Your Name
61 lines
1.5 KiB
Python
61 lines
1.5 KiB
Python
#!/usr/bin/env python3
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import struct
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import serial
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# -----------------------------------------------------------------------------
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# Configuration
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# -----------------------------------------------------------------------------
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PORT = "/dev/ttyACM1"
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BAUDRATE = 115200
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COMMAND_PREFIX = 0x69
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COMMAND_ID = 0x00
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COMMAND_HOME = 3
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# Length
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length = 0
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# -----------------------------------------------------------------------------
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# Build packet with placeholder CRC
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# -----------------------------------------------------------------------------
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packet = bytearray([
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COMMAND_PREFIX,
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length,
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COMMAND_ID,
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COMMAND_HOME,
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0x00, # Placeholder CRC
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])
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# -----------------------------------------------------------------------------
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# Calculate CRC (matches command_calculate_crc())
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#
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# Sum every byte except the CRC byte itself.
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# -----------------------------------------------------------------------------
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crc_sum = 0
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for i, byte in enumerate(packet):
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if i == 4: # Skip CRC field
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continue
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crc_sum += byte
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packet[4] = 0x100 - (crc_sum & 0xFF)
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# Equivalent to:
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# packet[4] = (0x100 - (crc_sum & 0xFF)) & 0xFF
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# -----------------------------------------------------------------------------
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# Send
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# -----------------------------------------------------------------------------
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print(f"Packet ({len(packet)} bytes):")
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print(packet.hex(" "))
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with serial.Serial(PORT, BAUDRATE, timeout=1) as ser:
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ser.write(packet)
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ser.flush()
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print("Done.") |