X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fi2c.py;h=79a7356161e355a984cf7b01b6a688c8ff36ab72;hp=c597c85b150e042d33d5cd51d24a69044a30c1b3;hb=e8c2719dce145ad9f2a451849c722ca06c8ef1a6;hpb=6bbe85b249210dd265f51cfde4288530d9bb05fb

diff --git a/scripts/i2c.py b/scripts/i2c.py
index c597c85..79a7356 100755
--- a/scripts/i2c.py
+++ b/scripts/i2c.py
@@ -1,84 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: iso-8859-15 -*-
 
-import threading
-import inspect
-import os
-import logging
-import struct
-from ctypes import *
-from time import sleep
-
-DEBUG=0
-logger = logging.getLogger(__name__)
-
-class i2c:
-	libc = CDLL("libc.so.6")
-	I2C_SLAVE = 0x0703  # Use this slave address
-	__single = None
-	__lock = threading.Lock()
-	__parent_owner = None
-
-	def __init__(self, addr):
-		with i2c.__lock:
-			count = 0
-			while(i2c.__single):
-				parent = inspect.stack()[1][3]
-				count += 1
-				sleep(0.001)
-			if DEBUG:
-				if count > 10:
-					parent_owner = "%s (%d), %s()" % (self.__parent_owner[1], self.__parent_owner[2], self.__parent_owner[3])
-					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)
-		if self.dev < 0:
-			raise IOError("open")
-		err = i2c.libc.ioctl(self.dev, i2c.I2C_SLAVE, addr>>1)
-		if err < 0:
-			raise IOError("ioctl")
-
-	def write(self, s):
-		num_write = i2c.libc.write(self.dev, s, len(s))
-		if num_write != len(s):
-			self.close()
-			raise IOError("write: %d" % (num_write))
-	
-	def read(self, num):
-		buf = create_string_buffer(num)
-		num_read = i2c.libc.read(self.dev, buf, num)
-		if num_read != num:
-			self.close()
-			raise IOError("read: %d" % (num_read))
-		return buf.raw
-
-	def close(self):
-		if self.dev:
-			i2c.libc.close(self.dev)
-			self.dev = None
-			#i2c.__parent_owner = None
-			i2c.__single = None
-
-	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
-
+from pyshared.i2c import *
 
 if __name__ == "__main__":
 	import struct