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Merge remote-tracking branch 'remotes/les_software/master'

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Conflicts:
	CANLibrary/CanMessage.py
This commit is contained in:
Christian Sueltrop 2014-02-21 17:05:21 +01:00
commit 571df6a1ec
17 changed files with 360 additions and 54 deletions
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46
.gitignore vendored Normal file
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@ -0,0 +1,46 @@
# Ignore-Datei selbst ausschließen
#.gitignore
.gitmodules
Thumbs.db
# Bestimmte Dateien ausschließen
cache.dat
# Es können Wildcards (*,?) verwendet werden:
*.exe
*.dll
*.dsbackup
*.avrsln
*.avrsuo
*.avrgccproj
*.aps
*.atsln
*.atsuo
*.cproj
*.aws
*.xml
*.xslt
*.aux
*.dvi
*.lof
*.log
*.lot
*.out
*.synctex.gz
*.toc
*.pyc
*.patch
*.csv
.project
.pydevproject
tmp?.dat
# Auch Verzeichnisse kann man ausschießen:
*default/
*Debug/
*bin/
*ADC/
*CAN/
*UART/
.*/
CANLibrary/

10
.pydevproject
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@ -1,12 +1,10 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?eclipse-pydev version="1.0"?>
<pydev_project>
<?eclipse-pydev version="1.0"?><pydev_project>
<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
<pydev_pathproperty name="org.python.pydev.PROJECT_SOURCE_PATH">
<path>/CANLibrary</path>
<path>/CANLibrary/PCANBasic</path>
<path>/CANLibrary/pycrc</path>
<path>/vonPhilipp.git</path>
<path>/vonPhilipp.git/PCANBasic</path>
<path>/vonPhilipp.git/pycrc</path>
</pydev_pathproperty>
</pydev_project>

1
.settings/org.eclipse.core.resources.prefs
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@ -2,5 +2,6 @@ eclipse.preferences.version=1
encoding//CANLibrary/CanMessage.py=UTF-8
encoding//CANLibrary/CanSignal.py=UTF-8
encoding//CANLibrary/PCan.py=UTF-8
encoding//CANLibrary/Sym2Lib.py=UTF-8
encoding//CANLibrary/example.py=UTF-8
encoding//pycrc/crc_algorithms.py=latin1

1
CANLibrary/CanMessage.py
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@ -48,6 +48,7 @@ class CanMessage(object):
self.Id = MessageId
self.CycleTime = MessageCycleTime
self.Label = Label
self.timestamp = 0
# create an initial array of message data
for i in range(0, self.Length):

25
CANLibrary/CanSignal.py
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@ -28,13 +28,15 @@ class CanSignal(object):
self.Length = SignalLength
self.Offset = SignalOffset
self.Scaling = SignalScaling
self.Label = SignalLabel
self.Data = []
self.SetData(SignalData)
self.Enum = None
self.SetData(SignalData)
def SetData(self, SignalData):
'''
Update the data of the Signal.
@ -47,14 +49,17 @@ class CanSignal(object):
self.Data = []
for i in range(0, int(self.Length/8)+1):
self.Data.append ( (tmpData >> (8*i) ) & 0xff )
def GetData(self):
'''
'''
tmpData = 0
for i in range(0, int(self.Length/8)+1):
tmpData += ( self.Data[i] << (8*i) )
tmpData = int( (tmpData * self.Scaling) + self.Offset )
return tmpData
tmpData = ( (tmpData * self.Scaling) + self.Offset )
return tmpData
def SetEnum(self, Enum):
self.Enum = Enum

104
CANLibrary/PCan.py
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@ -8,31 +8,36 @@ Created on 06.07.2012
import PCANBasic # PCANBasic wrapper library provided by PEAK
import sys
from time import sleep
class PcanAdapter (object):
class PcanAdapter(object):
'''
A class for controlling a PEAK PCan adapter. Based on the PCANBasic library.
'''
# Class variables:
Baudrate = { '125k' : PCANBasic.PCAN_BAUD_125K,
Baudrate = { '100k' : PCANBasic.PCAN_BAUD_100K,
'125k' : PCANBasic.PCAN_BAUD_125K,
'250k' : PCANBasic.PCAN_BAUD_250K,
'500k' : PCANBasic.PCAN_BAUD_500K,
'1000k' : PCANBasic.PCAN_BAUD_1M }
def __init__(self, Baudrate):
'1000k': PCANBasic.PCAN_BAUD_1M
}
def __init__(self, Baudrate, debug = True):
'''
Constructor.
@param Baudrate: Baud rate from the PcanAdapter. Baud rate dictionary
'''
# Instance variables:
self.Messages = {}
# Instance variables:
self.debug = debug
self.Messages = {}
self.Channel = PCANBasic.PCAN_USBBUS1
self.Pcan = PCANBasic.PCANBasic()
self.Baudrate = Baudrate # Baud rate from PCANBasic
self.isInitialised = False
def __del__(self):
'''
Destructor.
@ -40,26 +45,40 @@ class PcanAdapter (object):
'''
print '\nDestructor:'
self.uninitialize()
def addMessage(self, CanMessage):
'''
Add a Message of type CanMessage to the list of messages.
@param CanMessage: The message to add to the list of messages.
'''
self.Messages.update({CanMessage.Label: CanMessage})
def _getIDs_(self):
_ids_ = {}
for key in self.Messages.keys():
_ids_.update( { self.Messages[key].Id : key } )
return _ids_
def getMessageName(self, ID):
_ids_ = self._getIDs_()
if ID in _ids_.keys():
return _ids_[ID]
else:
print 'ERROR: Message ID %s not defined' % ID
return False
def removeMessage(self, CanMessageLabel):
try:
self.Messages.pop(CanMessageLabel)
except:
pass
def clearMessages(self):
self.Messages = {}
def initialize(self):
'''
Initializes the PCAN adapter.
@ -67,15 +86,17 @@ class PcanAdapter (object):
self.Pcan.Uninitialize(PCANBasic.PCAN_NONEBUS)
status = self.Pcan.Initialize(self.Channel, self.Baudrate)
if status != PCANBasic.PCAN_ERROR_OK:
print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
if self.debug:
print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
sys.exit("PCAN initialisation error")
print("PCAN initialised")
if self.debug:
print("PCAN initialised")
self.isInitialised = True
channel, hwId = self.Pcan.GetValue( self.Channel, PCANBasic.PCAN_DEVICE_NUMBER )
print 'DeviceNumber: ', hwId
if self.debug:
print 'DeviceNumber: ', hwId
def uninitialize(self):
'''
Unitialize the PCAN adapter.
@ -83,29 +104,33 @@ class PcanAdapter (object):
if self.isInitialised:
status = self.Pcan.Uninitialize(self.Channel)
if status != PCANBasic.PCAN_ERROR_OK:
print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
if self.debug:
print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
sys.exit("PCAN deinitialisation error")
print("PCAN deinitialised")
def sendMessage(self, Message):
if self.debug:
print("PCAN deinitialised")
def sendMessage(self, Message, rtr = False):
'''
Sends the CanMessage object Message onto the CAN bus.
@param Messge: The CanMessage object that is to be sent.
@param Messge: The CanMessage object that is to be sent.
'''
Message.composeData() # compose message data array from the signals in Message.Signals.
msg = PCANBasic.TPCANMsg() # create a new PCAN message object
msg.ID = Message.Id # copy the ID
msg.MSGTYPE = PCANBasic.PCAN_MESSAGE_STANDARD # Message type is standard (not extended)
if rtr:
msg.MSGTYPE = PCANBasic.PCAN_MESSAGE_RTR # Message type is Remote-Transfer-Request
else:
msg.MSGTYPE = PCANBasic.PCAN_MESSAGE_STANDARD # Message type is standard (not extended)
msg.LEN = Message.Length # copy the length
msg.DATA[0:Message.Length] = Message.Data # copy the message data into the PCAN message object
self.Pcan.Write(self.Channel, msg) # write it onto the Bus
#print ('Message ' + Message.Label + ' written.')
def receiveMessage(self):
def receiveMessage(self, block = False):
'''
Tries to receive a CAN message and puts its data into the according CanMessage object's Data field.
This method should be called frequently.
@ -113,7 +138,7 @@ class PcanAdapter (object):
while True: # do this while messages are read from the bus
result, msg, timestamp = self.Pcan.Read(self.Channel)
if result == PCANBasic.PCAN_ERROR_OK:
# loop through the messages and look for one that matches the received message:
for msgKey in self.Messages:
@ -127,5 +152,8 @@ class PcanAdapter (object):
for i in range(0, self.Messages[msgKey].Length):
self.Messages[msgKey].Data[i] = msg.DATA[i]
self.Messages[msgKey].decomposeData()
elif result == PCANBasic.PCAN_ERROR_QRCVEMPTY:
break
self.Messages[msgKey].timestamp = timestamp.micros + 1000 * timestamp.millis + 0xFFFFFFFF * 1000 * timestamp.millis_overflow
return msgKey
elif result == PCANBasic.PCAN_ERROR_QRCVEMPTY and block == False:
return None
sleep(0.01)

202
CANLibrary/Sym2Lib.py Normal file
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@ -0,0 +1,202 @@
# -*- coding: UTF-8 -*-
'''
Created on 12.12.2013
@author: Philipp Rauch
@version: 1.0
@attention: No support for multiplex; until now no motorola support
'''
from CanMessage import CanMessage
from CanSignal import CanSignal
from pprint import pprint
def readSym(symfile):
'''
Read in a .sym-file created with PEAK PCAN Symbol Editor containing CAN message and signal definitions.
'''
sym = open(symfile, "r") # File handle to the .sym-file
message = {} # Decoded message descriptions
tmp = {} #
enums = {} #
ignore = True # temporary ignore flag for message types
enums_bool = False #
name = "" #
for line in sym:
line = line.split("//")[0].strip()
#print line
if line == "":
if ignore:
continue
if name == "":
continue
if not tmp.has_key("CycleTime"):
tmp["CycleTime"] = 0
message[name] = tmp
tmp = {}
name = ""
continue
if ignore and not line[0] == "{":
continue
elif enums_bool and not line[0] == "{":
arg = line.strip()
if arg.find("enum") == 0:
arg = line.split("(")
ident =arg[0].split(" ")[1]
enums[ident] = {}
arg = arg[1]
if ")" in arg:
arg = (arg.split(")"))[0]
tm = arg.split(",")
else:
tm = arg.split(",")
del tm[-1]
for i in range(len(tm)):
tm[i] = tm[i].split("=")
tm[i][0] = int(tm[i][0].strip())
tm[i][1] = tm[i][1].strip("\"")
for i in tm:
enums[ident][i[0]] = i[1]
if line[0] == "{":
ignore = False
enums_bool = False
modus = line.strip("{} \n")
if modus == "ENUMS":
enums_bool = True
ignore = False # do not ignore ENUM definitions
elif modus == "SEND":
ignore = False # do not ignore SEND type message definitions
elif modus == "RECEIVE":
ignore = False # do not ignore RECEIVE type message definitions
elif modus == "SENDRECEIVE":
ignore = False # do not ignore SENDRECEIVE type message definitions
elif modus == "VIRTUALVARS":
ignore = True # ignore VIRTUALVARS definitions
elif line[0] == "[":
name = line.strip("[] \n")
elif line.find("ID") == 0:
msg_id = line.split("=")[1].strip().rstrip("h")
tmp["ID"] = int(msg_id, 16) # convert hex to int
elif line.find("DLC") == 0:
tmp["DLC"] = int(line.split("=")[1].strip())
elif line.find("CycleTime") == 0:
tmp["CycleTime"] = int(line.split("=")[1].strip())
elif line.find("Var") == 0:
arg = line.split("=")[1].strip().split(" ")
signal = {}
signal["factor"] = 1
signal["data"] = 0
signal["offset"] = 0
titel = arg[0]
del arg[0]
signal["type"] = arg[0]
del arg[0]
signal["begin"] = int(arg[0].split(",")[0])
signal["length"] = int(arg[0].split(",")[1])
del arg[0]
if "-m" in arg:
signal["format"] = "motorola"
arg.remove("-m")
else:
signal["format"] = "intel"
if "-b" in arg:
signal["output"] = "binary"
arg.remove("-b")
elif "-h" in arg:
signal["output"] = "hexadecimal"
arg.remove("-h")
else:
signal["output"] = "decimal"
for i in arg:
a = i.split(":")
if a[0] == "/u":
signal["unit"] = a[1]
elif a[0] == "/f":
signal["factor"] = float(a[1])
elif a[0] == "/o":
signal["offset"] = float(a[1])
elif a[0] == "/d":
signal["data"] = float(a[1])
elif a[0] == "/e":
signal["enum"] = enums[a[1]]
tmp[titel] = signal
return message
def Sym2Code(symfile, adapter):
'''
Create code for message configuration.
The code created can be used for static message defintions where the .sym-file shall not be included into the project.
'''
mes = readSym(symfile)
for i in mes.keys():
if i == "ENUMS":
print { i : mes[i] }
continue
print "%s.addMessage(CanMessage(%s, %s, %s, \'%s\')" % (adapter, hex(mes[i]["ID"]), mes[i]["DLC"], mes[i]["CycleTime"], i)
for sig in mes[i]:
if isinstance(mes[i].get(sig), dict):
print "%s.Messages[\'%s\'].addSignal(CanSignal(%s, %s, %s, %s, %s, \'%s\')" % (adapter, i, mes[i][sig]["begin"], mes[i][sig]["length"], mes[i][sig]["offset"], mes[i][sig]["factor"], mes[i][sig]["data"], sig)
if "enum" in mes[i][sig].keys():
pprint({ "enum" : mes[i][sig]["enum"]})
print ""
def Add2Adapter(pcan, symfile):
'''
Add message configuration to a pcan adapter instance.
'''
mes = readSym(symfile)
print ""
for i in mes.keys():
if i == "ENUMS":
continue
pcan.addMessage(CanMessage(mes[i]["ID"],
mes[i]["DLC"],
mes[i]["CycleTime"],
i))
print "adding message to pcan: ID \'%s\', Name \'%s\'" % (hex(mes[i]["ID"]), i)
signals = []
for sig in mes[i]:
if isinstance(mes[i].get(sig), dict):
pcan.Messages[i].addSignal(CanSignal(mes[i][sig]["begin"],
mes[i][sig]["length"],
mes[i][sig]["offset"],
mes[i][sig]["factor"],
mes[i][sig]["data"],
sig))
if "enum" in mes[i][sig].keys():
pcan.Messages[i].Signals[sig].SetEnum(mes[i][sig]["enum"])
signals.append(sig)
print ' signals: %s\n' % ', '.join(signals)
return pcan
def _get_easy_Dict_(mes):
symDict = {}
for i in mes.keys():
symDict[i] = []
for sig in mes[i]:
if isinstance(mes[i].get(sig), dict):
symDict[i].append(sig)
return symDict
Sym2Code("Test.sym", "pcan")

13
CANLibrary/Test.sym Normal file
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@ -0,0 +1,13 @@
FormatVersion=5.0 // Do not edit!
Title="Test"
{SEND}
[Test]
ID=123h
DLC=8
CycleTime=100
Var=Var1 unsigned 0,8 /u:Volt /f:2
Var=Var2 signed 8,21 /u:Ampere
Var=Var4 float 32,32

12
CANLibrary/example.py
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@ -9,6 +9,8 @@ Example for creating and sending CAN messages via PCAN using the CanMessage, Can
from CanMessage import CanMessage
from CanSignal import CanSignal
from PCan import PcanAdapter
#from Sym2Lib import addtoPCAN, printCode
from Sym2Lib import Add2Adapter
import time
print '\nCreate a PCAN adapter'
@ -58,6 +60,16 @@ pcan.Messages['mMotor_2'].composeData()
print 'mMotor_2.Data', pcan.Messages['mMotor_2'].Data
pcan.sendMessage(pcan.Messages['mMotor_2'])
# Test Sym2Lib
Add2Adapter(pcan, "Test.sym")
pcan.Messages['Test'].Signals['Var1'].SetData( 30 )
pcan.Messages['Test'].composeData()
pcan.sendMessage(pcan.Messages['Test'])
# receive messages, if the signal MO1_Drehzahl has changed, print the new value
while True:
#print 'send'

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pycrc/crc_symtable.pyc
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