Send over a command with a list of parameters
(self, cmd, params=None, *, param_len_16=False)
| 40 | self.reset() |
| 41 | |
| 42 | def _send_command(self, cmd, params=None, *, param_len_16=False): |
| 43 | """Send over a command with a list of parameters""" |
| 44 | if not params: |
| 45 | params = () |
| 46 | |
| 47 | packet_len = 4 # header + end byte |
| 48 | for i, param in enumerate(params): |
| 49 | packet_len += len(param) # parameter |
| 50 | packet_len += 1 # size byte |
| 51 | if param_len_16: |
| 52 | packet_len += 1 # 2 of em here! |
| 53 | while packet_len % 4 != 0: |
| 54 | packet_len += 1 |
| 55 | # we may need more space |
| 56 | if packet_len > len(self._sendbuf): |
| 57 | self._sendbuf = bytearray(packet_len) |
| 58 | |
| 59 | self._sendbuf[0] = _START_CMD |
| 60 | self._sendbuf[1] = cmd & ~_REPLY_FLAG |
| 61 | self._sendbuf[2] = len(params) |
| 62 | |
| 63 | # handle parameters here |
| 64 | ptr = 3 |
| 65 | for i, param in enumerate(params): |
| 66 | if self._debug >= 2: |
| 67 | print("\tSending param #%d is %d bytes long" % (i, len(param))) |
| 68 | if param_len_16: |
| 69 | self._sendbuf[ptr] = (len(param) >> 8) & 0xFF |
| 70 | ptr += 1 |
| 71 | self._sendbuf[ptr] = len(param) & 0xFF |
| 72 | ptr += 1 |
| 73 | for j, par in enumerate(param): |
| 74 | self._sendbuf[ptr + j] = par |
| 75 | ptr += len(param) |
| 76 | self._sendbuf[ptr] = _END_CMD |
| 77 | |
| 78 | self._wait_for_ready() |
| 79 | with self._spi_device as spi: |
| 80 | times = time.ticks_ms() |
| 81 | while (time.ticks_ms() - times) < 1000: # wait up to 1000ms |
| 82 | if self._ready.value(): # ok ready to send! |
| 83 | break |
| 84 | else: |
| 85 | raise RuntimeError("ESP32 timed out on SPI select") |
| 86 | spi.write(self._sendbuf) |
| 87 | # , start=0, end=packet_len) # pylint: disable=no-member |
| 88 | if self._debug >= 3: |
| 89 | print("Wrote: ", [hex(b) for b in self._sendbuf[0:packet_len]]) |
| 90 | |
| 91 | def _send_command_get_response( |
| 92 | self, |
no test coverage detected