Added examples for writing 1-wire and EEPROM. Closes bitcraze#198.

examples/write-eeprom.py

@@ -0,0 +1,157 @@
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2014 Bitcraze AB
+#
+#  Crazyflie Nano Quadcopter Client
+#
+#  This program is free software; you can redistribute it and/or
+#  modify it under the terms of the GNU General Public License
+#  as published by the Free Software Foundation; either version 2
+#  of the License, or (at your option) any later version.
+#
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+
+#  You should have received a copy of the GNU General Public License
+#  along with this program; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+#  MA  02110-1301, USA.
+
+"""
+Simple example that connects to the first Crazyflie found, looks for
+EEPROM memories and writes the default values in it.
+"""
+
+import sys
+import logging
+import time
+from threading import Timer
+
+sys.path.append("../lib")
+import cflib.crtp  # noqa
+from cfclient.utils.logconfigreader import LogConfig  # noqa
+from cflib.crazyflie.mem import MemoryElement
+from cflib.crazyflie import Crazyflie  # noqa
+
+# Only output errors from the logging framework
+logging.basicConfig(level=logging.ERROR)
+
+
+class EEPROMExample:
+    """
+    Simple example listing the EEPROMs found and writes the default values
+    in it.
+    """
+
+    def __init__(self, link_uri):
+        """ Initialize and run the example with the specified link_uri """
+
+        # Create a Crazyflie object without specifying any cache dirs
+        self._cf = Crazyflie()
+
+        # Connect some callbacks from the Crazyflie API
+        self._cf.connected.add_callback(self._connected)
+        self._cf.disconnected.add_callback(self._disconnected)
+        self._cf.connection_failed.add_callback(self._connection_failed)
+        self._cf.connection_lost.add_callback(self._connection_lost)
+
+        print("Connecting to %s" % link_uri)
+
+        # Try to connect to the Crazyflie
+        self._cf.open_link(link_uri)
+
+        # Variable used to keep main loop occupied until disconnect
+        self.is_connected = True
+
+    def _connected(self, link_uri):
+        """ This callback is called form the Crazyflie API when a Crazyflie
+        has been connected and the TOCs have been downloaded."""
+        print("Connected to %s" % link_uri)
+
+        mems = self._cf.mem.get_mems(MemoryElement.TYPE_I2C)
+        print("Found {} EEPOM(s)".format(len(mems)))
+        if len(mems) > 0:
+            print("Writing default configuration to"
+                  " memory {}".format(mems[0].id))
+
+            elems = mems[0].elements
+            elems["version"] = 1
+            elems["pitch_trim"] = 0.0
+            elems["roll_trim"] = 0.0
+            elems["radio_channel"] = 80
+            elems["radio_speed"] = 0
+            elems["radio_address"] = 0xE7E7E7E7E7
+
+            mems[0].write_data(self._data_written)
+
+    def _data_written(self, mem, addr):
+            print("Data written, reading back...")
+            mem.update(self._data_updated)
+
+    def _data_updated(self, mem):
+        print("Updated id={}".format(mem.id))
+        print("\tType      : {}".format(mem.type))
+        print("\tSize      : {}".format(mem.size))
+        print("\tValid     : {}".format(mem.valid))
+        print("\tElements  : ")
+        for key in mem.elements:
+            print("\t\t{}={}".format(key, mem.elements[key]))
+
+        self._cf.close_link()
+
+    def _stab_log_error(self, logconf, msg):
+        """Callback from the log API when an error occurs"""
+        print("Error when logging %s: %s" % (logconf.name, msg))
+
+    def _stab_log_data(self, timestamp, data, logconf):
+        """Callback froma the log API when data arrives"""
+        print("[%d][%s]: %s" % (timestamp, logconf.name, data))
+
+    def _connection_failed(self, link_uri, msg):
+        """Callback when connection initial connection fails (i.e no Crazyflie
+        at the speficied address)"""
+        print("Connection to %s failed: %s" % (link_uri, msg))
+        self.is_connected = False
+
+    def _connection_lost(self, link_uri, msg):
+        """Callback when disconnected after a connection has been made (i.e
+        Crazyflie moves out of range)"""
+        print("Connection to %s lost: %s" % (link_uri, msg))
+
+    def _disconnected(self, link_uri):
+        """Callback when the Crazyflie is disconnected (called in all cases)"""
+        print("Disconnected from %s" % link_uri)
+        self.is_connected = False
+
+
+if __name__ == '__main__':
+    # Initialize the low-level drivers (don't list the debug drivers)
+    cflib.crtp.init_drivers(enable_debug_driver=True)
+    # Scan for Crazyflies and use the first one found
+    print("Scanning interfaces for Crazyflies...")
+    available = cflib.crtp.scan_interfaces()
+    print("Crazyflies found:")
+    for i in available:
+        print(i[0])
+
+    if len(available) > 0:
+        le = EEPROMExample(available[0][0])
+    else:
+        print("No Crazyflies found, cannot run example")
+
+    # The Crazyflie lib doesn't contain anything to keep the application alive,
+    # so this is where your application should do something. In our case we
+    # are just waiting until we are disconnected.
+    try:
+        while le.is_connected:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        sys.exit(1)

examples/write-ow.py

@@ -0,0 +1,165 @@
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2014 Bitcraze AB
+#
+#  Crazyflie Nano Quadcopter Client
+#
+#  This program is free software; you can redistribute it and/or
+#  modify it under the terms of the GNU General Public License
+#  as published by the Free Software Foundation; either version 2
+#  of the License, or (at your option) any later version.
+#
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+
+#  You should have received a copy of the GNU General Public License
+#  along with this program; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+#  MA  02110-1301, USA.
+
+"""
+Simple example that connects to the first Crazyflie found, looks for
+EEPROM memories and lists its contents.
+"""
+
+import sys
+import logging
+import time
+from threading import Timer
+
+sys.path.append("../lib")
+import cflib.crtp  # noqa
+from cfclient.utils.logconfigreader import LogConfig  # noqa
+from cflib.crazyflie.mem import MemoryElement, OWElement
+from cflib.crazyflie import Crazyflie  # noqa
+
+# Only output errors from the logging framework
+logging.basicConfig(level=logging.ERROR)
+
+
+class EEPROMExample:
+    """
+    Simple example listing the EEPROMs found and lists its contents.
+    """
+
+    def __init__(self, link_uri):
+        """ Initialize and run the example with the specified link_uri """
+
+        # Create a Crazyflie object without specifying any cache dirs
+        self._cf = Crazyflie()
+
+        # Connect some callbacks from the Crazyflie API
+        self._cf.connected.add_callback(self._connected)
+        self._cf.disconnected.add_callback(self._disconnected)
+        self._cf.connection_failed.add_callback(self._connection_failed)
+        self._cf.connection_lost.add_callback(self._connection_lost)
+
+        print("Connecting to %s" % link_uri)
+
+        # Try to connect to the Crazyflie
+        self._cf.open_link(link_uri)
+
+        # Variable used to keep main loop occupied until disconnect
+        self.is_connected = True
+
+    def _connected(self, link_uri):
+        """ This callback is called form the Crazyflie API when a Crazyflie
+        has been connected and the TOCs have been downloaded."""
+        print("Connected to %s" % link_uri)
+
+        mems = self._cf.mem.get_mems(MemoryElement.TYPE_1W)
+        print("Found {} 1-wire memories".format(len(mems)))
+        if len(mems) > 0:
+            print("Writing test configuration to"
+                  " memory {}".format(mems[0].id))
+
+            mems[0].vid = 0xBC
+            mems[0].pid = 0xFF
+
+            board_name_id = OWElement.element_mapping[1]
+            board_rev_id = OWElement.element_mapping[2]
+
+            mems[0].elements[board_name_id] = "Test board"
+            mems[0].elements[board_rev_id] = "A"
+
+            mems[0].write_data(self._data_written)
+
+    def _data_written(self, mem, addr):
+            print("Data written, reading back...")
+            mem.update(self._data_updated)
+
+    def _data_updated(self, mem):
+        print("Updated id={}".format(mem.id))
+        print("\tType      : {}".format(mem.type))
+        print("\tSize      : {}".format(mem.size))
+        print("\tValid     : {}".format(mem.valid))
+        print("\tName      : {}".format(mem.name))
+        print("\tVID       : 0x{:02X}".format(mem.vid))
+        print("\tPID       : 0x{:02X}".format(mem.pid))
+        print("\tPins      : 0x{:02X}".format(mem.pins))
+        print("\tElements  : ")
+
+        for key in mem.elements:
+            print("\t\t{}={}".format(key, mem.elements[key]))
+
+        self._cf.close_link()
+
+    def _stab_log_error(self, logconf, msg):
+        """Callback from the log API when an error occurs"""
+        print("Error when logging %s: %s" % (logconf.name, msg))
+
+    def _stab_log_data(self, timestamp, data, logconf):
+        """Callback froma the log API when data arrives"""
+        print("[%d][%s]: %s" % (timestamp, logconf.name, data))
+
+    def _connection_failed(self, link_uri, msg):
+        """Callback when connection initial connection fails (i.e no Crazyflie
+        at the speficied address)"""
+        print("Connection to %s failed: %s" % (link_uri, msg))
+        self.is_connected = False
+
+    def _connection_lost(self, link_uri, msg):
+        """Callback when disconnected after a connection has been made (i.e
+        Crazyflie moves out of range)"""
+        print("Connection to %s lost: %s" % (link_uri, msg))
+
+    def _disconnected(self, link_uri):
+        """Callback when the Crazyflie is disconnected (called in all cases)"""
+        print("Disconnected from %s" % link_uri)
+        self.is_connected = False
+
+
+if __name__ == '__main__':
+    print("This example will not work with the BLE version of the nRF51"
+          " firmware (flashed on production units). See https://github.com"
+          "/bitcraze/crazyflie-clients-python/issues/166")
+    # Initialize the low-level drivers (don't list the debug drivers)
+    cflib.crtp.init_drivers(enable_debug_driver=True)
+    # Scan for Crazyflies and use the first one found
+    print("Scanning interfaces for Crazyflies...")
+    available = cflib.crtp.scan_interfaces()
+    print("Crazyflies found:")
+    for i in available:
+        print(i[0])
+
+    if len(available) > 0:
+        le = EEPROMExample(available[0][0])
+    else:
+        print("No Crazyflies found, cannot run example")
+
+    # The Crazyflie lib doesn't contain anything to keep the application alive,
+    # so this is where your application should do something. In our case we
+    # are just waiting until we are disconnected.
+    try:
+        while le.is_connected:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        sys.exit(1)