GETVER = 1 # Codes for the uC communication
READB = 2
WRITEB = 3
# Register addresses of ATmega32 micro-controller
TWAR = 0X22
TWDR = 0X23
ADCL = 0X24 # ADC data
ADCH = 0X25
ADCSRA = 0X26 # ADC status/control
ADMUX = 0X27 # ADC channel, reference
ACSR = 0X28
UBRRL = 0X29
UCSRB = 0X2A
UCSRA = 0X2B
UDR = 0X2C
SPCR = 0X2D
SPSR = 0X2E
SPDR = 0X2F
PIND = 0x30 # Port D input
DDRD = 0x31 # Port D direction
PORTD = 0x32 # Port D output
PINC = 0x33
DDRC = 0x34
PORTC = 0x35
PINB = 0x36
DDRB = 0x37
PORTB = 0x38
PINA = 0x39
DDRA = 0x3A
PORTA = 0x3B
EECR = 0X3C
EEDR = 0X3D
EEARL = 0X3E
EEARH = 0X3F
OCR2 = 0X43 # Timer/Counter 2 Output Compare Reg
TCNT2 = 0X44 # Counter2
TCCR2 = 0x45 # Timer/Counter 2 control reg
ICR1L = 0X46
ICR1H = 0X47
OCR1BL = 0X48
OCR1BH = 0X49
OCR1AL = 0X4A
OCR1AH = 0X4B
TCNT1L = 0X4C
TCNT1H = 0X4D
TCCR1B = 0X4E
TCCR1A = 0x4F
SFIOR = 0X50
TCNT0 = 0x52 # Timer/ Counter 0
TCCR0 = 0x53
MCUCSR = 0X54
MCUCR = 0X55
TWCR = 0X56
SPMCR = 0X57
TIFR = 0X58
TIMSK = 0X59
GIFR = 0X5A
GICR = 0X5B
OCR0 = 0x5C
SPL = 0X5D
SPH = 0x5E
SREG = 0X5F
# Register bit definitions
REF_EXT = 0 # Feed reference voltage externally
REF_INT = (3<<6) # use the 2.56 V internal reference
REF_AVCC = (1<<6) # Connect AVCC internally to reference
ADMAX = 7 # channels 0 to 7
ADC_SPEED = 7 # ADCClk = (8 MHz/ 128) = 62.5 KHz =>208 usec
ADEN = 7
ADIF = 4
ADSC = 6
#--------------------Function that communicate to ATmega32 -------------------
fd = None
def connectKP(s): # Establish connection to ATmega32 connected to USB port
global fd
try:
fd = serial.Serial(s, 9600, stopbits=1, timeout = 0.1) #to overcome a possible bug in pyserial
fd.flush();fd.read(1) # not required for all versions
fd.close()
fd = serial.Serial(s, 38400, stopbits=1, timeout = 1.0)
if fd == None:
return None
fd.setRTS(0) # Set the RTS LED ON
fd.flush()
fd.write(chr(GETVER)) # Look for kuttyPy signature
res = fd.read()
ver = ord(res)
if ver == VERSION:
return fd
else:
print 'Found port %s, but no kuttyPy on it',s
return None
except:
pass
#Exception as e:
#print str(e)
def findKP():
device_list = []
pf = platform.platform()
if 'Windows' in pf:
for k in range(1,255):
s = 'COM%d'%k
device_list.append(s)
for k in range(1,11):
device_list.append(k)
elif 'inux' in pf:
device_list = ['/dev/ttyUSB0', '/dev/ttyUSB1', '/dev/ttyACM0','/dev/ttyACM1']
#print device_list
for dev in device_list:
res = connectKP(dev)
if res != None:
print 'KuttyPy found on port ',dev
return res
def setReg(reg, data):
fd.write(chr(WRITEB))
time.sleep(0.01)
fd.write(chr(reg))
time.sleep(0.01)
fd.write(chr(data))
def getReg(port):
fd.write(chr(READB))
time.sleep(0.01)
fd.write(chr(port))
val = fd.read()
return ord(val)
#-----------------------------------------------------------------
def readADC(ch): # Read the ADC channel
setReg(ADMUX, REF_INT | ch)
setReg(ADCSRA, 1 << ADEN | (1 << ADSC) | ADC_SPEED) # Enable the ADC
low = getReg(ADCL);
hi = getReg(ADCH);
return (hi << 8) | low
#---------------------------------------------------------------------------------------------------
KP = findKP()
if KP == None:
print 'Hardware NOT detected. Exiting'
sys.exit(0)
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