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kserial.py
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kserial.py
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# __ ____
# / /__ _ __ / __/ __
# / //_/(_)/ /_ / / ___ ____ ___ __ __ / /_
# / ,< / // __/_\ \ / _ \ / __// _ \/ // // __/
# /_/|_|/_/ \__//___// .__//_/ \___/\_,_/ \__/
# /_/ github.com/KitSprout
#
# @file kserial.py
# @author KitSprout
# @brief kserial packet format :
# byte 1 : header 'K' (75) [HK]
# byte 2 : header 'S' (83) [HS]
# byte 3 : data type (4-bit) [TP]
# byte 4 : data bytes (12-bit) [LN]
# byte 5 : parameter 1 [P1]
# byte 6 : parameter 2 [P2]
# byte 7 : checksum [CK]
# ...
# byte L-1 : data [DN]
# byte L : finish '\r' (13) [ER]
import time
import struct
import sys
import glob
import serial
import numpy as np
class kserial:
typesize = {
'uint8' : 1, 'uint16' : 2, 'uint32' : 4, 'uint64' : 8,
'int8' : 1, 'int16' : 2, 'int32' : 4, 'int64' : 8,
'half' : 2, 'float' : 4, 'double' : 8,
'R0' : 1, 'R1' : 1, 'R2' : 1, 'R3' : 1, 'R4' : 1,
0 : 1, 1 : 2, 2 : 4, 3 : 8,
4 : 1, 5 : 2, 6 : 4, 7 : 8,
9 : 2, 10 : 4, 11 : 8,
8 : 1, 12 : 1, 13 : 1, 14 : 1, 15: 1,
}
typeconv = {
'uint8' : 0, 'uint16' : 1, 'uint32' : 2, 'uint64' : 3,
'int8' : 4, 'int16' : 5, 'int32' : 6, 'int64' : 7,
'half' : 9, 'float' : 10, 'double' : 11,
'R0' : 8, 'R1' : 12, 'R2' : 13, 'R3' : 14, 'R4' : 15,
0: 'uint8', 1: 'uint16', 2: 'uint32', 3: 'uint64',
4: 'int8', 5: 'int16', 6: 'int32', 7: 'int64',
9: 'half', 10: 'float', 11: 'double',
8: 'R0', 12: 'R1', 13: 'R2', 14: 'R3', 15: 'R4'
}
typestructconv = {
'uint8' : 'B', 'uint16' : 'H', 'uint32' : 'I', 'uint64' : 'Q',
'int8' : 'b', 'int16' : 'h', 'int32' : 'i', 'int64' : 'q',
'half' : 'e', 'float' : 'f', 'double' : 'd',
'R0' : 'B', 'R1' : 'B', 'R2' : 'B', 'R3' : 'B', 'R4' : 'B',
0 : 'B', 1 : 'H', 2 : 'I', 3 : 'Q',
4 : 'b', 5 : 'h', 6 : 'i', 7 : 'q',
9 : 'e', 10 : 'f', 11 : 'd',
8 : 'B', 12 : 'B', 13 : 'B', 14 : 'B', 15: 'B',
}
typestr = {
'uint8' : 'U8', 'uint16' : 'U16', 'uint32' : 'U32', 'uint64' : 'U64',
'int8' : 'I8', 'int16' : 'I16', 'int32' : 'I32', 'int64' : 'I64',
'half' : 'F16', 'float' : 'F32', 'double' : 'F64',
'R0' : 'R0', 'R1' : 'R1', 'R2' : 'R2', 'R3' : 'R3', 'R4' : 'R4',
}
KSCMD_R0_DEVICE_ID = 0xD0
KSCMD_R0_DEVICE_BAUDRATE = 0xD1
KSCMD_R0_DEVICE_RATE = 0xD2
KSCMD_R0_DEVICE_MDOE = 0xD3
KSCMD_R0_DEVICE_GET = 0xE3
KSCMD_R2_TWI_SCAN_DEVICE = 0xA1
KSCMD_R2_TWI_SCAN_REGISTER = 0xA2
def __init__(self, port="", baudrate=115200):
self.s = serial.Serial()
if len(port) == 0:
portlist = self.get_portlist()
if len(portlist) > 0:
self.port = portlist[0]
else:
print('not available com port')
self.port = "COM0"
else:
self.port = port
self.baudrate = baudrate
self.buf = bytes()
self.runtime = 0
def open(self):
self.s.port = self.port
self.s.baudrate = self.baudrate
self.s.open()
self.clear()
def close(self):
self.s.close()
def is_open(self):
return self.s.is_open
def get_bytes_available(self):
return self.s.in_waiting
def clear(self):
self.s.reset_input_buffer()
def write(self, data):
self.s.write(data)
def read(self, lens):
return self.s.read(lens)
def get_portlist(self):
if sys.platform.startswith('win'):
ports = ['COM%s' % (i + 1) for i in range(256)]
elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'):
# this excludes your current terminal "/dev/tty"
ports = glob.glob('/dev/tty[A-Za-z]*')
elif sys.platform.startswith('darwin'):
ports = glob.glob('/dev/tty.*')
else:
raise EnvironmentError('Unsupported platform')
portlist = []
for port in ports:
try:
s = serial.Serial(port)
s.close()
portlist.append(port)
except (OSError, serial.SerialException):
pass
return portlist
def find(self, packet, val):
return [i for i, v in enumerate(packet) if v == val]
def delay(self, second):
time.sleep(second)
def getinfo(self, packet, Ki):
Td = packet[Ki + 2]
Ld = packet[Ki + 3]
P1d = packet[Ki + 4]
P2d = packet[Ki + 5]
CKd = packet[Ki + 6]
return Td, Ld, P1d, P2d, CKd
# param = bytes(2), ktype = string, data = int or list
def pack(self, param = [], ktype = 'R0', data = []):
# get data lens
if data != []:
if type(data) is int:
lens = 1
pdata = bytearray(struct.pack(self.typestructconv[ktype], data))
else:
lens = len(data)
pdata = bytearray(struct.pack(self.typestructconv[ktype], data[0]))
for i in range(1, lens):
pdata += bytearray(struct.pack(self.typestructconv[ktype], data[i]))
else:
lens = 0
# pack
packet_bytes = self.typesize[ktype] * lens
packet_type = self.typeconv[ktype] * 16 + int(packet_bytes / 256)
packet = bytes(b'KS') # header 'KS'
packet += bytes([packet_type]) # data type
packet += bytes([packet_bytes]) # data bytes
if param != []:
packet += bytes(param) # parameter 1, 2
else:
packet += bytes(2)
checksum = (packet[2] + packet[3] + packet[4] + packet[5]) % 256
packet += bytes([checksum]) # checksum
if packet_bytes != 0: # data ...
packet += pdata
packet += bytes(b'\r') # finish '\r'
info = packet_bytes, packet_type, param[0], param[1], checksum
return info, packet
# pkinfo, pkdata, idx = ks.unpack(packet)
# pkinfo(1) : data length (bytes)
# pkinfo(2) : data type
# pkinfo(3) : parameter 1
# pkinfo(4) : parameter 2
# pkinfo(5) : checksum
def unpack(self, packet = []):
info = ([],)
data = ([],)
index = 0
# empty data
if packet == []:
return info, data, index
# conv to array
packet = np.array(list(packet))
packet_bytes = len(packet)
# check 'KS'
Ki = np.where(packet == 75)[0]
Si = np.where(packet == 83)[0]
Ki = np.array(sorted(list(set(Ki) & set(Si - 1))))
if Ki.size == 0:
return info, data, index
# check last packet
if Ki[-1] + 8 > packet_bytes:
Ki = np.delete(Ki, -1)
if Ki.size == 0:
return info, data, index
# get packet info and checksum
Td, Ld, P1d, P2d, CKd = self.getinfo(packet, Ki)
# check checksum
checksum = (Td + Ld + P1d + P2d) % 256
rm = np.where((CKd == checksum) != True)[0]
if rm.size != 0:
Ki = np.delete(Ki, rm)
if Ki.size != 0:
Td, Ld, P1d, P2d, CKd = self.getinfo(packet, Ki)
else:
return info, data, index
# get type, lens, parameter
packet_type = np.trunc(Td / 16).astype(int)
packet_lens = Ld + (Td % 16) * 256
# check last packet
if Ki[-1] + packet_lens[-1] + 8 > packet_bytes:
Ki = np.delete(Ki, -1)
if Ki.size != 0:
Td, Ld, P1d, P2d, CKd = self.getinfo(packet, Ki)
packet_type = np.trunc(Td / 16).astype(int)
packet_lens = Ld + (Td % 16) * 256
else:
return info, data, index
# check '/r'
Ed = packet[Ki + packet_lens + 7]
rm = np.where((Ed == 13) != True)[0]
if rm.size != 0:
Ki = np.delete(Ki, rm)
if Ki.size != 0:
Td, Ld, P1d, P2d, CKd = self.getinfo(packet, Ki)
packet_type = np.trunc(Td / 16).astype(int)
packet_lens = Ld + (Td % 16) * 256
else:
return info, data, index
# get packet data
Ki = np.array(Ki)
cnt = 0
data = ()
for i in Ki + 7:
Dd = packet[i:i+packet_lens[cnt]]
cnt = cnt + 1
data += (list(Dd),)
info = list(packet_lens), list(packet_type), list(P1d), list(P2d), list(CKd)
index = Ki[-1] + packet_lens[-1] + 8
return info, data, index
# pkinfo, pkdata, pkcount = ks.send(param, ktype, data)
def send(self, param = [], ktype = 'R0', data = []):
pkinfo, pkdata = self.pack(param, ktype, data)
pkcount = len(pkdata)
if pkcount:
self.write(pkdata)
return pkinfo, pkdata, pkcount
# pkinfo, pkdata, pkcount = ks.recv()
# pkinfo(1) : data length (bytes)
# pkinfo(2) : data type
# pkinfo(3) : parameter 1
# pkinfo(4) : parameter 2
# pkinfo(5) : checksum
# pkinfo(6) : data length
def recv(self):
pkinfo = ([],)
pkdata = ([],)
pkcount = 0
nbyte = self.get_bytes_available()
if nbyte == 0:
return pkinfo, pkdata, pkcount
pkinfo, pkdata, idx = self.unpack(self.read(nbyte))
if pkinfo[0] == []:
return pkinfo, pkdata, pkcount
pkcount = len(pkdata)
pkdatalens = []
pk = ()
for i in range(0, pkcount):
if pkdata[i] != []:
typesize = self.typesize[pkinfo[1][i]]
lens = int(pkinfo[0][i] / typesize)
pkdatalens.append(lens)
pd = []
for k in range(0, lens):
pd.append(struct.unpack(self.typestructconv[pkinfo[1][i]], bytes(pkdata[i][0:typesize]))[0])
del pkdata[i][0:typesize]
else:
pd = []
pkinfo[1][i] = self.typeconv[pkinfo[1][i]]
pk += (pd,)
# add packet data lens to info
pkinfo += (pkdatalens,)
pkdata = pk
return pkinfo, pkdata, pkcount
# pkinfo, pkdata, pkcount = ks.continuous()
# pkinfo(1) : data length (bytes)
# pkinfo(2) : data type
# pkinfo(3) : parameter 1
# pkinfo(4) : parameter 2
# pkinfo(5) : checksum
# pkinfo(6) : data length
def continuous(self, ts = True, record = False):
pkinfo = ([],)
pkdata = ([],)
pkdt = []
pkcount = 0
nbyte = self.get_bytes_available()
if nbyte == 0:
return pkinfo, pkdata, pkcount, pkdt
# add to buffer
rd = self.read(nbyte)
self.buf += rd
# unpack
pkinfo, pkdata, idx = self.unpack(self.buf)
if pkinfo[0] != []:
self.buf = self.buf[idx:]
else:
return pkinfo, pkdata, pkcount, pkdt
pkcount = len(pkdata)
pkdatalens = []
pk = ()
for i in range(0, pkcount):
if pkdata[i] != []:
typesize = self.typesize[pkinfo[1][i]]
lens = int(pkinfo[0][i] / typesize)
pkdatalens.append(lens)
pd = []
for k in range(0, lens):
pd.append(struct.unpack(self.typestructconv[pkinfo[1][i]], bytes(pkdata[i][0:typesize]))[0])
del pkdata[i][0:typesize]
else:
pd = []
pkinfo[1][i] = self.typeconv[pkinfo[1][i]]
pk += (pd,)
if ts == True:
now = pk[i][0] + pk[i][1] * 1e-3
else:
now = time.time()
dt = now - self.runtime
self.runtime = now
pkdt.append(dt)
# add packet data lens to info
pkinfo += (pkdatalens,)
pkdata = pk
return pkinfo, pkdata, pkcount, pkdt
# TODO
# pkinfo, pkdata, pkcount = ks.data(mode)
# mode = get, reset
# TODO
# pkinfo, pkdata, pkcount = ks.observer(param, ktype, ack, second)
# TODO
# getPacketLostRate
# pkinfo, pkdata, pkcount = ks.command(param, ktype, ack, second)
def command(self, param = [], ktype = 'R0', ack = False, second = 0.05):
pkinfo, pkdata = self.pack(param, ktype)
pkcount = len(pkdata)
if ack:
self.clear()
if pkcount:
self.write(pkdata)
if ack:
self.delay(second)
pkinfo, pkdata, pkcount = self.recv()
return pkinfo, pkdata, pkcount
# deviceid = ks.check()
def check(self):
pkinfo, pkdata, pkcount = self.command([self.KSCMD_R0_DEVICE_ID, 0], 'R0', True)
deviceid = pkinfo[3][0] * 256 + pkinfo[2][0]
return deviceid
# baudrate = ks.target_baudrate()
# ks.target_baudrate(115200)
# ks.target_baudrate(115200, True)
def target_baudrate(self, baudrate = -1, resetting = False):
if baudrate < 0:
return self.target_get(self.KSCMD_R0_DEVICE_BAUDRATE)
pkinfo, pkdata, pkcount = self.send([self.KSCMD_R0_DEVICE_BAUDRATE, 4], 'R0', struct.pack('I', int(baudrate)))
# resetting baudrate
if resetting == True:
self.close()
self.baudrate = baudrate
self.delay(0.1)
self.open()
self.delay(0.1)
return pkinfo, pkdata, pkcount
# rate = ks.target_rate()
# ks.target_rate(100)
def target_rate(self, rate = -1, second = 0):
if rate < 0:
return self.target_get(self.KSCMD_R0_DEVICE_RATE)
pkinfo, pkdata, pkcount = self.send([self.KSCMD_R0_DEVICE_RATE, 4], 'R0', struct.pack('I', int(rate)))
self.delay(second)
return pkinfo, pkdata, pkcount
# mode = ks.target_mode()
# ks.target_mode(mode)
def target_mode(self, mode = -1, second = 0):
if mode < 0:
return self.target_get(self.KSCMD_R0_DEVICE_MDOE)
pkinfo, pkdata, pkcount = self.command([self.KSCMD_R0_DEVICE_MDOE, mode], 'R0', False)
self.delay(second)
return pkinfo, pkdata, pkcount
# deviceid = ks.target_get(self.KSCMD_R0_DEVICE_ID)
# baudrate = ks.target_get(self.KSCMD_R0_DEVICE_BAUDRATE)
# rate = ks.target_get(self.KSCMD_R0_DEVICE_RATE)
# mode = ks.target_get(self.KSCMD_R0_DEVICE_MDOE)
def target_get(self, item, second = 0.05):
pkinfo, pkdata, pkcount = self.command([self.KSCMD_R0_DEVICE_GET, item], 'R0', True)
value = struct.unpack('I', bytes(pkdata[0]))[0];
return value
# value = ks.i2c_read(address, reg, lens, show, second)
def i2c_read(self, address, reg, lens = 1, show = False, second = 0.05):
pkinfo, pkdata = self.pack([(address << 1) + 1, reg], 'R1', lens)
self.clear()
self.write(pkdata)
self.delay(second)
pkinfo, pkdata, pkcount = self.recv()
if pkcount == 0 or pkinfo[0] == []:
print(' >> i2c read device error ... no ack\n')
return []
return pkdata[0]
# value = ks.i2c_write(address, reg, data, show, second)
def i2c_write(self, address, reg, data = [], show = False, second = 0.05):
pkinfo, pkdata = self.pack([(address << 1) + 0, reg], 'R1', data)
self.write(pkdata)
return pkdata
# address = ks.i2c_scan(show, second)
def i2c_scan(self, show = False, second = 0.05):
pkinfo, pkdata = self.pack([self.KSCMD_R2_TWI_SCAN_DEVICE, 0], 'R2')
self.clear()
self.write(pkdata)
self.delay(second)
pkinfo, pkdata, pkcount = self.recv()
if pkcount == 0 or pkinfo[0] == []:
print(' >> i2c secn device error ... no ack\n')
return [0xFF]
if self.KSCMD_R2_TWI_SCAN_DEVICE != pkinfo[2][0]:
print(' >> i2c secn device error ... wrong format\n')
return [0xFF]
address = pkdata[0]
if show:
devnum = len(address)
s = f' >> found {devnum} device ...'
for i in range(devnum):
s += f' {address[i]:02X}'
print(s)
return address
# reg = ks.i2c_register(address, show, second)
def i2c_register(self, address, show = False, second = 0.1):
pkinfo, pkdata = self.pack([self.KSCMD_R2_TWI_SCAN_REGISTER, address << 1], 'R2')
self.clear()
self.write(pkdata)
self.delay(second)
pkinfo, pkdata, pkcount = self.recv()
if pkcount == 0 or pkinfo[0] == []:
print(' >> i2c secn register error ... no ack\n')
return ([],)
if self.KSCMD_R2_TWI_SCAN_REGISTER != pkinfo[2][0]:
print(' >> i2c secn register error ... wrong format\n')
return ([],)
reg = pkdata[0]
if show:
idx = 0
s = f' >> i2c secn address (0x{address:02X})\n\n'
s += ' 0 1 2 3 4 5 6 7 8 9 A B C D E F\n'
for i in range(0, 256, 16):
s += f' {i:02X}:'
s += f' {reg[i+0]:02X} {reg[i+1]:02X} {reg[i+ 2]:02X} {reg[i+ 3]:02X} {reg[i+ 4]:02X} {reg[i+ 5]:02X} {reg[i+ 6]:02X} {reg[i+ 7]:02X}'
s += f' {reg[i+8]:02X} {reg[i+9]:02X} {reg[i+10]:02X} {reg[i+11]:02X} {reg[i+12]:02X} {reg[i+13]:02X} {reg[i+14]:02X} {reg[i+15]:02X}\n'
print(s)
return reg
# Need to install pyqtgraph and PySide6
# pip install pyqtgraph
# pip install PySide6
class oscilloscope():
import pyqtgraph as pg
from pyqtgraph.Qt import QtCore
class style():
def __init__(self, index, color='', scale=1.0, text=''):
self.index = index
self.color = color
self.scale = scale
self.text = text
def __init__(self, kserial, posx=100, posy=100, width=640, height=360):
self.ks = kserial
self.app = self.pg.mkQApp('kSerial')
self.plt = self.pg.plot()
self.plt.setWindowTitle('kSerial Oscilloscope')
self.plt.setGeometry(posx, posy, width, height)
self.plt.showGrid(x=True, y=True, alpha=0.2)
self.plt.enableAutoRange()
self.ts = 0
def update(self):
pkinfo, pkdata, pkcount, pkdt = self.ks.continuous()
if pkcount != 0:
# record data
# TODO: save all recv data
# len(pkcount)
for i in range(self.num):
self.raw[i][:-1] = self.raw[i][1:]
self.raw[i][-1] = pkdata[-1][i]
# update curve
text = ''
for i in range(len(self.index)):
curvedata = self.raw[self.index[i]] * self.scale[i]
self.curve[i].setData(curvedata)
text += f' {self.curvetext[i]}: {curvedata[-1]: 10.4f}'
# TODO: setPos()
# udpate title
tt = time.time()
dt = tt - self.ts
if dt > 0.05:
self.ts = tt
self.plt.setTitle(text)
# update
self.app.processEvents()
def run(self, xlabel='samples', ylabel='', width=800, yrange=[], style=[style(0)]):
self.plt.setLabel('bottom', xlabel)
self.plt.setLabel('left', ylabel)
if len(yrange) == 2:
self.plt.setRange(xRange=[0, width], yRange=yrange)
self.width = width
# get packet size
self.ks.target_mode(1)
timeout, pkcount = 0, 0
while pkcount == 0 and timeout < 5.0:
pkinfo, pkdata, pkcount, pkdt = self.ks.continuous()
timeout += 0.01
time.sleep(0.01)
# create buffer
self.num = len(pkdata[0])
self.raw = np.zeros([self.num, self.width])
# create curve
self.index = []
self.pen = []
self.curve = []
self.scale = []
self.curvetext = []
for i in range(len(style)):
self.index.append(style[i].index)
self.pen.append(self.pg.mkPen(style[i].color, name=style[i].text))
self.curve.append(self.plt.plot(pen=self.pen[i]))
self.scale.append(style[i].scale)
self.curvetext.append(style[i].text)
# continuous mode
self.ks.target_mode(1)
# set timer and start
timer = self.QtCore.QTimer()
timer.timeout.connect(self.update)
timer.start(0)
self.pg.exec()
# self.pg.show()
self.ks.target_mode(0)
return self.raw
# test
if __name__ == '__main__':
print('')
print('---- kserial test start ----')
ks = kserial(baudrate=115200)
ks.open()
# check connection
deviceid = ks.check()
print(f'>> device check: {deviceid:X}')
ksosc = ks.oscilloscope(ks)
raw = ksosc.run(
xlabel='samples',
ylabel='m/s^2',
yrange=[-40, 40],
style=[
ksosc.style(index=5, color='r', scale=9.81/8192, text='ax'),
ksosc.style(index=6, color='g', scale=9.81/8192, text='ay'),
ksosc.style(index=7, color='b', scale=9.81/8192, text='az')
]
)
# time.sleep(5)
print('---- kserial test stop ----')
ks.close()