-
Notifications
You must be signed in to change notification settings - Fork 0
/
Midterm.py
414 lines (381 loc) · 18.1 KB
/
Midterm.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
# -*- coding: utf-8 -*-
"""
Created on Sat Oct 7 20:29:59 2023
@author: amjin2
"""
import matplotlib as mpl
import time
import sys, os
mpl.style.use('ggplot')
ok_sdk_loc = "C:\\Program Files\\Opal Kelly\\FrontPanelUSB\\API\\Python\\x64"
ok_dll_loc = "C:\\Program Files\\Opal Kelly\\FrontPanelUSB\\API\\lib\\x64"
sys.path.append(ok_sdk_loc) # add the path of the OK library
os.add_dll_directory(ok_dll_loc)
import ok # OpalKelly library
#%%
# Define FrontPanel device variable, open USB communication and
# load the bit file in the FPGA
dev = ok.okCFrontPanel() # define a device for FrontPanel communication
SerialStatus=dev.OpenBySerial("1739000J9R") # open USB communication with the OK board
ConfigStatus=dev.ConfigureFPGA(r"C:\Users\amjin2\437Midterm\437Midterm.runs\impl_1\MidtermTopLevel.bit"); # Configure the FPGA with this bit file
# Check if FrontPanel is initialized correctly and if the bit file is loaded.
# Otherwise terminate the program
print("----------------------------------------------------")
if SerialStatus == 0:
print ("FrontPanel host interface was successfully initialized.")
else:
print ("FrontPanel host interface not detected. The error code number is:" + str(int(SerialStatus)))
print("Exiting the program.")
sys.exit ()
if ConfigStatus == 0:
print ("Your bit file is successfully loaded in the FPGA.")
else:
print ("Your bit file did not load. The error code number is:" + str(int(ConfigStatus)))
print ("Exiting the progam.")
sys.exit ()
print("----------------------------------------------------")
print("----------------------------------------------------")
#%%
# ILA VERSION MANUALLY UPLOAD BITSTREAM
# Define FrontPanel device variable, open USB communication and
# load the bit file in the FPGA
dev = ok.okCFrontPanel() # define a device for FrontPanel communication
SerialStatus=dev.OpenBySerial("1911000P3F") # open USB communication with the OK board
# Check if FrontPanel is initialized correctly and if the bit file is loaded.
# Otherwise terminate the program
print("----------------------------------------------------")
if SerialStatus == 0:
print ("FrontPanel host interface was successfully initialized.")
else:
print ("FrontPanel host interface not detected. The error code number is:" + str(int(SerialStatus)))
print("Exiting the program.")
sys.exit ()
print("----------------------------------------------------")
print("----------------------------------------------------")
#%%
#Accel: 0011001 Mag: 0011110
#To set LSB/Gauss: CRB_REG_M (0000001) (01100000) (670 LSB/Gauss X, Y, Z)
#To set mag conversion rate: CRA_REG_M (0000000) (00011100) (220Hz, Temperature Disable)
#To turn on Accel + Set rate: CTRL_REG1_A (0100000) (01100111) (200Hz, Normal, all EN)
#To turn on Mag: MR_REG_M (0000010) (00000000) (Coyntiuous conversion mode)
def two_signed_A(val):
val = bin(val)[2:]
val = val[8:16] + val[0:8]
sig_digit = int(val[0])
mult = 1
for i in range(len(val)-1):
mult*=2
val = val[1:]
#print(val)
new_int = int(val, 2)
#print(new_int)
sig_digit = sig_digit * -1 * mult
return (sig_digit + new_int)
def two_signed_M(val):
val = bin(val)[2:]
sig_digit = int(val[0])
mult = 1
for i in range(len(val)-1):
mult*=2
val = val[1:]
#print(val)
new_int = int(val, 2)
#print(new_int)
sig_digit = sig_digit * -1 * mult
return (sig_digit + new_int)
def i2c_function():
timedelay1 = 0.03
timedelay2 = 0.02
try:
readloop = input("Do you want to continuously read [Y/N]")
if(readloop.upper() == 'N'):
slave_addr = input("Enter the slave address (binary upper 7 bits): ")
sub_addr = input("Enter the sub address (binary lower 7 bits): ")
read = input("Enter 1 if you wish to perform a read, 0 if to perform a write: ")
if(int(read) != 1):
writedata = input("Enter the write data (binary 8 bits): ")
num_bytes = "00000000"
else:
num_bytes = input("Enter the number of bytes to read (8 bit binary): ")
writedata = "00000000"
#print("Here is the slave address:", slave_addr, "Here is the sub address:", sub_addr, "Here is the read:", read, "Here is the writedata", writedata, "Here is the num bytes", num_bytes)
inputvector = slave_addr + sub_addr + read + writedata + num_bytes
print("Concatanation:", inputvector)
inputvector = int(inputvector, 2)
print("Converting to int:", inputvector)
#inputvector = int((slave_addr + sub_addr + read + writedata + num_bytes), 2) # SlaveAddr + SubAddr + RW + WD + RB
control = 1
print("Input manual vector", bin(inputvector))
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns()
time.sleep(0.020)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns()
dev.UpdateWireOuts()
if (str(read) == '1'):
readdata = dev.GetWireOutValue(0x20) # Transfer the received data in variable
readdata = bin(readdata)[2:]
print("ReadData:", readdata)
else:
enter_x = input("Press Any key to calibrate Accel X -1g")
# Calibrate Accel X
control = 1
inputvector = int(('0011001' + '0101000' + '1' + '00000000' + '00000010'), 2) # Accel + OUT_X_L_A + Read + None + 2
print("input vector Accel X", inputvector)
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Accel X
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
AccelX = dev.GetWireOutValue(0x20) # Transfer the received data in variable
AccelXNegG = two_signed_A(AccelX)
print("AccelXNegG = ", AccelXNegG)
time.sleep(0.010)
enter_y = input("Press Any key to calibrate Accel Y -1g")
# Calibrate Accel Y
control = 1
inputvector = int(('0011001' + '0101010' + '1' + '00000000' + '00000010'), 2) # Accel + OUT_Y_L_A + Read + None + 2
print("input vector Accel Y", inputvector)
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Accel Y
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
AccelY = dev.GetWireOutValue(0x20) # Transfer the received data in variable
AccelYNegG = two_signed_A(AccelY)
print("AccelYNegG = ", AccelYNegG)
time.sleep(0.010)
enter_z = input("Press Any key to calibrate Accel Z -1g")
# Calibrate Accel Z
control = 1
inputvector = int(('0011001' + '0101100' + '1' + '00000000' + '00000010'), 2) # Accel + OUT_Z_L_A + Read + None + 2
print("input vector Accel Z", inputvector)
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Accel Z
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
AccelZ = dev.GetWireOutValue(0x20) # Transfer the received data in variable
AccelZNegG = two_signed_A(AccelZ)
print("AccelZNegG = ", AccelZNegG)
print("Press Ctrl + C to exit out of read loop")
time.sleep(1)
while (True):
# Read Accel X
control = 1
inputvector = int(('0011001' + '0101000' + '1' + '00000000' + '00000010'), 2) # Accel + OUT_X_L_A + Read + None + 2
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Accel X
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
timedelay2 = 0.010
try:
time.sleep(timedelay2)
dev.UpdateWireOuts()
AccelX = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
AccelXNormal = -1*(AccelX/AccelXNegG)
except:
while(True):
timedelay2 += 0.010
print("AccelX While Loop", timedelay2)
try:
time.sleep(timedelay2)
dev.UpdateWireOuts()
AccelX = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
AccelXNormal = -1*(AccelX/AccelXNegG)
break
except:
continue
time.sleep(0.010)
# Read Accel Y
control = 1
inputvector = int(('0011001' + '0101010' + '1' + '00000000' + '00000010'), 2) # Accel + OUT_Y_L_A + Read + None + 2
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Accel Y
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
dev.UpdateWireOuts()
timedelay2 = 0.010
try:
time.sleep(timedelay2)
AccelY = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
AccelYNormal = -1*(AccelY/AccelYNegG)
except:
while(True):
timedelay2 += 0.010
print("AccelY While Loop", timedelay2)
try:
time.sleep(timedelay2)
AccelY = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
AccelYNormal = -1*(AccelY/AccelYNegG)
break
except:
continue
# try:
# dev.UpdateWireOuts()
# AccelY = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
# AccelYNormal = -1*(AccelY/AccelYNegG)
# except:
# test = input("Do you want to try again")
# while(test.upper() != "N"):
# try:
# dev.UpdateWireOuts()
# AccelY = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
# AccelYNormal = -1*(AccelY/AccelYNegG)
# break
# except:
# test = input("Do you want to try again")
time.sleep(0.010)
# Read Accel Z
control = 1
inputvector = int(('0011001' + '0101100' + '1' + '00000000' + '00000010'), 2) # Accel + OUT_Z_L_A + Read + None + 2
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Accel Z
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
time_sleep = 0.010
try:
AccelZ = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
AccelZNormal = -1*(AccelZ/AccelZNegG)
time.sleep(time_sleep)
except:
while(True):
time_sleep += 0.010
print("AccelZ While Loop", time_sleep)
try:
AccelZ = two_signed_A(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
AccelZNormal = -1*(AccelZ/AccelZNegG)
time.sleep(time_sleep)
break
except:
continue
# Read Mag X
control = 1
inputvector = int(('0011110' + '0000011' + '1' + '00000000' + '00000010'), 2) # Mag + OUT_X_H_M + Read + None + 2
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Mag X
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
time_sleep = 0.010
try:
MagX = two_signed_M(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
MagXNormal = MagX/670
time.sleep(0.010)
except:
while(True):
print("MagX While Loop", time_sleep)
time_sleep += 0.010
try:
MagX = two_signed_M(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
MagXNormal = MagX/670
time.sleep(0.010)
break
except:
continue
# Read Mag Y
control = 1
inputvector = int(('0011110' + '0000111' + '1' + '00000000' + '00000010'), 2) # Mag + OUT_Y_H_M + Read + None + 2
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Mag Y
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
time_sleep = 0.010
try:
MagY = two_signed_M(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
MagYNormal = MagY/670
time.sleep(time_sleep)
except:
while(True):
time_sleep += .010
print("MagY While Loop", time_sleep)
try:
MagY = two_signed_M(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
MagYNormal = MagY/670
time.sleep(time_sleep)
break
except:
continue
# Read Mag Z
control = 1
inputvector = int(('0011110' + '0000101' + '1' + '00000000' + '00000010'), 2) # Mag + OUT_Z_H_M + Read + None + 2
dev.SetWireInValue(0x00, control)
dev.SetWireInValue(0x01, inputvector)
dev.UpdateWireIns() # Ask to read Mag Z
time.sleep(timedelay1)
control = 0
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns() # Turn off read control
time.sleep(timedelay2)
dev.UpdateWireOuts()
time_sleep = 0.010
try:
MagZ = two_signed_M(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
MagZNormal = MagZ/670
time.sleep(time_sleep)
except:
while(True):
print("MagZ While Loop", time_sleep)
time_sleep += .010
try:
MagZ = two_signed_M(dev.GetWireOutValue(0x20)) # Transfer the received data in variable
MagZNormal = MagZ/670
time.sleep(time_sleep)
break
except:
continue
print("=======================================================================")
print("AccelX:", AccelXNormal, "g")
print("AccelY:", AccelYNormal, "g")
print("AccelZ:", AccelZNormal, "g")
print("MagX:", MagXNormal, "Gauss")
print("MagY:", MagYNormal, "Gauss")
print("MagZ:", MagZNormal, "Gauss")
print("=======================================================================")
except KeyboardInterrupt:
print("Exited")
dev.SetWireInValue(0x00, control)
dev.UpdateWireIns()
return -1
#try:
out = i2c_function()
if out == -1:
test = input("Do you want to close (Y/N)")
while(test.upper() != "Y"):
out = i2c_function()
test = input("Do you want to close (Y/N)")
dev.Close