addded script to get motor step response

[ros_wild_thumper.git] / scripts / i2c.py

diff --git a/scripts/i2c.py b/scripts/i2c.py
index c597c85b150e042d33d5cd51d24a69044a30c1b3..2bb9f94026849106394d92e9f3210d7feff14de6 100755 (executable)
--- a/scripts/i2c.py
+++ b/scripts/i2c.py
@@ -6,10 +6,12 @@ import inspect
 import os
 import logging
 import struct
+import fcntl
 from ctypes import *
 from time import sleep
 
 DEBUG=0
+I2C_FILENAME = "/dev/i2c-2"
 logger = logging.getLogger(__name__)
 
 class i2c:
@@ -32,9 +34,10 @@ class i2c:
                                        logger.warning("Error: (%s) I2C blocked %fs by %s!", parent, count*0.001, parent_owner)
                                i2c.__parent_owner = inspect.stack()[1]
                        i2c.__single = True
-               self.dev = i2c.libc.open("/dev/i2c-2", os.O_RDWR)
+               self.dev = i2c.libc.open(I2C_FILENAME, os.O_RDWR)
                if self.dev < 0:
                        raise IOError("open")
+               fcntl.flock(self.dev, fcntl.LOCK_EX)
                err = i2c.libc.ioctl(self.dev, i2c.I2C_SLAVE, addr>>1)
                if err < 0:
                        raise IOError("ioctl")