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Commit 42d0c3ac authored by Paulus Kruger's avatar Paulus Kruger
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Faster (parallel) i2c and spi bitbang

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config/RECVTR.yaml
+ 96
− 61
View file @ 42d0c3ac
...@@ -21,20 +21,25 @@ drivers: ...@@ -21,20 +21,25 @@ drivers:
devreg: [0x40.0xFF] #I2C broadcast register devreg: [0x40.0xFF] #I2C broadcast register
parameters: [24] #PPS GPIO pin parameters: [24] #PPS GPIO pin
- name: I2Cbb1 - name: I2Cbb1
type: i2cbitbang1 #I2C bitbang via GPIO expander type: i2cbitbangp #I2C bitbang via GPIO expander
devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2] devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2]
parameters: [5,6,6] #pins parameters: [5,6,6] #pins
parent: I2C_RCU parent: I2C_RCU
- name: I2Cbb2 - name: I2Cbb2
type: i2cbitbang1 type: i2cbitbangp
devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2] devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2]
parameters: [4,6,6] parameters: [4,6,6]
parent: I2C_RCU parent: I2C_RCU
- name: I2Cbb3 - name: I2Cbb3
type: i2cbitbang1 type: i2cbitbangp
devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2] devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2]
parameters: [3,6,6] parameters: [3,6,6]
parent: I2C_RCU parent: I2C_RCU
# - name: I2Cbbp
# type: i2cbitbangp
# devreg: [IO3.GPIO2,IO3.GPIO2,IO3.CONF2]
# parameters: [5,4,3,6,6,6,6,6,6]
# parent: I2C_RCU
- name: SPIbb1 - name: SPIbb1
type: spibitbang1 #SPI bitbang via GPIO expander: CLK, SDIO, SDIOdir,CS type: spibitbang1 #SPI bitbang via GPIO expander: CLK, SDIO, SDIOdir,CS
devreg: [IO3.GPIO1,IO3.GPIO1,IO3.CONF1,IO3.GPIO2] devreg: [IO3.GPIO1,IO3.GPIO1,IO3.CONF1,IO3.GPIO2]
...@@ -50,6 +55,12 @@ drivers: ...@@ -50,6 +55,12 @@ drivers:
devreg: [IO3.GPIO1,IO3.GPIO1,IO3.CONF1,IO3.GPIO2] devreg: [IO3.GPIO1,IO3.GPIO1,IO3.CONF1,IO3.GPIO2]
parameters: [5,4,4,2] parameters: [5,4,4,2]
parent: I2C_RCU parent: I2C_RCU
# - name: SPI3bb
# type: spibitbang3 #SPI bitbang via GPIO expander: CLK, SDIO, SDIOdir,CS
# devreg: [IO3.GPIO1,IO3.GPIO1,IO3.CONF1,IO3.GPIO2]
# parameters: [1,3,5, 0,2,4, 0,2,4, 0,1,2]
# parent: I2C_RCU
# - name: HBA_trigger # - name: HBA_trigger
# type: gpio_hba_trigger # type: gpio_hba_trigger
# parameters: [15] #PPS GPIO pin # parameters: [15] #PPS GPIO pin
...@@ -459,7 +470,7 @@ variables: ...@@ -459,7 +470,7 @@ variables:
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
read_parallel: true read_parallel: true
monitor: true # monitor: true
mask: RECVTR_I2C_error mask: RECVTR_I2C_error
- name: RCU_PWR_ANT2_VIN - name: RCU_PWR_ANT2_VIN
...@@ -473,7 +484,7 @@ variables: ...@@ -473,7 +484,7 @@ variables:
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
read_parallel: true read_parallel: true
monitor: true # monitor: true
mask: RECVTR_I2C_error mask: RECVTR_I2C_error
...@@ -512,12 +523,12 @@ variables: ...@@ -512,12 +523,12 @@ variables:
mask: RCU_mask mask: RCU_mask
- name: RCU_DTH_shutdown - name: RCU_DTH_shutdown
description: False means dither source powered on. Controlled by TBD description: False means dither source & ADC powered on.
driver: I2C_RCU driver: I2C_RCU
devreg: [IO3.GPIO1,IO3.GPIO1,IO3.GPIO2] devreg: [IO3.GPIO1,IO3.GPIO1,IO3.GPIO2]
width: 1 width: 1
bitoffset: [7,6,7] bitoffset: [7,6,7]
rw: rw rw: ro
dtype: boolean dtype: boolean
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
...@@ -639,6 +650,7 @@ variables: ...@@ -639,6 +650,7 @@ variables:
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
# monitor: true # monitor: true
read_parallel: true
- name: RCU_ADC_sync - name: RCU_ADC_sync
driver: I2C_RCU driver: I2C_RCU
...@@ -680,6 +692,7 @@ variables: ...@@ -680,6 +692,7 @@ variables:
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
mask: ANT_mask mask: ANT_mask
read_parallel: all
- name: RCU_DTH_PWR - name: RCU_DTH_PWR
description: RCU Dither source power description: RCU Dither source power
...@@ -692,30 +705,33 @@ variables: ...@@ -692,30 +705,33 @@ variables:
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
mask: ANT_mask mask: ANT_mask
read_parallel: all
# debug: true # debug: true
- name: RCU_DTH_tune # - name: RCU_DTH_tune
driver: I2C_RCU # driver: I2C_RCU
devreg: [DTH1.Tune,DTH2.Tune,DTH3.Tune] # devreg: [DTH1.Tune,DTH2.Tune,DTH3.Tune]
width: 16 # width: 16
rw: rw # rw: rw
dtype: uint32 # dtype: uint32
dim: 96 # dim: 96
dim2: [3,32] # dim2: [3,32]
mask: ANT_mask # mask: ANT_mask
debug: true # debug: true
# read_parallel: all
- name: RCU_DTH_config # - name: RCU_DTH_config
driver: I2C_RCU # driver: I2C_RCU
devreg: [DTH1.CONF,DTH2.CONF,DTH3.CONF] # devreg: [DTH1.CONF,DTH2.CONF,DTH3.CONF]
width: 8 # width: 8
rw: rw # rw: rw
dtype: uint32 # dtype: uint32
dim: 96 # dim: 96
dim2: [3,32] # dim2: [3,32]
mask: ANT_mask # mask: ANT_mask
debug: true # debug: true
# read_parallel: all
- name: RCU_DTH_on - name: RCU_DTH_on
description: RCU Dither on. Controlled by RCU_DTH_on/off description: RCU Dither on. Controlled by RCU_DTH_on/off
...@@ -728,17 +744,19 @@ variables: ...@@ -728,17 +744,19 @@ variables:
dim: 96 dim: 96
dim2: [3,32] dim2: [3,32]
mask: ANT_mask mask: ANT_mask
read_parallel: all
- name: RCU_DTH_Rev # - name: RCU_DTH_Rev
driver: I2C_RCU # driver: I2C_RCU
devreg: [DTH1.Rev,DTH2.Rev,DTH3.Rev] # devreg: [DTH1.Rev,DTH2.Rev,DTH3.Rev]
width: 88 # width: 88
rw: rw # rw: rw
dtype: uint32 # dtype: uint32
dim: 96 # dim: 96
dim2: [3,32] # dim2: [3,32]
mask: ANT_mask # mask: ANT_mask
debug: true # debug: true
# read_parallel: all
methods: methods:
- name: RECVTR_Init #Called after startup to load. Should have all stored registers - name: RECVTR_Init #Called after startup to load. Should have all stored registers
...@@ -758,6 +776,8 @@ methods: ...@@ -758,6 +776,8 @@ methods:
# - IO3.GPIO2: Update # - IO3.GPIO2: Update
- IO3.CONF1: Update - IO3.CONF1: Update
- RCU_update: 0 - RCU_update: 0
- RCU_ADC_locked: Update #check if not also in RCU_update
- RCU_DTH_on: Update #check if not also in RCU_update
- RCU_IO4_GPIO1: Update #should be last, as it will fail for low-band - RCU_IO4_GPIO1: Update #should be last, as it will fail for low-band
- RCU_IO4_GPIO2: Update - RCU_IO4_GPIO2: Update
...@@ -770,30 +790,39 @@ methods: ...@@ -770,30 +790,39 @@ methods:
- IO2.CONF1: 0x80 #Pgood on 0x80 - IO2.CONF1: 0x80 #Pgood on 0x80
- IO2.GPIO1: 0x4A #0x40 Dig on, 0x0a =10dB att - IO2.GPIO1: 0x4A #0x40 Dig on, 0x0a =10dB att
- IO2.GPIO2: 0x55 #0x15 #Band0 (or 0x2a band 1) #LED green=on=low - IO2.GPIO2: 0x55 #0x15 #Band0 (or 0x2a band 1) #LED green=on=low
- IO3.GPIO1: 0xD5 #ADC_SDIO=high, clk=low, DTH_EN=high - IO3.GPIO1: 0x15 #ADC_SDIO=high, clk=low, DTH_EN=low
- IO3.GPIO2: 0xC7 #ADC SC=high, DTH_SDA=high, DTH_EN=high - IO3.GPIO2: 0x47 #ADC SC=high, DTH_SDA=high, DTH_EN=low
- IO1.GPIO1: 0x0A #0x0a = 10dB att - IO1.GPIO1: 0x0A #0x0a = 10dB att
- IO1.GPIO2: 0x8A #0x80 Analog on, 0x0a=10dB att - IO1.GPIO2: 0x8A #0x80 Analog on, 0x0a=10dB att
- IO2.CONF2: 0 - IO2.CONF2: 0
- IO3.CONF1: 0 - IO3.CONF1: 0
- IO3.CONF2: 0 - IO3.CONF2: 0
- IO3.DIR1: 0
- IO3.DIR2: 0
- IO1.CONF1: 0 - IO1.CONF1: 0
- IO1.CONF2: 0 - IO1.CONF2: 0
# - RCU_GPIO1: Update # - RCU_GPIO1: Update
# - RCU_GPIO2: Update # - RCU_GPIO2: Update
# - RCU_attenuator: [10,10,10] #Set OPC-UA variable # - RCU_attenuator: [10,10,10] #Set OPC-UA variable
#name="RCU_DTH_shutdown" #name="RCU_DTH_shutdown"
- IO3.GPIO1: 0x55 #enable ADC 0 (DTH_EN=low) - RCU_update: 0
- IO3.GPIO1: 0x15 #enable ADC 1
- IO3.GPIO2: 0x47 #enable ADC 2
- WAIT: 500 #ms to wait - WAIT: 500 #ms to wait
- ADC1_on: 0 #call another opc-ua method - ADC1_on: 0 #call another opc-ua method
- WAIT: 1000 #ms to wait # - WAIT: 1000 #ms to wait
- ADC2_on: 0 - ADC2_on: 0
- WAIT: 1000 #ms to wait # - WAIT: 1000 #ms to wait
- ADC3_on: 0 - ADC3_on: 0
- WAIT: 500 #ms to wait # - WAIT: 500 #ms to wait
- RCU_update: 0 #Toggle enable pin
- IO3.GPIO1: 0xD5 #ADC_SDIO=high, clk=low, DTH_EN=high
- IO3.GPIO2: 0xC7 #ADC SC=high, DTH_SDA=high, DTH_EN=high
- WAIT: 100 #ms to wait #todo: test if necessary
- IO3.GPIO1: 0x15 #enable ADC 0,1
- IO3.GPIO2: 0x47 #enable ADC 2
- RCU_DTH_on: Update #check dither while giving ADCs some time to lock
# - WAIT: 500 #ms to wait
- RCU_ADC_locked: Update #disabled for testing
- name: RCU_on2 - name: RCU_on2
description: Initialize RCU and it in the ON state description: Initialize RCU and it in the ON state
...@@ -857,11 +886,11 @@ methods: ...@@ -857,11 +886,11 @@ methods:
- RCU_LED_green_on: Update - RCU_LED_green_on: Update
- RCU_attenuator_dB: Update - RCU_attenuator_dB: Update
- RCU_band_select: Update - RCU_band_select: Update
- RCU_ADC_locked: Update # - RCU_ADC_locked: Update #disabled for testing
- RCU_ADC_sync: Update # - RCU_ADC_sync: Update #disabled for testing
- RCU_DTH_shutdown: Update # - RCU_DTH_shutdown: Update
# - RCU_DTH_freq: Update # - RCU_DTH_freq: Update
# - RCU_DTH_on: Update # - RCU_DTH_on: Update #disabled for testing
- RCU_hband_select: Update - RCU_hband_select: Update
- RCU_DAB_select: Update - RCU_DAB_select: Update
- RCU_firmware_version: Update - RCU_firmware_version: Update
...@@ -883,6 +912,7 @@ methods: ...@@ -883,6 +912,7 @@ methods:
- ADC1.JESD_control1 : 0x14 - ADC1.JESD_control1 : 0x14
- ADC1.SYNC_control: 1 #Setup ADCs - ADC1.SYNC_control: 1 #Setup ADCs
- ADC1.CML_level: 0x7 - ADC1.CML_level: 0x7
- ADC1.dither : 0x00
- ADC1.Update: 1 #Needed to update ADC registers - ADC1.Update: 1 #Needed to update ADC registers
- name: ADC2_on - name: ADC2_on
...@@ -893,6 +923,7 @@ methods: ...@@ -893,6 +923,7 @@ methods:
- ADC2.JESD_control1 : 0x14 - ADC2.JESD_control1 : 0x14
- ADC2.SYNC_control: 1 #Setup ADCs - ADC2.SYNC_control: 1 #Setup ADCs
- ADC2.CML_level: 0x7 - ADC2.CML_level: 0x7
- ADC2.dither : 0x00
- ADC2.Update: 1 #Needed to update ADC registers - ADC2.Update: 1 #Needed to update ADC registers
- name: ADC3_on - name: ADC3_on
...@@ -903,6 +934,7 @@ methods: ...@@ -903,6 +934,7 @@ methods:
- ADC3.JESD_control1 : 0x14 - ADC3.JESD_control1 : 0x14
- ADC3.SYNC_control: 1 #Setup ADCs - ADC3.SYNC_control: 1 #Setup ADCs
- ADC3.CML_level: 0x7 - ADC3.CML_level: 0x7
- ADC3.dither : 0x00
- ADC3.Update: 1 #Needed to update ADC registers - ADC3.Update: 1 #Needed to update ADC registers
- name: RCU_off - name: RCU_off
...@@ -938,8 +970,11 @@ methods: ...@@ -938,8 +970,11 @@ methods:
mask: RCU_mask mask: RCU_mask
# rw: hidden # rw: hidden
instructions: instructions:
- RCU_DTH_config : [0,0,0] # - RCU_DTH_config : [0,0,0]
# - RCU_DTH_config: Update #debug # - RCU_DTH_config: Update #debug
- DTH1.CONF : [0,0,0]
- DTH2.CONF : [0,0,0]
- DTH3.CONF : [0,0,0]
- DTH1.Tune : [0,0] #no tuning - DTH1.Tune : [0,0] #no tuning
- DTH2.Tune : [0,0] #no tuning - DTH2.Tune : [0,0] #no tuning
- DTH3.Tune : [0,0] #no tuning - DTH3.Tune : [0,0] #no tuning
...@@ -965,7 +1000,7 @@ methods: ...@@ -965,7 +1000,7 @@ methods:
# - DTH1.State : [0,0] # - DTH1.State : [0,0]
# - DTH2.State : [0,0] # - DTH2.State : [0,0]
# - DTH3.State : [0,0] # - DTH3.State : [0,0]
- RCU_DTH_on: Update - RCU_DTH_on: Update
- name: RCU_DTH_restart #restart to update frequency - name: RCU_DTH_restart #restart to update frequency
driver: I2C_RCU driver: I2C_RCU
...@@ -979,20 +1014,20 @@ methods: ...@@ -979,20 +1014,20 @@ methods:
- DTH2.Start : [0,1,0,0,1] - DTH2.Start : [0,1,0,0,1]
- DTH3.Start : [0,1,0,0,1] - DTH3.Start : [0,1,0,0,1]
- name: RCU_DTH_shutdown # - name: RCU_DTH_shutdown
description: shutdown dither source # description: shutdown dither source
driver: I2C_RCU # driver: I2C_RCU
debug: True # debug: True
mask: RCU_mask # mask: RCU_mask
# rw: hidden # rw: hidden
instructions: # instructions:
# - RCU_DTH_SHUTDOWN : [1,1,1] # - RCU_DTH_SHUTDOWN : [1,1,1]
# - WAIT: 100 # - WAIT: 100
# - RCU_DTH_SHUTDOWN : [0,0,0] # - RCU_DTH_SHUTDOWN : [0,0,0]
# - RCU_DTH_SHUTDOWN : 1 # - RCU_DTH_SHUTDOWN : 1
- DTH1.State : [1,0] # - DTH1.State : [1,0]
- DTH2.State : [1,0] # - DTH2.State : [1,0]
- DTH3.State : [1,0] # - DTH3.State : [1,0]
- name: ADC0_test - name: ADC0_test
driver: I2C_RCU driver: I2C_RCU
......
i2cserv/i2c_array.py
+ 128
− 4
View file @ 42d0c3ac
...@@ -16,6 +16,7 @@ class i2c_array(i2c_dev): ...@@ -16,6 +16,7 @@ class i2c_array(i2c_dev):
# self.previousHBA=np.zeros([number,3,32],dtype='int') # self.previousHBA=np.zeros([number,3,32],dtype='int')
pars=config['parameters']; pars=config['parameters'];
self.RCU_Switch1=pars; #range(pars[0],pars[1]+1); self.RCU_Switch1=pars; #range(pars[0],pars[1]+1);
self.RCUorder=sorted(range(len(pars)),key=lambda k:pars[k])
self.N=len(self.RCU_Switch1); self.N=len(self.RCU_Switch1);
self.I2Cmask=[0]*self.N self.I2Cmask=[0]*self.N
self.I2Ccut=config.get('I2Ccut',5);#pars[2]; self.I2Ccut=config.get('I2Ccut',5);#pars[2];
...@@ -33,11 +34,13 @@ class i2c_array(i2c_dev): ...@@ -33,11 +34,13 @@ class i2c_array(i2c_dev):
def SetSwitchMask(self,mask): def SetSwitchMask(self,mask):
m=0; m=0;
self.mask=[]
self.conf['parentcls'].ClearNewChannel(); self.conf['parentcls'].ClearNewChannel();
for RCUi in range(self.N): for RCUi in self.RCUorder:
if (mask[RCUi]) and (self.I2Cmask[RCUi]<=self.I2Ccut): if (mask[RCUi]) and (self.I2Cmask[RCUi]<=self.I2Ccut):
self.conf['parentcls'].AddNewChannel(self.RCU_Switch1[RCUi]); self.conf['parentcls'].AddNewChannel(self.RCU_Switch1[RCUi]);
self.RCUi=RCUi self.RCUi=RCUi
self.mask+=[RCUi]
self.conf['parentcls'].UpdateNewChannel(); self.conf['parentcls'].UpdateNewChannel();
def SetGetVarValueMask(self,var1,data,mask,getalso=True): def SetGetVarValueMask(self,var1,data,mask,getalso=True):
...@@ -56,7 +59,41 @@ class i2c_array(i2c_dev): ...@@ -56,7 +59,41 @@ class i2c_array(i2c_dev):
return; return;
# if (len(value1)==V1.nVars) and (self.N>1): value1=(value1*self.N); # if (len(value1)==V1.nVars) and (self.N>1): value1=(value1*self.N);
# logging.debug(str(("Step=",Step,"Mask=",mask))) # logging.debug(str(("Step=",Step,"Mask=",mask)))
for RCUi in range(self.N): if var1.get('read_parallel')=='all':
for Vari in range(Step):
devreg=var1['devreg'][Vari];
width=var1.get('width',8)
bitoffset=GetField(var1,'bitoffset',Vari,0)
mask2=[mask[RCUi*Step+Vari] & (self.I2Cmask[RCUi]<=self.I2Ccut) for RCUi in range(self.N)]
#self.mask=mask2;
isthesame=True;
self.SetSwitchMask(mask2);
for RCUi in self.mask:
# if not(mask2[RCUi]): continue;
for i in range(Step2):
if data[(Vari+RCUi*Step)*Step2+i]!=data[(Vari+self.RCUi*Step)*Step2+i]:
isthesame=False;
if isthesame:
data2=data[(Vari+self.RCUi*Step)*Step2:(Vari+self.RCUi*Step+1)*Step2]
res=self.SetVarValue(devreg,width,bitoffset,data2)
else:
for RCUi in self.RCUorder:
if not(mask[RCUi*Step+Vari]): continue
self.mask=[RCUi];
self.SetSwitch(RCUi);
self.RCUi=RCUi;
i0=(RCUi*Step+ Vari)*Step2
i1=(RCUi*Step+(Vari+1))*Step2
res=self.SetVarValue(devreg,width,bitoffset,data[i0:i1])
if getalso:
self.SetSwitchMask(mask2);
value2=[0]*self.N*Step2;
res=self.GetVarValue(devreg,width,bitoffset,value2,0)
# print(Vari,mask2,value2)
for r in range(self.N): value1[(Vari+r*Step)*Step2:(Vari+r*Step+1)*Step2]=value2[r*Step2:(r+1)*Step2]
# print(len(value1),value1)
return value1,mask
for RCUi in self.RCUorder:
for Vari in range(Step): for Vari in range(Step):
if not(mask[RCUi*Step+Vari]): continue if not(mask[RCUi*Step+Vari]): continue
if not(self.I2Cmask[RCUi]<=self.I2Ccut): if not(self.I2Cmask[RCUi]<=self.I2Ccut):
...@@ -86,6 +123,10 @@ class i2c_array(i2c_dev): ...@@ -86,6 +123,10 @@ class i2c_array(i2c_dev):
self.I2Cmask[RCUi]=0; self.I2Cmask[RCUi]=0;
return value1,mask return value1,mask
# def GetVarValueParallel(self,var1,mask):
# mask2=[mask[RCUi*Step] & (self.I2Cmask[RCUi]<=self.I2Ccut) for RCUi in range(self.N)]
# self.SetSwitchMask(mask2);
# def
def GetVarValueMask(self,var1,mask): def GetVarValueMask(self,var1,mask):
Step,Step2=GetSteps(var1); Step,Step2=GetSteps(var1);
...@@ -99,6 +140,24 @@ class i2c_array(i2c_dev): ...@@ -99,6 +140,24 @@ class i2c_array(i2c_dev):
# if (len(value1)==V1.nVars) and (self.N>1): value1=(value1*self.N); # if (len(value1)==V1.nVars) and (self.N>1): value1=(value1*self.N);
i2c=self.conf['parentcls']; i2c=self.conf['parentcls'];
# logging.debug(str(("Step=",Step,"Mask=",mask))) # logging.debug(str(("Step=",Step,"Mask=",mask)))
# if var1.get('read_parallel')=='all':
# return self.GetVarValueParallel(self,var1,mask)
# print(Step,Step2,len(mask),len(value1))
if var1.get('read_parallel')=='all':
for Vari in range(Step):
devreg=var1['devreg'][Vari];
width=var1.get('width',8)
bitoffset=GetField(var1,'bitoffset',Vari,0)
mask2=[mask[RCUi*Step+Vari] & (self.I2Cmask[RCUi]<=self.I2Ccut) for RCUi in range(self.N)]
self.SetSwitchMask(mask2);
# self.mask=mask2;
value2=[0]*self.N*Step2;
res=self.GetVarValue(devreg,width,bitoffset,value2,0)
# print(Vari,mask2,value2)
for r in range(self.N): value1[(Vari+r*Step)*Step2:(Vari+r*Step+1)*Step2]=value2[r*Step2:(r+1)*Step2]
# print(len(value1),value1)
return value1,mask
mode=(1 if var1.get('read_parallel') else 0) mode=(1 if var1.get('read_parallel') else 0)
for Vari in range(Step): for Vari in range(Step):
if mode==1: if mode==1:
...@@ -114,7 +173,7 @@ class i2c_array(i2c_dev): ...@@ -114,7 +173,7 @@ class i2c_array(i2c_dev):
res=self.GetVarValue(devreg,width,bitoffset,[],mode=3) #wait if needed res=self.GetVarValue(devreg,width,bitoffset,[],mode=3) #wait if needed
# for Vari in range(Step): # for Vari in range(Step):
# else: # else:
for RCUi in range(self.N): for RCUi in self.RCUorder:
# for Vari in range(Step): # for Vari in range(Step):
if not(mask[RCUi*Step+Vari]): continue if not(mask[RCUi*Step+Vari]): continue
i0=(RCUi*Step+ Vari)*Step2 i0=(RCUi*Step+ Vari)*Step2
...@@ -152,6 +211,7 @@ class i2c_array(i2c_dev): ...@@ -152,6 +211,7 @@ class i2c_array(i2c_dev):
if len(mask)==0: if len(mask)==0:
mask=[True]*self.N; mask=[True]*self.N;
self.RCUi=0; self.RCUi=0;
# self.mask=mask;
self.SetSwitchMask(mask) self.SetSwitchMask(mask)
if not(self.SetVarValue(devreg,8,0,value)): return False; if not(self.SetVarValue(devreg,8,0,value)): return False;
if devreg.get('store'): if devreg.get('store'):
...@@ -170,7 +230,7 @@ class i2c_array(i2c_dev): ...@@ -170,7 +230,7 @@ class i2c_array(i2c_dev):
if devreg.get('store'): if devreg.get('store'):
storearray=self.getstorearray(devreg); storearray=self.getstorearray(devreg);
i2c=self.conf['parentcls']; i2c=self.conf['parentcls'];
for RCUi in range(self.N): for RCUi in self.RCUorder:
if not(mask[RCUi]): continue if not(mask[RCUi]): continue
if not(self.I2Cmask[RCUi]<=self.I2Ccut): continue if not(self.I2Cmask[RCUi]<=self.I2Ccut): continue
self.SetSwitch(RCUi); self.SetSwitch(RCUi);
...@@ -187,6 +247,8 @@ class i2c_array(i2c_dev): ...@@ -187,6 +247,8 @@ class i2c_array(i2c_dev):
logging.debug(str(("Stored values:",self.getstorearray(devreg)))) logging.debug(str(("Stored values:",self.getstorearray(devreg))))
return True; return True;
def SetVarValue(self,devreg,width,bitoffset,value): def SetVarValue(self,devreg,width,bitoffset,value):
if devreg['register_W']==-1: return True; #We can not set it, only read it e.g. temperature if devreg['register_W']==-1: return True; #We can not set it, only read it e.g. temperature
logging.debug(str(("RCU1 Set ",self.RCUi,devreg['addr'],value))) logging.debug(str(("RCU1 Set ",self.RCUi,devreg['addr'],value)))
...@@ -250,3 +312,65 @@ class i2c_array(i2c_dev): ...@@ -250,3 +312,65 @@ class i2c_array(i2c_dev):
return True; return True;
def GetVarValuePar(self,devreg,width,bitoffset,value,buffer=False):
#setup self.mask, switch channels and self.RCUi before
logging.debug(str(("GetVarValueP",self.RCUi,devreg['addr'],value,buffer)))
# self.GetI2C(RCUi,devreg,width,bitoffset,value)
# if dev.store>0:
# value[0]=self.previous[RCUi,dev.store-1]
# return True
callback=devreg['drivercls'].i2csetget;
reg=devreg['register_R']
step2=len(value);
value2=[0]*self.N;
l1=int(np.floor((width+bitoffset+7)/8))
# print(width,bitoffset,l1)
#for x in range(self.N):
# value2[x*step2]=None; #default
if buffer:
if devreg.get('store'):
storearray=self.getstorearray(devreg,step2);
for x in self.mask:
value2[x*step2:(x+1)*step2]=storearray[x]
else:
if len(self.mask)<1: self.conf['parentcls'].UpdateNewChannel();
callback(devreg['addr'],int2bytes(reg),read=2)
for x in self.mask:
value3=value2[x*step2:(x+1)*step2]
self.SetSwitch(x);
callback(devreg['addr'],value3,read=1)
if devreg.get('store')==True:
storearray=self.getstorearray(devreg,step2);
storearray[x]=(value3[0] if step2==1 else value3[:])
value2[x*step2:(x+1)*step2]=value3;
# logging.debug(str(("Store buffer",self.RCUi,storearray[self.RCUi])))
# print("Stored values:",self.getstorearray(devreg))
logging.debug(str(("GetVarValueP",value2)))
if (width!=l1*8) or (bitoffset>0):
if (width<8):
for i in range(len(value2)):
value2[i]=UnMask(value2[i],width,bitoffset)
else:
value2[0]=UnMask(value2[0],width-(l1-1)*8,bitoffset) #not implemented correctly!!
logging.debug(str(("GetVarValueP2",value2)))
return value2;
def SetVarValuePar(self,devreg,width,bitoffset,value,buffer=False):
#setup self.mask, switch channels and self.RCUi before
if devreg['register_W']==-1: return True; #We can not set it, only read it e.g. temperature
logging.debug(str(("RCU1 Set Par ",self.RCUi,devreg['addr'],value)))
#self.parentcls.SetChannel(1<<RCU_Switch[RCUi]);
if devreg['store']:
storearray=self.getstorearray(devreg);
previous=storearray[self.RCUi];
# print(value,previous)
for x in range(len(value)):
value[x]=ApplyMask(value[x],width,bitoffset,(previous[x] if isinstance(previous,list) else previous));
for x in self.mask:
storearray[x]=(value[0] if len(value)==1 else value[:])
#print("buffer",devreg['addr'],devreg['register_W'],x,storearray[x])
# devreg['drivercls'].i2csetget
if buffer: return True;
if len(self.mask)>1: self.conf['parentcls'].UpdateNewChannel();
return devreg['drivercls'].i2csetget(devreg['addr'],value,reg=devreg['register_W'])
i2cserv/i2cbitbangp.py 0 → 100644
+ 189
− 0
View file @ 42d0c3ac
from enum import Enum
import logging
import numpy as np
from .hwdev import hwdev
import time
#This is copy of spibitbang. Need to be updated!!
class SPIBB_pins(Enum):
CLK = 0
SDA = 1
SDAdir = 2
class i2cbitbangp(hwdev):
def __init__(self,config):
hwdev.__init__(self,config)
self.N=len(self.conf['parameters'])//3;
def i2csetget(self,addr,data,reg=None,read=0):
logging.debug(str(("I2Cbbpset",addr,data,reg,read)));
if read==0:
if not(reg is None):
if reg>255: data=[reg//256,reg%256]+data;
else: data=[reg]+data;
if not(self.SetI2Cbb(addr,data)): return False;
return self.GetI2Cbb(addr,[]);
if read==2: return self.SetI2Cbb(addr,data)
elif read==1:
if not(reg is None):
if reg>255: reg=[reg//256,reg%256];
else: reg=[reg];
self.SetI2Cbb(addr,reg)
return self.GetI2Cbb(addr,data)
elif read==3:
time.sleep(data[0]/1000);
return True
else: logging.warn("Not implemented!")
return False;
def SetI2Cbb(self,address,value):
SDAdev=self.conf['devreg'][SPIBB_pins.SDA.value]
SDApin=[self.conf['parameters'][SPIBB_pins.SDA.value*self.N+x] for x in range(self.N)]
CLKdev=self.conf['devreg'][SPIBB_pins.CLK.value]
CLKpin=[self.conf['parameters'][SPIBB_pins.CLK.value*self.N+x] for x in range(self.N)]
DIRdev=self.conf['devreg'][SPIBB_pins.SDAdir.value]
DIRpin=[self.conf['parameters'][SPIBB_pins.SDAdir.value*self.N+x] for x in range(self.N)]
SetI2C=self.conf['parentcls'].SetVarValuePar
GetI2C=self.conf['parentcls'].GetVarValuePar
def SetReg(dev,pin,value):
# print("SetReg",pin,value)
for x in range(1,self.N):
SetI2C(dev,1,pin[x],value,buffer=True)
SetI2C(dev,1,pin[0],value,buffer=False)
def GetReg(dev,pin):
# print("SetReg",pin,value)
value=GetI2C(dev,1,pin[0],[0],buffer=False);
for x in range(1,self.N):
value+=GetI2C(dev,1,pin[x],[0],buffer=True)
# value=np.array(value).T
# print(value.shape)
return value
# ADC_address=dev.Register_W<<1; #Write
ADC_address=address<<1;#dev.Register_W<<1; #Write
logging.debug(str(("I2Cbb set",hex(ADC_address),value)))
SetReg(DIRdev,DIRpin,[1]) #Input = high
SetReg(CLKdev,CLKpin,[1]) #Should be high for start
#start
SetReg(SDAdev,SDApin,[0]) #Output = low
SetReg(DIRdev,DIRpin,[0]) #Output = low
SetReg(CLKdev,CLKpin,[0])
# ack=[0];
def TXbyte(b):
for bit in "{0:{fill}8b}".format(b, fill='0'):
SetReg(DIRdev,DIRpin,[int(bit)])
SetReg(CLKdev,CLKpin,[1])
SetReg(CLKdev,CLKpin,[0])
SetReg(DIRdev,DIRpin,[1]) #input
# GetI2C(SDAdev,1,SDApin,ack)
# print("Ack=",ack[0]);
SetReg(CLKdev,CLKpin,[1])
ack=GetReg(SDAdev,SDApin)
# print("Ack=",ack[0]);
SetReg(CLKdev,CLKpin,[0])
return ack;
ack=TXbyte(ADC_address);
#print(len(ack),ack)
for v in value:
TXbyte(v);
#stop
SetReg(DIRdev,DIRpin,[0]) #low
SetReg(CLKdev,CLKpin,[1]) #Should be high
SetReg(DIRdev,DIRpin,[1]) #Input = high
SetReg(CLKdev,CLKpin,[0]) #keep low between transmission to not generate stop/start when other i2c actice
return True;
def GetI2Cbb(self,reg_address,value):
SDAdev=self.conf['devreg'][SPIBB_pins.SDA.value]
SDApin=[self.conf['parameters'][SPIBB_pins.SDA.value*self.N+x] for x in range(self.N)]
CLKdev=self.conf['devreg'][SPIBB_pins.CLK.value]
CLKpin=[self.conf['parameters'][SPIBB_pins.CLK.value*self.N+x] for x in range(self.N)]
DIRdev=self.conf['devreg'][SPIBB_pins.SDAdir.value]
DIRpin=[self.conf['parameters'][SPIBB_pins.SDAdir.value*self.N+x] for x in range(self.N)]
SetI2C=self.conf['parentcls'].SetVarValuePar
GetI2C=self.conf['parentcls'].GetVarValuePar
def SetReg(dev,pin,value):
# print("SetReg",pin,value)
for x in range(1,self.N):
SetI2C(dev,1,pin[x],value,buffer=True)
SetI2C(dev,1,pin[0],value,buffer=False)
def GetReg(dev,pin):
# print("SetReg",pin,value)
value=[GetI2C(dev,1,pin[0],[0],buffer=False)];
for x in range(1,self.N):
value.append(GetI2C(dev,1,pin[x],[0],buffer=True))
value=np.array(value).T
#print(value.shape)
return value.flatten();
ADC_address=1+(reg_address<<1); #Read
logging.debug(str(("I2Cbb get",hex(ADC_address),len(value),value)))
SetReg(DIRdev,DIRpin,[1]) #Input = high
SetReg(CLKdev,CLKpin,[1]) #Should be high for start bit
#start
SetReg(SDAdev,SDApin,[0]) #Output = low
SetReg(DIRdev,DIRpin,[0]) #Output = low
SetReg(CLKdev,CLKpin,[0])
ack=[0];
def TXbyte(b):
for bit in "{0:{fill}8b}".format(b, fill='0'):
SetReg(DIRdev,DIRpin,[int(bit)])
SetReg(CLKdev,CLKpin,[1])
SetReg(CLKdev,CLKpin,[0])
SetReg(DIRdev,DIRpin,[1]) #input
# GetI2C(SDAdev,1,SDApin,ack)
# print("Ack=",ack[0]);
SetReg(CLKdev,CLKpin,[1])
ack=GetReg(SDAdev,SDApin)
# print("Ack=",ack[0]);
SetReg(SDAdev,SDApin,[0])
SetReg(CLKdev,CLKpin,[0])
return ack;
def RXbyte(last=False):
b=None;
for i in range(8):
SetReg(CLKdev,CLKpin,[1])
ack=GetReg(SDAdev,SDApin)
# print(ack[0])
# if ack[0] is None: b=None
# elif not b is None: b=(b<<1)+ack[0];
if b is None:
b=ack
else:
b=[(b[i]<<1)+ack[i] for i in range(len(ack))]
# print("RX step",b,ack)
SetReg(CLKdev,CLKpin,[0])
# print("RXbyte",hex(b));
SetReg(SDAdev,SDApin,[0])
SetReg(DIRdev,DIRpin,[1 if last else 0]) #outout = low = ack
SetReg(CLKdev,CLKpin,[1])
SetReg(CLKdev,CLKpin,[0])
SetReg(DIRdev,DIRpin,[1])
return b;
TXbyte(ADC_address);
status=RXbyte(last=(len(value)==0))
step=len(status);
step2=len(value)//step
# print("step=",step);
# if not(RXbyte()==0x80): return False;
for i in range(step2):
value2=RXbyte(last=(i==step2-1))
for j in range(step):
value[i+j*step2]=value2[j];
logging.debug(str(("si status:",[hex(s) for s in status],[hex(v) for v in value])))#should be 0x80 - will fail for None!!
#stop
#SetI2C(DIRdev,1,DIRpin,[0]) #low
SetReg(CLKdev,CLKpin,[1])
SetReg(DIRdev,DIRpin,[1]) #Input = high
SetReg(CLKdev,CLKpin,[0]) #keep low between transmission to not generate stop/start when other i2c actice
return True;
\ No newline at end of file
i2cserv/spibitbang1.py
+ 23
− 20
View file @ 42d0c3ac
...@@ -15,8 +15,10 @@ class spibitbang1(hwdev): ...@@ -15,8 +15,10 @@ class spibitbang1(hwdev):
# logging.info("spibitbang todo") # logging.info("spibitbang todo")
def i2csetget(self,addr,data,reg=None,read=0): def i2csetget(self,addr,data,reg=None,read=0):
logging.debug(str(("spibitbang:",addr,data,reg,read)))
if read==0: return self.SetSPIbb(reg,data) if read==0: return self.SetSPIbb(reg,data)
elif read==1: return self.GetSPIbb(reg,data) elif read==1: return self.GetSPIbb(reg,data)
elif read==2: return self.GetSPIbb(data[0],None) #Set register in parallel
else: logging.warn("Not implemented!") else: logging.warn("Not implemented!")
return False; return False;
...@@ -62,35 +64,36 @@ class spibitbang1(hwdev): ...@@ -62,35 +64,36 @@ class spibitbang1(hwdev):
# print("SDO",SDOdev,SDOpin) # print("SDO",SDOdev,SDOpin)
# print("CLK",CLKdev,CLKpin) # print("CLK",CLKdev,CLKpin)
# print("DIR",SDIOdirdev,SDIOdirpin) # print("DIR",SDIOdirdev,SDIOdirpin)
logging.debug(str(("SPIbb get",ADC_reg_address))) logging.debug(str(("SPIbb get",ADC_reg_address,value)))
SetI2C=self.conf['parentcls'].SetVarValue
GetI2C=self.conf['parentcls'].GetVarValue
ADC_bytes = 0x00 ADC_bytes = 0x00
ADC_rw = 0x01 # 0 for write, 1 for read if not(ADC_reg_address is None):
ADC_rw = 0x01 # 0 for write, 1 for read
data = ( ADC_rw << 15) + ( ADC_bytes << 13 ) + ADC_reg_address data = ( ADC_rw << 15) + ( ADC_bytes << 13 ) + ADC_reg_address
SetI2C=self.conf['parentcls'].SetVarValue if not(SetI2C(CSdev,1,CSpin,[0])): return False #enable
GetI2C=self.conf['parentcls'].GetVarValue
if not(SetI2C(CSdev,1,CSpin,[0])): return False #enable
bit_array = "{0:{fill}16b}".format(data, fill='0') bit_array = "{0:{fill}16b}".format(data, fill='0')
#print("SPI TX bits",bit_array) #print("SPI TX bits",bit_array)
for bit in bit_array: for bit in bit_array:
SetI2C(SDOdev,1,SDOpin,[int(bit)]) SetI2C(SDOdev,1,SDOpin,[int(bit)])
SetI2C(CLKdev,1,CLKpin,[1]) SetI2C(CLKdev,1,CLKpin,[1])
SetI2C(CLKdev,1,CLKpin,[0]) SetI2C(CLKdev,1,CLKpin,[0])
SetI2C(CSdev,1,CSpin,[1]) #disable SetI2C(CSdev,1,CSpin,[1]) #disable
# print("read byte") # print("read byte")
SetI2C(SDIOdirdev,1,SDIOdirpin,[1]) #input if not(value is None):
SetI2C(CSdev,1,CSpin,[0]) #enable SetI2C(SDIOdirdev,1,SDIOdirpin,[1]) #input
a=[0] SetI2C(CSdev,1,CSpin,[0]) #enable
N=1;#len(value) a=[0]
ret_value=[0]; N=1;#len(value)
for i in range(N): value[i]=0 ret_value=[0];
for cnt in range(8*(ADC_bytes+1)): for i in range(N): value[i]=0
for cnt in range(8*(ADC_bytes+1)):
GetI2C(SDOdev,1,SDOpin,ret_value) #enable GetI2C(SDOdev,1,SDOpin,ret_value) #enable
# logging.debug("Got bit"+str((ret_value))) # logging.debug("Got bit"+str((ret_value)))
for i in range(N): for i in range(N):
...@@ -98,9 +101,9 @@ class spibitbang1(hwdev): ...@@ -98,9 +101,9 @@ class spibitbang1(hwdev):
elif not value[i] is None: value[i]=(value[i]<<1)+ ret_value[i] elif not value[i] is None: value[i]=(value[i]<<1)+ ret_value[i]
SetI2C(CLKdev,1,CLKpin,[1]) SetI2C(CLKdev,1,CLKpin,[1])
SetI2C(CLKdev,1,CLKpin,[0]) #read after falling edge SetI2C(CLKdev,1,CLKpin,[0]) #read after falling edge
SetI2C(CSdev,1,CSpin,[1]) #disable SetI2C(CSdev,1,CSpin,[1]) #disable
SetI2C(SDIOdirdev,1,SDIOdirpin,[0]) #output SetI2C(SDIOdirdev,1,SDIOdirpin,[0]) #output
# logging.debug(str(("SPIbb got",value))) logging.debug(str(("SPIbb got",value)))
return True; return True;
def GetSPIbb2(SetI2C,GetI2C,RCUi,SPIdev,I2Cdev,I2Cpins,value): def GetSPIbb2(SetI2C,GetI2C,RCUi,SPIdev,I2Cdev,I2Cpins,value):
......
opcuaserv/smbus_float.py
+ 1
− 1
View file @ 42d0c3ac
...@@ -38,7 +38,7 @@ def si4012_6bytes_to_pwr_inv(data): ...@@ -38,7 +38,7 @@ def si4012_6bytes_to_pwr_inv(data):
pwr=(pwr-Reg0)/M pwr=(pwr-Reg0)/M
pwr-=Step/M*(pwr>75) pwr-=Step/M*(pwr>75)
pwr=int(pwr) pwr=int(pwr)
print(pwr) # print(pwr)
if pwr>=128: pwr+=128; if pwr>=128: pwr+=128;
pwr<<=32 pwr<<=32
# pwr+=0<<16 #Cap # pwr+=0<<16 #Cap
......
opcuaserv/yamlreader.py
+ 5
− 3
View file @ 42d0c3ac
...@@ -201,6 +201,7 @@ class yamlreader(yamlconfig): ...@@ -201,6 +201,7 @@ class yamlreader(yamlconfig):
# print(notvalid) # print(notvalid)
for x in range(len(data)): for x in range(len(data)):
if data[x] is None: data[x]=0; if data[x] is None: data[x]=0;
# print(data)
if dtype=="boolean": if dtype=="boolean":
data2=[d==1 for d in data]; data2=[d==1 for d in data];
convert=v.get("convert_unit") convert=v.get("convert_unit")
...@@ -250,11 +251,12 @@ class yamlreader(yamlconfig): ...@@ -250,11 +251,12 @@ class yamlreader(yamlconfig):
logging.warn("OPC variable not found!!"); logging.warn("OPC variable not found!!");
return; return;
data3=var1.get_value(); data3=var1.get_value();
datatype=var1.get_data_value().Value.VariantType
if not(isinstance(data3,list)): data3=[data3]; if not(isinstance(data3,list)): data3=[data3];
# print("OPCset",v['name'],data2[:64],mask) # print("OPCset",v['name'],data2[:64],mask)
if mask: #Only update masked values if mask: #Only update masked values
step=len(data2)//len(mask) step=len(data2)//len(mask)
#print("mask step=",step) # print("mask step=",step,len(mask),len(data2),len(data3),data2)
for i in range(len(data2)): for i in range(len(data2)):
if mask[i//step]: data3[i]=data2[i] if mask[i//step]: data3[i]=data2[i]
else: else:
...@@ -263,7 +265,7 @@ class yamlreader(yamlconfig): ...@@ -263,7 +265,7 @@ class yamlreader(yamlconfig):
logging.info(str(("OPCset",v['name'],data3[:64]))) logging.info(str(("OPCset",v['name'],data3[:64])))
# if v['name']=='UNB2_FPGA_POL_ERAM_IOUT': logging.warn(str((data3,data2,mask,var1.get_value(),[hex(d) for d in data]))); # if v['name']=='UNB2_FPGA_POL_ERAM_IOUT': logging.warn(str((data3,data2,mask,var1.get_value(),[hex(d) for d in data])));
if len(data3)==1: data3=data3[0]; if len(data3)==1: data3=data3[0];
var1.set_value(data3); var1.set_value(data3,datatype);
def Monitor(self): def Monitor(self):
if self.monitorvar is None: return; if self.monitorvar is None: return;
...@@ -278,7 +280,7 @@ class yamlreader(yamlconfig): ...@@ -278,7 +280,7 @@ class yamlreader(yamlconfig):
if v.get('monitor'): if v.get('monitor'):
mask=(v['maskOPC'].get_value() if v.get('maskOPC') else []) mask=(v['maskOPC'].get_value() if v.get('maskOPC') else [])
# print("monitor",v['name'],mask) # print("monitor",v['name'],mask)
self.SetBusy() # self.SetBusy()
self.server.readvar(self.monitorvarcnt,mask=mask) self.server.readvar(self.monitorvarcnt,mask=mask)
self.monitorvarcnt+=1; self.monitorvarcnt+=1;
if self.monitorvarcnt>=len(self.conf['variables']): if self.monitorvarcnt>=len(self.conf['variables']):
......
scripts/DTH_off.py 0 → 100644
+ 9
− 0
View file @ 42d0c3ac
from test_common import *
import numpy as np
RCU=[0,1,2,3,4,5,6,7,8,9,10];
connect()
setAntmask(RCU)
setRCUmask(RCU)
callmethod("RCU_DTH_stop")
disconnect()
\ No newline at end of file
scripts/DTH_test.py
+ 7
− 7
View file @ 42d0c3ac
from test_common import * from test_common import *
import numpy as np import numpy as np
RCU=[0]; RCU=[0,1,2,3,4,5,6,7,8,9,10];
connect() connect()
setAntmask(RCU) setAntmask(RCU)
setRCUmask(RCU) setRCUmask(RCU)
#call_debug_method("DTH_off") #call_debug_method("DTH_off")
FRCU=0.05; FRCU=0.05*0;
FCH=0.425; FCH=0.425*0;
#F0=101.0 #F0=101.0
F0=97.0 F0=97.0
name="RCU_DTH_freq" name="RCU_DTH_freq"
if False: if True:
att=get_value(name+"_R") att=get_value(name+"_R")
print("freq old:",att[3*RCU[0]:3*RCU[-1]+3]) print("freq old:",att[3*RCU[0]:3*RCU[-1]+3])
...@@ -29,7 +29,7 @@ if False: ...@@ -29,7 +29,7 @@ if False:
name="RCU_DTH_PWR" name="RCU_DTH_PWR"
Pwr=-40.0 Pwr=-40.0
if False: if True:
att=get_value(name+"_R") att=get_value(name+"_R")
print("pwr old:",att[3*RCU[0]:3*RCU[-1]+3]) print("pwr old:",att[3*RCU[0]:3*RCU[-1]+3])
...@@ -42,7 +42,7 @@ if False: ...@@ -42,7 +42,7 @@ if False:
att=get_value(name+"_R") att=get_value(name+"_R")
print("pwr new :",att[3*RCU[0]:3*RCU[-1]+3]) print("pwr new :",att[3*RCU[0]:3*RCU[-1]+3])
#callmethod("RCU_DTH_on") callmethod("RCU_DTH_on")
callmethod("RCU_DTH_off") #callmethod("RCU_DTH_stop")
disconnect() disconnect()
\ No newline at end of file
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