nix-servo/fast-servo/pyfastservo/fp_leds.py

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2024-03-06 17:41:21 +08:00
# This file is part of Fast Servo Software Package.
#
# Copyright (C) 2023 Jakub Matyas
# Warsaw University of Technology <jakubk.m@gmail.com>
# SPDX-License-Identifier: GPL-3.0-or-later
#
# 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 3 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, see <https://www.gnu.org/licenses/>.
import mmap
import os
import time
from common import (
LED0_BASE_ADDR,
LED1_BASE_ADDR,
LED2_BASE_ADDR,
LED3_BASE_ADDR,
MAP_MASK,
PAGESIZE,
)
ON = 1
OFF = 0
def main():
addrs = [LED0_BASE_ADDR, LED1_BASE_ADDR, LED2_BASE_ADDR, LED3_BASE_ADDR]
f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
for addr in addrs:
with mmap.mmap(
f,
PAGESIZE,
mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
offset=addr & ~MAP_MASK,
) as mem:
for i in range(6):
start_addr = addr & MAP_MASK
stop_addr = start_addr + 4
print(
f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}"
)
mem[start_addr:stop_addr] = ON.to_bytes(4, "little")
contents = mem[start_addr:stop_addr]
time.sleep(0.5)
mem[start_addr:stop_addr] = OFF.to_bytes(4, "little")
contents = mem[start_addr:stop_addr]
time.sleep(0.5)
os.close(f)
if __name__ == "__main__":
main()