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78 lines
2.1 KiB
78 lines
2.1 KiB
#!/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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