added test_speed script

[ros_wild_thumper.git] / scripts / i2c.py

diff --git a/scripts/i2c.py b/scripts/i2c.py
index 2e9a109e0fe2891175726af4e6d739958e032208..c597c85b150e042d33d5cd51d24a69044a30c1b3 100755 (executable)
--- a/scripts/i2c.py
+++ b/scripts/i2c.py
@@ -5,6 +5,7 @@ import threading
 import inspect
 import os
 import logging
+import struct
 from ctypes import *
 from time import sleep
 
@@ -62,6 +63,23 @@ class i2c:
        def __del__(self):
                self.close()
 
+
+def i2c_write_reg(addr, reg, buf):
+       dev = i2c(addr)
+       s = struct.pack(">B", reg) + buf
+       dev.write(s)
+       dev.close()
+
+
+def i2c_read_reg(addr, reg, num=1):
+       dev = i2c(addr)
+       s = struct.pack(">B", reg)
+       dev.write(s)
+       s = dev.read(num)
+       dev.close()
+       return s
+
+
 if __name__ == "__main__":
        import struct
        import sys