mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
Python
Executable File
79 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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# SPDX-License-Identifier: GPL-3
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import argparse
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import fcntl
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import os
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import serial
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import struct
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import sys
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import time
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try:
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import argcomplete
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except:
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pass
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SYSTEM_RESET = struct.pack('B' * 4, 0x5A, 0x04, 0x02, 0x60)
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MODE_I2C = struct.pack('B' * 5, 0x5A, 0x05, 0x0A, 0x01, 0x6A)
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MODE_UART = struct.pack('B' * 5, 0x5A, 0x05, 0x0A, 0x00, 0x69)
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SAVE_SETTINGS = struct.pack('B' * 4, 0x5A, 0x04, 0x11, 0x6F)
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def cmd_switch_to_i2c(args):
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with serial.Serial(args.uart, 115200, timeout=1) as ser:
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ser.write(MODE_I2C)
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time.sleep(0.1)
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ser.write(SAVE_SETTINGS)
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def cmd_switch_to_uart(args):
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I2C_SLAVE = 0x703
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with open(args.i2c_dev, "wb") as f:
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fcntl.ioctl(f.fileno(), I2C_SLAVE, args.addr)
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f.write(MODE_UART)
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time.sleep(0.1)
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f.write(SAVE_SETTINGS)
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def parse_args(proc_args):
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parser = argparse.ArgumentParser(description="Configure TFMini Plus Lidar")
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subparsers = parser.add_subparsers(title="Commands", dest="command")
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p = subparsers.add_parser('switch-to-i2c', help="Switch sensor to I2C mode")
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p.add_argument('uart', help="UART device the sensor is currently using (e.g. /dev/ttyUSB0, /dev/ttyS1, etc)")
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p.set_defaults(func=cmd_switch_to_i2c)
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p = subparsers.add_parser('switch-to-uart', help="Switch sensor to UART mode")
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p.add_argument('i2c_dev', help="I2C device the sensor is currently using (e.g. /dev/i2c-1, /dev/i2c-2, etc)")
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p.add_argument('addr', type=lambda x: int(x, 0), help="I2C device's address the sensor is currently using (e.g. 0x10, 0x11, etc)")
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p.set_defaults(func=cmd_switch_to_uart)
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try:
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argcomplete.autocomplete(parser)
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except NameError:
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pass
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args = parser.parse_args(proc_args)
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if not hasattr(args, "func"):
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parser.print_help()
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return None
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return args
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def main(*proc_args):
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args = parse_args(proc_args)
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if not args:
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return 1
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try:
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return args.func(args)
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except KeyboardInterrupt:
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return 130
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return 1
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if __name__ == "__main__":
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main(*sys.argv[1:])
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