raspihats.i2c_hats subpackage

raspihats.i2c_hats._frame module

This module contains the I2C Frame class and related classes.

class raspihats.i2c_hats._frame.Command

Bases: enum.Enum

I2C-HAT commands

CWDT_GET_PERIOD = <Command.CWDT_GET_PERIOD: 21>
CWDT_SET_PERIOD = <Command.CWDT_SET_PERIOD: 20>
CWDT_SET_STATE = <Command.CWDT_SET_STATE: 22>
DI_GET_ALL_CHANNEL_STATES = <Command.DI_GET_ALL_CHANNEL_STATES: 32>
DI_GET_CHANNEL_STATE = <Command.DI_GET_CHANNEL_STATE: 33>
DI_GET_COUNTER = <Command.DI_GET_COUNTER: 34>
DI_RESET_ALL_COUNTERS = <Command.DI_RESET_ALL_COUNTERS: 36>
DI_RESET_COUNTER = <Command.DI_RESET_COUNTER: 35>
DQ_GET_ALL_CHANNEL_STATES = <Command.DQ_GET_ALL_CHANNEL_STATES: 53>
DQ_GET_CHANNEL_STATE = <Command.DQ_GET_CHANNEL_STATE: 55>
DQ_GET_POWER_ON_VALUE = <Command.DQ_GET_POWER_ON_VALUE: 49>
DQ_GET_SAFETY_VALUE = <Command.DQ_GET_SAFETY_VALUE: 51>
DQ_SET_ALL_CHANNEL_STATES = <Command.DQ_SET_ALL_CHANNEL_STATES: 52>
DQ_SET_CHANNEL_STATE = <Command.DQ_SET_CHANNEL_STATE: 54>
DQ_SET_POWER_ON_VALUE = <Command.DQ_SET_POWER_ON_VALUE: 48>
DQ_SET_SAFETY_VALUE = <Command.DQ_SET_SAFETY_VALUE: 50>
GET_BOARD_NAME = <Command.GET_BOARD_NAME: 16>
GET_FIRMWARE_VERSION = <Command.GET_FIRMWARE_VERSION: 17>
GET_STATUS_WORD = <Command.GET_STATUS_WORD: 18>
RESET = <Command.RESET: 19>
exception raspihats.i2c_hats._frame.DecodeException

Bases: exceptions.Exception

Raised when I2C Frame decoding fails.

class raspihats.i2c_hats._frame.Frame(id, cmd, data=[])

Bases: object

The Frame is used for communication over the I2C bus:

# Field Size Description
Id 1 Diferent from one request to another, I2C-HAT responds with the same Id byte.
Command 1 Defines the action to be taken by the I2C-HAT which responds with the same Command byte.
Data n Payload data.
Crc 2 Modbus CRC16 for data integrity.
Parameters:
  • id (int) – ID byte
  • cmd (int) – Command byte
  • data (list of int) – Payload data bytes
id

int – ID byte

cmd

int – Command byte

data

list of int – Payload data bytes

CMD_SIZE = 1
CRC_SIZE = 2
ID_SIZE = 1
decode(data)

Decode raw data from I2C bus. It’s used to decode the I2C-HATs response. The fields Id and Command should already be set because a valid I2C-HAT response always has the same Id and Command bytes as the request.

Parameters:data (list of int) – Raw I2C data to be decoded
Raises:DecodeException – If the response frame Crc check fails, or has an unexpected Id or Command
encode()

Encode the frame fields: Id, Command, Data and Crc to a list of ints.

Returns:List of frame bytes, raw data that can be transmitted over the I2C bus
Return type:list of int

raspihats.i2c_hats._base module

This module contains the I2CHat base class.

class raspihats.i2c_hats._base.Cwdt(i2c_hat)

Bases: raspihats.i2c_hats._base.Functionality

Provides attributes and methods for operating the I2C-HAT CommunicationWatchdogTimer module.

Parameters:i2c_hat (raspihats.i2c_hats._base.I2CHat) – I2CHat instance

(*) - attribute value read directly from I2C-HAT

period

float – The CommunicationWatchdogTimer period value in seconds(*).

class raspihats.i2c_hats._base.Functionality(i2c_hat, labels=None)

Bases: object

I2C-HAT functionality base.

Parameters:
labels

list of str – Channel Labels.

class raspihats.i2c_hats._base.I2CHat(address, base_address=None, board_name=None)

Bases: object

Implements basic functionality common to all I2C-HATs.

Parameters:
  • address (int) – I2C bus address, valid range depends of base_address
  • base_address (int) – I2C-HAT family starting address
  • board_name (str) – I2C-HAT expected board name
Raises:

ValueError – If address is not in range

(*) - attribute value read directly from I2C-HAT

address

int – I2C bus address.

fw_version

string – Firmware version(*).

name

string – Name(*).

reset()

Sends a reset request to the I2C-HAT.

status

StatusWord – Status word(*).

transfer_time

float – Last valid transfer time stamp.

exception raspihats.i2c_hats._base.ResponseException

Bases: exceptions.Exception

Raised when there’s a problem with the I2C-HAT response.

class raspihats.i2c_hats._base.StatusWord(value)

Bases: object

Models Status Word

Parameters:value (int) – Status Word raw integer value
value

int – Status Word raw integer value.

class Bits

Bases: enum.Enum

Status Word bit masks

CWDT_TIMEOUT = <Bits.CWDT_TIMEOUT: 8>
IWD_RESET = <Bits.IWD_RESET: 4>
POR_RESET = <Bits.POR_RESET: 1>
SOFT_RESET = <Bits.SOFT_RESET: 2>

raspihats.i2c_hats._digital module

class raspihats.i2c_hats._digital.DigitalInputs(i2c_hat, labels)

Bases: raspihats.i2c_hats._base.Functionality

Attributes and methods needed for operating the digital inputs channels.

Parameters:
channels

list of bool – List like object, provides access to digital inputs channels.

r_counters

list of int – List like object, provides access to raising edge digital input counters.

f_counters

list of int – List like object, provides access to falling edge digital input counters.

reset_counters()

Resets all digital input channel counters of all types(falling and rising edge).

Raises:raspihats.i2c_hats._base.ResponseException – If the response hasn’t got the expected format
value

int – The value of all the digital inputs, 1 bit represents 1 channel.

class raspihats.i2c_hats._digital.DigitalOutputs(i2c_hat, labels)

Bases: raspihats.i2c_hats._base.Functionality

Attributes and methods needed for operating the digital outputs channels.

Parameters:
channels

list of bool – List like object, provides single channel access to digital outputs.

power_on_value

int – Power On Value, this is loaded to outputs at power on.

safety_value

int – Safety Value, this is loaded to outputs at Cwdt Timeout.

value

int – The value of all the digital outputs, 1 bit represents 1 channel.

raspihats.i2c_hats._boards module

This module contains the I2C-HATs classes.

class raspihats.i2c_hats._boards.DI16ac(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the DI16ac I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x40, 0x4F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

di

raspihats.i2c_hats._digital.DigitalInputs – provides access to DigitalInputs.

class raspihats.i2c_hats._boards.DI6acDQ6rly(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the DI6acDQ6rly I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x60, 0x6F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

di

raspihats.i2c_hats._digital.DigitalInputs – provides access to DigitalInputs.

dq

raspihats.i2c_hats._digital.DigitalOutputs – provides access to DigitalOutputs.

class raspihats.i2c_hats._boards.DQ10rly(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the DQ10rly I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x50, 0x5F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

dq

raspihats.i2c_hats._digital.DigitalOutputs – provides access to DigitalOutputs.

class raspihats.i2c_hats._boards.DQ16oc(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the DQ16oc I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x50, 0x5F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

dq

raspihats.i2c_hats._digital.DigitalOutputs – provides access to DigitalOutputs.

class raspihats.i2c_hats._boards.Di16(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the Di16 I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x40, 0x4F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

di

raspihats.i2c_hats._digital.DigitalInputs – provides access to DigitalInputs.

class raspihats.i2c_hats._boards.Di6Rly6(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the Di6Rly6 I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x60, 0x6F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

di

raspihats.i2c_hats._digital.DigitalInputs – provides access to DigitalInputs.

dq

raspihats.i2c_hats._digital.DigitalOutputs – provides access to DigitalOutputs.

class raspihats.i2c_hats._boards.Rly10(address)

Bases: raspihats.i2c_hats._base.I2CHat

This class exposes all operations supported by the Rly10 I2C-HAT.

Parameters:address (int) – I2C bus address, valid range is [0x50, 0x5F]
cwdt

raspihats.i2c_hats._base.Cwdt – provides access to CommunicationWatchDogTimer.

dq

raspihats.i2c_hats._digital.DigitalOutputs – provides access to DigitalOutputs.

raspihats.i2c_hats._boards.set_i2c_port(i2c_port)

Set the I2C port number.

Parameters:i2c_port (int) – I2C port number

raspihats.i2c_hats.robot module

This module facilitates the raspihats.i2c_hats package integration with robotframework. All the following functions will be loaded as keywords by robotframework.

Example:

* Settings * Documentation Test Suite using DI6acDQ6rly I2C-HAT. Library raspihats.i2c_hats.robot

* Test Cases *

Set Global Variables
${i2c_hat_temp} New DI6acDQ6rly ${0x60} Set Global Variable ${i2c_hat} ${i2c_hat_temp}
Board Name
${name} Get Name ${i2c_hat} Should Be Equal As Strings ${name} Di6Rly6 I2C-HAT
Read Digital Input
${state} DO Get Channel ${i2c_hat} ${5} Should Be Equal As Strings ${state} ${False} Should Be Equal As Integers ${state} ${0}
raspihats.i2c_hats.robot.cwdt_get_period(i2c_hat)

Gets the I2C-HAT CommunicationWatchdogTimer period. The exported robotframework keyword is ‘CWDT Get Period’.

Parameters:i2c_hat (I2CHat) – board
Returns:The CommunicationWatchdogTimer period
Return type:int
raspihats.i2c_hats.robot.cwdt_set_period(i2c_hat, value)

Sets the I2C-HAT CommunicationWatchdogTimer period. The exported robotframework keyword is ‘CWDT Set Period’.

Parameters:
  • i2c_hat (I2CHat) – board
  • value (int) – period in seconds
raspihats.i2c_hats.robot.di_get_channel(i2c_hat, index)

Gets the I2C-HAT digital input channel value. The exported robotframework keyword is ‘DI Get Channel’.

Parameters:
  • i2c_hat (I2CHat) – board
  • index (int) – channel index
Returns:

The value of the digital input channel
Return type:

boolean
raspihats.i2c_hats.robot.di_get_counter(i2c_hat, index, counter_type)

Gets the I2C-HAT digital input channel counter value. The exported robotframework keyword is ‘DI Get Counter’.

Parameters:
  • i2c_hat (I2CHat) – board
  • index (int) – channel index
  • counter_type (int) – type of counter(0 - falling edge, 1 - rising edge)
Returns:

The value of the digital input channel counter
Return type:

int
raspihats.i2c_hats.robot.di_get_labels(i2c_hat)

Gets the I2C-HAT digital inputs labels. The exported robotframework keyword is ‘DI Get Labels’.

Parameters:i2c_hat (I2CHat) – board
Returns:The labels of the digital inputs
Return type:list[sring]
raspihats.i2c_hats.robot.di_get_value(i2c_hat)

Gets the I2C-HAT digital inputs value(all channels). The exported robotframework keyword is ‘DI Get Value’.

Parameters:i2c_hat (I2CHat) – board
Returns:The value(all channels) of the digital inputs
Return type:int
raspihats.i2c_hats.robot.di_reset_all_counters(i2c_hat)

Resets all the I2C-HAT digital input channel counter values. The exported robotframework keyword is ‘DI Reset All Counters’.

Parameters:i2c_hat (I2CHat) – board
raspihats.i2c_hats.robot.di_reset_counter(i2c_hat, index, counter_type)

Resets the I2C-HAT digital input channel counter value. The exported robotframework keyword is ‘DI Reset Counter’.

Parameters:
  • i2c_hat (I2CHat) – board
  • index (int) – channel index
  • counter_type (int) – type of counter(0 - falling edge, 1 - rising edge)
raspihats.i2c_hats.robot.do_get_channel(i2c_hat, index)

Gets the I2C-HAT digital output channel value. The exported robotframework keyword is ‘DO Get Channel’.

Parameters:
  • i2c_hat (I2CHat) – board
  • index (int) – channel index
Returns:

The value of the digital output channel
Return type:

boolean
raspihats.i2c_hats.robot.do_get_labels(i2c_hat)

Gets the I2C-HAT digital outputs labels. The exported robotframework keyword is ‘DO Get Labels’.

Parameters:i2c_hat (I2CHat) – board
Returns:The labels of the digital outputs
Return type:list[sring]
raspihats.i2c_hats.robot.do_get_power_on_value(i2c_hat)

Gets the I2C-HAT digital outputs power on value. The exported robotframework keyword is ‘DO Get Power On Value’.

Parameters:i2c_hat (I2CHat) – board
Returns:The power on value of the digital outputs
Return type:int
raspihats.i2c_hats.robot.do_get_safety_value(i2c_hat)

Gets the I2C-HAT digital outputs safety value. The exported robotframework keyword is ‘DO Get Safety Value’.

Parameters:i2c_hat (I2CHat) – board
Returns:The safety value of the digital outputs
Return type:int
raspihats.i2c_hats.robot.do_get_value(i2c_hat)

Gets the I2C-HAT digital outputs value(all channels). The exported robotframework keyword is ‘DO Get Value’.

Parameters:i2c_hat (I2CHat) – board
Returns:The value(all channels) of the digital outputs
Return type:int
raspihats.i2c_hats.robot.do_set_channel(i2c_hat, index, value)

Sets the I2C-HAT digital output channel value. The exported robotframework keyword is ‘DO Set Channel’.

Parameters:
  • i2c_hat (I2CHat) – board
  • index (int) – channel index
  • value (boolean) – desired digital output value
Returns:

The value of the digital output channel
Return type:

boolean
raspihats.i2c_hats.robot.do_set_power_on_value(i2c_hat, value)

Sets the I2C-HAT digital outputs power on value. The exported robotframework keyword is ‘DO Set Power On Value’.

Parameters:
  • i2c_hat (I2CHat) – board
  • value (int) – desired power on value
raspihats.i2c_hats.robot.do_set_safety_value(i2c_hat, value)

Sets the I2C-HAT digital outputs safety value. The exported robotframework keyword is ‘DO Set Safety Value’.

Parameters:
  • i2c_hat (I2CHat) – board
  • value (int) – desired safety value
raspihats.i2c_hats.robot.do_set_value(i2c_hat, value)

Sets the I2C-HAT digital outputs value(all channels). The exported robotframework keyword is ‘DO Set Value’.

Parameters:
  • i2c_hat (I2CHat) – board
  • value (int) – desired digital outputs value(all channels)
raspihats.i2c_hats.robot.get_name(i2c_hat)

Gets the I2C-HAT name. The exported robotframework keyword is ‘Get Name’.

Parameters:i2c_hat (I2CHat) – board
Returns:The name of the board
Return type:string
raspihats.i2c_hats.robot.get_status(i2c_hat)

Gets the I2C-HAT status word. The exported robotframework keyword is ‘Get Status’.

Parameters:i2c_hat (I2CHat) – board
Returns:The status word
Return type:int
raspihats.i2c_hats.robot.new_DI16ac(adr)

New instance of class DI16ac. The exported robotframework keyword is ‘New DI16ac’.

Parameters:adr (int) – i2c address
Returns:A new instance of DI16ac
Return type:DI16ac
raspihats.i2c_hats.robot.new_DI6acDQ6rly(adr)

New instance of class DI6acDQ6rly. The exported robotframework keyword is ‘New DI6acDQ6rly’.

Parameters:adr (int) – i2c address
Returns:A new instance of DI6acDQ6rly
Return type:DI6acDQ6rly
raspihats.i2c_hats.robot.new_DQ10rly(adr)

New instance of class DQ10rly. The exported robotframework keyword is ‘New DQ10rly’.

Parameters:adr (int) – i2c address
Returns:A new instance of DQ10rly
Return type:DQ10rly
raspihats.i2c_hats.robot.new_DQ16oc(adr)

New instance of class DQ16oc. The exported robotframework keyword is ‘New DQ16oc’.

Parameters:adr (int) – i2c address
Returns:A new instance of DQ16oc
Return type:DQ16oc
raspihats.i2c_hats.robot.new_Di16(adr)

New instance of class Di16. The exported robotframework keyword is ‘New Di16’.

Parameters:adr (int) – i2c address
Returns:A new instance of Di16
Return type:Di16
raspihats.i2c_hats.robot.new_Di6Rly6(adr)

New instance of class Di6Rly6. The exported robotframework keyword is ‘New Di6Rly6’.

Parameters:adr (int) – i2c address
Returns:A new instance of Di6Rly6
Return type:Di6Rly6
raspihats.i2c_hats.robot.new_Rly10(adr)

New instance of class Rly10. The exported robotframework keyword is ‘New Rly10’.

Parameters:adr (int) – i2c address
Returns:A new instance of Rly10
Return type:Rly10
raspihats.i2c_hats.robot.reset(i2c_hat)

Resets the I2C-HAT. The exported robotframework keyword is ‘Reset’.