openmv/usr/openmv.py
2014-06-18 17:13:08 +02:00

100 lines
2.6 KiB
Python
Executable File

#!/usr/bin/env python
import sys
import usb.core
import usb.util
import struct
import numpy as np
__dev = None
# VID/PID
__VID=0xf055
__PID=0x9800
# Debug __INTERFACE
__INTERFACE = 0
__ALTSETTING= 1
__IN_EP =0x81
__OUT_EP =0x01
__TIMEOUT =1000
# USB Debug commands
__USBDBG_FB_SIZE=1
__USBDBG_DUMP_FB=2
__USBDBG_EXEC_SCRIPT=3
__USBDBG_READ_SCRIPT=4
__USBDBG_WRITE_SCRIPT=5
__USBDBG_STOP_SCRIPT=6
def init():
global __dev
# find USB __device
__dev = usb.core.find(idVendor=__VID, idProduct=__PID)
if __dev is None:
raise ValueError('__device not found')
# detach kernel driver
if __dev.is_kernel_driver_active(__INTERFACE):
__dev.detach_kernel_driver(__INTERFACE)
# claim __INTERFACE
usb.util.claim_interface(__dev, __INTERFACE)
# set FB debug alt setting
__dev.set_interface_altsetting(__INTERFACE, __ALTSETTING)
def release():
global __dev
# release __INTERFACE
usb.util.release_interface(__dev, __INTERFACE)
# reattach kernel driver
#__dev.attach_kernel_driver(__INTERFACE)
def fb_to_arr(buff, bpp):
if bpp == 1:
r = np.fromstring(buff, dtype=np.uint8)
g = np.fromstring(buff, dtype=np.uint8)
b = np.fromstring(buff, dtype=np.uint8)
return np.column_stack((r,g,b))
else:
arr = np.fromstring(buff, dtype=np.uint16).newbyteorder('S')
r = (((arr & 0xF800) >>11)*255.0/31.0).astype(np.uint8)
g = (((arr & 0x07E0) >>5) *255.0/63.0).astype(np.uint8)
b = (((arr & 0x001F) >>0) *255.0/31.0).astype(np.uint8)
return np.column_stack((r,g,b))
def fb_size():
global __dev
# read fb header
__dev.ctrl_transfer(0xC1, __USBDBG_FB_SIZE, 12, __INTERFACE, 0, __TIMEOUT)
size = struct.unpack("III", __dev.read(__IN_EP, 12, __INTERFACE, __TIMEOUT)[0:12])
return size
def dump_fb():
global __dev
size = fb_size()
num_bytes = size[0]*size[1]*size[2]
# read fb data
__dev.ctrl_transfer(0xC1, __USBDBG_DUMP_FB, num_bytes, __INTERFACE, 0, __TIMEOUT)
buff = __dev.read(__IN_EP, num_bytes, __INTERFACE, __TIMEOUT)
return (size[0], size[1], fb_to_arr(buff, size[2]))
def exec_script(buf):
__dev.ctrl_transfer(0x41, __USBDBG_EXEC_SCRIPT, len(buf), __INTERFACE, None, __TIMEOUT)
__dev.write(__OUT_EP, buf, __INTERFACE, __TIMEOUT)
def stop_script():
__dev.ctrl_transfer(0x41, __USBDBG_STOP_SCRIPT, 0, __INTERFACE, None, __TIMEOUT)
if __name__ == '__main__':
if len(sys.argv)!= 2:
print 'usage: openmv.py <script>'
sys.exit(1)
with open(sys.argv[1], 'r') as fin:
buf = fin.read()
init()
exec_script(buf)