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Wednesday, March 13, 2013

RPIO.PCM learning notes


So I am using RPIO.PWM to create servo control signals.  What I did is the following.

from RPIO import PWM
RpioServoController = PWM.Servo() # default 20ms subcycle
RpioServoController.set_servo(RPiPcm, CounterClockwiseLimitPulseWidth)
RpioServoController.set_servo(RPiGpclk0, MiddlePositionPulseWidth)

Then I happily found the RPi's PWM pin and GPCLK0 pin has the 0.9mS and 1.5mS pulse every 20mS, as I expected.

So far so good.

Lunch time.



# * Test RPIO.PWM v1.0 tlfong01 2013feb23 *

# RPIO.PWM, PWM via DMA for the Raspberry Pi
# http://pythonhosted.org/RPIO/pwm_py.html
# ...

# *** Seeeduino & Towerpro SG90 Test Program - TL Fong 2009jan08
# http://www.todopic.com.ar/foros/index.php?topic=24768.5;wap2
# /******************************************************************************
# * Hello Servo - Turn TowerPro SG90 servo to middle position
# * Created - 2009jan07, Last update - 2008jan07
# * Function - Turn servo to middle position
# * MPU/Programming language - Seeeduino v1.1/Arduino v12.0
# * Author - TL Fong (tlfong01, TaoBao)
# * Copyright - Creative Commons Attribution - ShareAlike 3.0 Licence
# *
# * Test procedure
# * (1) FIRST run the program, [!!! DO NOT POWER ON YET !!! tlfong01 2013mar13]
# * (2) Manually turn servo clockwise or counterclock to limit,
# * (3) Connect 5V power and MPU signal to servo,
# * (4) WARNING - Disconnect 5V power before stopping program,
# *
# * TowerPro SG90 Spec
# * CCW end 900uS, CW end 2100uS, middle 1500uS, 3.0 to 6.0V,
# * 9g, 22 * 11.5 * 27mm, 0.12sec/60 degrees (4.8V no load),
# * stall torque 17.5ozin/1.2 kgcm) (4.8V), dead band 7usec,
# * coreless motor, all nylon gear, RMB30 (TaoBao).
# *
# * Notes
# * 1. To turn counter clockwise limit, change pulse width from 1500 to 900.
# * 2. To turn clockwise limit, change pulse width from to 2100.

# RPiGPIOgen1  = 18 # (P1-12, BCM GPIO 18) PCM_CLK 
# RPiGPIOGclk  = 04 # (P1-07, BCM GPIO 04) GPIO_GCLK 
# RPiPcm       = RPiGPIOgen1  
# RPiGpclk0    = RPiGPIOGclk

def TestRpioServo():
    # from RPIO import PWM

    CounterClockwiseLimitPulseWidth = 900 # CCW limit = 900 uS = 0.9 mS
    ClockwiseLimitPulseWidth = 2100       # CW limit = 2100 uS = 2.1 mS
    MiddlePositionPulseWidth = 1500       # Middle position = 1500 uS = 1.5 mS

    PrintDoubleSpaceLine("*** Testing RPIO.PCM tlfong01 2013mar13 ***")

    RpioServoController = PWM.Servo() # default 20ms subcycle
    RpioServoController.set_servo(RPiPcm, CounterClockwiseLimitPulseWidth)
    RpioServoController.set_servo(RPiGpclk0, MiddlePositionPulseWidth)
    
    time.sleep(60)



# *****************************************************************************
# !/usr/bin/python2.7
#
# Hardware/Software
#   FongLab Fp60 - 2013feb
# Author
#   tlfong01 <http://tlfong01.blogspot.hk/> 
# Configuration
#   Raspberry Pi Bv2 512MB, Raspbian Wheezy, Python 2.7.3, RPI.GPIO 0.5.0a,
#   PythonWiringPi 1.0.5, RPIO v0.8.4
# License
#   GNU GPLv3
# Warranty 
#   For hobbist only.  Use at your own risk.  There is not any warranty.
# System development methodologies/Programming paradims 
#   Software prototyping, Test-driven (TDD), Iterative and incremental (IID),
#   Agile/Functional Programming (FP), Object Oriented Programming (OOP).
# Specifications summary
#   5V0max 50mA, 3V3max 300mA, PerPinMax 17mA source 12mA sink
# References 
#   IO Expander
#     1. Mcirochip Application Notes AN1043 (GPIO Expander)
#   Matrix keypad
#     2. Microchip Application Notes AN1081 (Matrix Keypad)
#   LCD1602
#     3. ShenZhen YaJingDa Electronics YJD1602A-1 datasheet (2007-09-08)
#     4. PowerTip PC-1602F datasheet (11/10/2004)
#     5. Sitronix ST7066U Dot Matrix LCD Controller/Driver datasheet (01/03/01)
# Raspberry Pi communities
#   eLinux -  http://elinux.org/RPi_Community
#   element14 - http://www.element14.com/community/groups/raspberry-pi
# *****************************************************************************

# 0. Contents ******************************************************************
#
#  1. Program title
#  2. Python imports
#  3. RPi GPIO pin assignment, MCP230xx register base assignment
#  4. Global constants
#  5. GPIO Functions 
#  6. Debugging and documentation functions (beep, print bit/byte, message)
#  7. IO Expander Mcp23008, Mcp23017
#  8. Decimal keypad
#  9. LCD - LCD1602. LCD2004
# 10. Stepping motor - unlpolar steppers 28BYJ48/NPM-PF35/PX245
# 11. Demultiplexor
# 12. Old test functions 
# 13. Main program

# 1. Program Title ************************************************************

ProgramTitle1 = "RPIO.PWM 2013"
ProgramTitle2 = "Servo testing"

# ProgramTitle1 = "Guzunty Pi 2013"
# ProgramTitle2 = "XC9572XL   M12"

# ProgramTitle1 = "SPI603 20130312a"
# ProgramTitle2 = "FPL603 20130312a"

# 2 Python imports ***********************************************************

import sys
import time
import select
# import RPi.GPIO as GPIO # Use RPi.GPIO 
import RPIO as GPIO       # Use RPIO
import smbus 
import spidev
from RPIO import PWM

smBus1 = smbus.SMBus(1) 

# GPIO.setmode(GPIO.BOARD) # Use Raspberry Pi P1 header pin numbering
GPIO.setmode(GPIO.BCM)     # Use BMC GPIO channel number

# 3. GPIO and IO Expander pin/address assignments *****************************

I2cBaseAddress0 = 0x20
I2cBaseAddress1 = 0x21
I2cBaseAddress2 = 0x22
I2cBaseAddress3 = 0x23
I2cBaseAddress4 = 0x24
I2cBaseAddress5 = 0x25
I2cBaseAddress6 = 0x26
I2cBaseAddress7 = 0x27

# System A I2C base address assignment *

Mcp23017BaseAddress1 = 0x22 # LED, button
Mcp23008BaseAddress1 = 0x24 # stepping motors
Mcp23008BaseAddress2 = 0x25 # keypad
Mcp23008BaseAddress3 = 0x26 # LCD1602

# System B I2C base address assignment *

Mcp23017BaseAddressSystemB1 = 0x20 
Mcp23008BaseAddressSystemB1 = 0x21 
Mcp23008BaseAddressSystemB1 = 0x21 

# * GPIO pin numbering *

# GPIO.setwarnings(False)  # Disable linux's "pin already in use warning" !!! DO NOT DISABLE !!!

# * RPi GPIO pin numbering *

# P1-02 5V, P1-04 5V, P1-06 Gnd
# P1-01 3V3, P1-03 I2C SDA1, P1-05 I2C SCL1
# P1-08 UART TxD (Mcp23017 Reset)
# P1-10 UART RxD (Mcp23017 INTB)
# P1-13 RPi GPIO_GEN2 (BCM17) LED (P1-13 > LED > 330R > Gnd) !!! New
# P1-14 Gnd
# P1-20 Gnd
# P1-22 GPIO_GEN6 - Mcp23008 INT / Mcp23017 INTA   
# P5-05 GPIO_GEN9 - Buzzer, 3V3 5mA (P5-05 > Buzzer > Gnd) !!! New
# P5-06 GPIO_GEN10 Button (3V3 > 10K > Contact 1/2 > 330R > Gnd) !!! New

# * BCM GPIO channel numbering *

RPiGPIOgen2  = 27 # (P1-13, BCM GPIO 27) Test LED
RPiGPIOgen9  = 30 # (P5-05, BCM GPIO 30) Buzzer  
RPiGPIOgen10 = 31 # (P5-06, BCM GPIO 31) Button  

LEDpin = RPiGPIOgen2
BuzzerPin = RPiGPIOgen9 
ButtonPin = RPiGPIOgen10

RPiTxD       = 14 # (P1-08, BCM GPIO 14) UART TxD
RPiRxD       = 15 # (P1-10, BCM GPIO 15) UART RxD

TxdPin = RPiTxD
RxdPin = RPiRxD 

RPiGPIOgen6  = 25 # (P1-22, BCM GPIO 25) IOx/keypad interrupt
RPiGPIOgen1  = 18 # (P1-12, BCM GPIO 18) PCM_CLK 
RPiGPIOGclk  = 04 # (P1-07, BCM GPIO 04) GPIO_GCLK 
RPiPcm       = RPiGPIOgen1  
RPiGpclk0    = RPiGPIOGclk

# * I2C, SPI, JTAG,   

RpiGpioSpiSelect0  =  7 # SPI_CE1_N (P1-26, BCM GPIO 7)
RpiGpioSpiSelect1  =  8 # SPI_CE0_N (P1-24, BCM GPIO 8)
RpiGpioSpiMiso  =  9 # SPI_MISO (P1-21, BCM GPIO 9)
RpiGpioSpiMosi = 10 # SPI_MOSI (P1-10, BCM GPIO 10)
RpiGpioSpiClk = 11 # SPI_SCLK (P1-23, BCM GPIO 11)

SpiClockPin = RpiGpioSpiClk
SpiMosiPin = RpiGpioSpiMosi
SpiMisoPin = RpiGpioSpiMiso
SpiSelect0Pin = RpiGpioSpiSelect0
SpiSelect1Pin = RpiGpioSpiSelect1

RPiGPIOgen1  = 18 # PCM_CLK (P1-12, BCM GPIO 18) used
RPiGPIOGclk  =  4 # GPIO_GCLK (P1-07, BCM GPIO 04) not used

RpiGpioGen0 = 17 # GPIO_GEN0 (P1-11, BCM GPIO 17, Alt Jtag TCK)
RpiGpioGen3 = 22 # GPIO_GEN0 (P1-15, BCM GPIO 22, Alt Jtag TDO)
RpiGpioGen4 = 23 # GPIO_GEN4 (P1-16, BCM GPIO 23, Alt Jtag TDI)
RpiGpioGen5 = 24 # GPIO_GEN5 (P1-18, BCM GPIO 24, Alt Jtag TMS)

JtagTckPin = RpiGpioGen0
JtagTdoPin = RpiGpioGen3
JtagTdiPin = RpiGpioGen4
JtagTmsPin = RpiGpioGen5

# * GPIO input/output pins list *

#OutputPinList = [LEDpin, BuzzerPin, TxdPin, SpiClockPin, SpiMosiPin, SpiSelect0Pin, SpiSelect1Pin]
#InputPinWithPullUpList = [ButtonPin, RxdPin, RPiGPIOgen6, SpiMisoPin]

OutputPinList = [LEDpin, BuzzerPin, TxdPin]
InputPinWithPullUpList = [ButtonPin, RxdPin, RPiGPIOgen6]

InputPinWithNoPullUpList = []

JtagOutputPinList = [JtagTckPin, JtagTdoPin, JtagTmsPin]
JtagInputPinList = [JtagTdiPin]

#JtagOutputPinList = [JtagTckPin, JtagTdoPin, JtagTmsPin, JtagTdiPin] # debug only
#JtagInputPinList = [] # debug only

# 4. Global constants *********************************************************

# * Loop counters *
TwoTimes = 2
FourTimes = 4
EightTimes = 8
TenTimes = 10
TwentyTimes = 20
FiftyTimes = 50
OneHundredTimes = 100
TwoHundredTimess = 200
FourHundredTimes = 400

# * Elapse times *
TwentyMilliSeconds = 0.02
FiftyMilliSeconds = 0.05
OneHundredMilliSeconds = 0.1
TwoHundredMilliSeconds = 0.2
TenthSecond = 0.1
QuarterSecond = 0.25
HalfSecond = 0.5
OneSecond = 1
OneAndHalfSeconds = 1.5
TwoSeconds = 2

# * On/Off times *
OnTime = TenthSecond
OffTime = QuarterSecond
ButtonDebouncingTime = QuarterSecond
TestTime = FiftyMilliSeconds

OnTime = 0.1
OffTime = 0.25

# 5. GPIO Functions ***********************************************************
# * Local constants *

# * Nibble naming * 
LowNibble = 0
HighNibble = 1
BothNibble = 2 # full byte of 8 bits

# * Nibble constants *
HighNibble1LowNibble0 = 0xf0
HighNibble0LowNibble1 = 0x0f

# * LED and buzzer states *
Off = False
On = True

# * Button states *
ButtonPressed = False
ButonReleased = True

# * Interrupt states *
Low = False
High = True

# * Setup, read/write GPIO pins *
setupOutputPin = lambda oPin: GPIO.setup(oPin, GPIO.OUT) # set GPIO pin as output 

setupInputPinWithNoPullUp = lambda iPin: GPIO.setup(iPin, GPIO.IN, pull_up_down=GPIO.PUD_OFF) # set GPIO pin as input, no pull up

setupInputPinWithPullUp = lambda iPin: GPIO.setup(iPin, GPIO.IN, pull_up_down=GPIO.PUD_UP) # set GPIO pin as input, with pull up

writeOutputPin = lambda oPin, oValue: GPIO.output(oPin, oValue) # write value to output pin

setupWriteOutputPin = lambda oPin, oValue: (setupOutputPin(oPin), writeOutputPin(oPin, oValue)) # set and write

readInputPin = lambda iPin: GPIO.input(ButtonPin) # read value from input pin

def SetupGPIOpins(outputPinList, inputPinWithNoPullUpList, inputPinWithPullUpList): # set up GPIO pins in InputPinList and OutputPinList
    for oPin in outputPinList:
       setupWriteOutputPin(oPin, Off)
    for iPin in inputPinWithNoPullUpList:
        setupInputPinWithNoPullUp(iPin)
    for iPin in inputPinWithPullUpList:
        setupInputPinWithPullUp(iPin)

def SetupGPIO(): # set up GPIO pins
    SetupGPIOpins(OutputPinList, InputPinWithNoPullUpList, InputPinWithPullUpList )

def CleanUpGpio(): #      
    GPIO.cleanup()

def SetupJtagGpio():
    SetupGPIOpins(outputPinList = JtagOutputPinList, inputPinWithNoPullUpList = JtagInputPinList, inputPinWithPullUpList = []) 

def TestJtagGpio():
    SetupGPIOpins(outputPinList = JtagOutputPinList, inputPinWithNoPullUpList = JtagInputPinList, inputPinWithPullUpList = []) 

# * pulse/echo/toggle functions * 

def pulsePin(oPin, onTime, offTime): # blink LED or beep buzzer
    writeOutputPin(oPin, On)
    time.sleep(onTime)
    writeOutputPin(oPin, Off)    
    time.sleep(offTime)

def echoPin(iPin, oPin): # echo input pin to output pin, e.g. button to LED or buzzer
    while True:
        if readInputPin(iPin) == ButonReleased:
            pass
        else:
            pulsePin(oPin, OnTime, OffTime)
            break
        continue

def togglePin(oPin, toggleTime): # toggle pin
    writeOutputPin(oPin, On)
    time.sleep(toggleTime)
    writeOutputPin(oPin, Off)    
    time.sleep(toggleTime)

# * Test Buzzer, LED, Button *
def TestBuzzer(): # beep 4 times
    SetupGPIO()
    for i in range (FourTimes):
        pulsePin(BuzzerPin, OnTime, OffTime)

def TestLED(): # blink 4 times
    SetupGPIO()
    for i in range (FourTimes): 
        pulsePin(LEDpin, OnTime, OffTime)

def TestGpioPin(oPin, toggleTime, toggleCount): 
    for i in range(toggleCount):
        togglePin(oPin, toggleTime)

def TestButtonEchoBuzzer(): #
    SetupGPIO()
    print "\n", "Press button 4 times.", "\n"
    for i in range (FourTimes):
        echoPin(ButtonPin, BuzzerPin)          

def TestButtonEchoTxD(): #
    SetupGPIO()
    print "\n", "Press button 4 times.", "\n"
    for i in range (FourTimes):
        echoPin(ButtonPin, TxdPin)  

def TestButtonEchoRxD(): #
    SetupGPIO()
    print "\n", "Press button 4 times.", "\n"
    for i in range (FourTimes):
        echoPin(ButtonPin, RxdPin)  

def TestRxdEchoTxD(): #
    SetupGPIO()
    print "\n", "RxD Echo TxD - Press button 4 times.", "\n"
    for i in range (FourTimes):
        echoPin(RxdPin, TxdPin) 

def TestButtonEchoLED(): #
    SetupGPIO()
    print "\n", "Press button 4 times.", "\n"    
    for i in range (FourTimes):
        echoPin(ButtonPin, LEDpin)

def TestTxdPin(): # blink 4 times
    SetupGPIO()
    for i in range (FourTimes): 
        pulsePin(TxdPin, OnTime, OffTime)

def TestRxdPin(): # blink 4 times
    SetupGPIO()
    for i in range (FourTimes): 
        pulsePin(RxdPin, OnTime, OffTime)

def TestTxdPinRxdPin1(): # blink, read 4 times
    SetupGPIO()
    for i in range (FourTimes): 
        writeOutputPin(TxdPin, On)
        if readInputPin(RxdPin) == High:
   print "RxD input = High"
        else:
   print "RxD input = Low"
        time.sleep(1)
        writeOutputPin(TxdPin, Off)   
if readInputPin(RxdPin) == High:
   print "RxD input = High"
        else:
   print "RxD input = Low"
        time.sleep(1)

def TestTxdPinRxdPin2(): #
    SetupGPIO()
    print "\n", "Short to Ground RxdPin 4 times.", "\n"    
    for i in range (FourTimes):
        echoPin(RxdPin, TxdPin)

# GPIO Interrupt function !!! not yet tested !!!
def TestInterruptPinFallingEdgeDetection(): # !!! Not tested !!!
    GPIO.cleanup() # set all input pins no pull up, disable all interutp detection setting
    SetupGPIO()   
    GPIO.set_low_event(InterruptPin) # set up low level detection 

    for i in range(30):
        if GPIO.event_detected(InterruptPin):
   break
        else:
            print "No interrupt detected.", i
            time.sleep(1)
   continue

    GPIO.set_low_event(InterruptPin, enable = False)  # disable detection
    print "End of test, or interrupt detected"

def TestJtagPins(toggleTime, testCount): 
    SetupJtagGpio()
    Beep(1)
    for i in range(testCount):
        togglePin(JtagTckPin, toggleTime) 
    Beep(1)
    for i in range(testCount):
        togglePin(JtagTdoPin, toggleTime) 
    Beep(1)
    for i in range(testCount):
        togglePin(JtagTmsPin, toggleTime) 
#    Beep(1)
#    for i in range(testCount):
#        togglePin(JtagTdiPin, toggleTime) 

#    Beep(2)
#    for i in range(testCount):
# if readInputPin(JtagTdiPin) == High:
#    print "JtagTdiPin = High"
# else:
#    print "JtagTdiPin = Low"

#    for i in range(testCount):
#        writeOutputPin(JtagTdoPin, On)
#        if readInputPin(JtagTdiPin) == High:
#    print "JtagTdiPin = High"
#        else:
#    print "JtagTdiPin = Low"
#        time.sleep(1)
# writeOutputPin(JtagTdoPin, Off)
#        if readInputPin(JtagTdiPin) == High:
#    print "JtagTdiPin = High"
#        else:
#    print "JtagTdiPin = Low"
#        time.sleep(1)

    for i in range(testCount):
        writeOutputPin(JtagTdoPin, 1)
        if readInputPin(JtagTdiPin) == 1:
   print "JtagTdiPin = 1"
        else:
   print "JtagTdiPin = 0"
        time.sleep(1)
writeOutputPin(JtagTdoPin, 0)
        if readInputPin(JtagTdiPin) == 1:
   print "JtagTdiPin = 1"
        else:
   print "JtagTdiPin = 0"
        time.sleep(1)

    Beep(3)

    GPIO.cleanup()

# 5. Debugging and documentation functions ************************************

# * Data bit processing and printing *

def SetDataBit(dataByte, bitIndex):
    setDataByte = 0x01 << bitIndex
    dataByte = dataByte | setDataByte
    return dataByte

def ResetDataBit(dataByte, bitIndex):
    resetDataByte = ~(0x01 << bitIndex)
    dataByte = dataByte & resetDataByte
    return dataByte

def ConvertIntegerToFourBitPattern(integer):
    FourBitPattern = [""]
    for k in range(4): 
        FourBitPattern = [i+j for i in ['0','1'] for j in FourBitPattern]
    return FourBitPattern[integer]

def ConvertIntegerToEightPattern(integer):
    EightBitPattern = [""]
    for k in range(8): 
        EightBitPattern = [i+j for i in ['0','1'] for j in EightBitPattern]
    return EightBitPattern[integer]

def PrintEightBitPattern(message, dataByte):
    eightBitPattern = ConvertIntegerToEightPattern(dataByte)
    print message, eightBitPattern

def PrintFourBitPattern(message, dataByte):
    fourBitPattern = ConvertIntegerToFourBitPattern(dataByte)
    print message, fourBitPattern

def Beep(count):
    for i in range(count):
        pulsePin(BuzzerPin, OnTime, OffTime)
    
def StartBeep():
    Beep(2)
    time.sleep(1)

def StopBeep():
    Beep(2)

def OneBeep():
    Beep(1)

def FourBeeps():
    Beep(4)

def StartProgram():
    message =  "\n" + "*** Start Program - " + ProgramTitle1 + " ***" + "\n"
    CleanUpGpio()
    SetupGPIO()
    StartBeep()
    print message

def StopProgram():
    SetupGPIO()
    StopBeep()
    # print "\n" + "*** Resetting GPIO input, no pull up/down, no event detect. ***" + "\n"
    CleanUpGpio()
    print "\n" + "*** Stop Program ***" + "\n"    

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# 7. IO Expander Mcp23008, Mcp23017 *******************************************

# * Local constants *

# * Port type *
PortA = 0
PortB = 1

# * Mcp23008/Mcp23017 register address offsets index Bank 0 *
InputOutputDirection = 0
InputPolarity = 1
InterruptEnable = 2
DefaultValue = 3  
CompareMode = 4
BankInterruptPinMode = 5
PullUp = 6
InterruptFlag = 7
InterruptCapture = 8
PortStatus = 9
OutputLatch = 10

# * Data constant bytes *

AllOutputByte = 0x00
AllInputByte = 0xff
AllHighByte = 0xff
AllLowByte =  0x00
AllPullUpByte = 0xff

# * Direction setting bytes *
HalfHighHalfLow = 0xf0
HalfLowHalfHigh = 0x0f
Nibble1HighNibble2Low = 0xf0
Nibble1LowNibble2High = 0x0f
HighNibbleInputLowNibbleOutput = 0xf0

# * Mcp23008/Mcp23017 Bank0/Bank1 register address offset arrays *
               
Mcp23008RegisterAddressOffsetArray = [0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a]

RegisterAddressOffsetArrayBank0 = [0x00, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x0e, 0x10, 0x12, 0x14,        
                                   0x01, 0x03, 0x05, 0x07, 0x09, 0x0b, 0x1d, 0x0f, 0x11, 0x13, 0x15]

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * Mcp23008 Functions *

def SetupPortAllOutputMcp23008(registerBaseAddress):
    WriteDataByteMcp23008(registerBaseAddress, InputOutputDirection, AllOutputByte)

def SetupPortAllInputMcp23008(registerBaseAddress):
    WriteDataByteMcp23008(registerBaseAddress, InputOutputDirection, AllInputByte)

def WriteDataByteMcp23008(registerBaseAddress, dataRegisterIndex, dataByte):
    addressOffset = Mcp23008RegisterAddressOffsetArray[dataRegisterIndex]
    smBus1.write_byte_data(registerBaseAddress, addressOffset, dataByte)

def ReadDataByteMcp23008(registerBaseAddress, dataRegisterIndex):
    addressOffset = Mcp23008RegisterAddressOffsetArray[dataRegisterIndex]
    dataByte = smBus1.read_byte_data(registerBaseAddress, addressOffset)
    return dataByte

def WriteDataBitMcp23008(registerBaseAddress, dataRegisterIndex, bitNumber, dataBit):
    addressOffset = Mcp23008RegisterAddressOffsetArray[dataRegisterIndex + 11]
    dataByte = smBus1.read_byte_data(registerBaseAddress, addressOffset)
    bitMask = 0x01 << bitNumber
    if (dataBit == 1):
        dataByte = dataByte | bitMask
    else:
        dataByte = dataByte & (~bitMask)
    smBus1.write_byte_data(registerBaseAddress, addressOffset, dataByte)

def ToggleGpMcp23008(registerBaseAddress, toggleTime, toggleCount):
    SetupMcp23008PortAllOutput(registerBaseAddress)
    for i in range(toggleCount):
        WriteDataByteMcp23008(registerBaseAddress, OutputLatch, AllHighByte) 
time.sleep(toggleTime)
        WriteDataByteMcp23008(registerBaseAddress, OutputLatch, AllLowByte) 
  time.sleep(toggleTime)

def ReadGpMcp23008(registerBaseAddress, count):
    SetupMcp23008PortAllInput(registerBaseAddress)    
    for i in range(count):
        dataByte = ReadDataByteMcp23008(registerBaseAddress, PortStatus)
        PrintEightBitPattern("Data byte read = ", dataByte)
        time.sleep(1)

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * Mcp23017 Functions *

def SetupMcp23017BothPortAllOutput(registerBaseAddress):
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortA, AllOutputByte)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortB, AllOutputByte)

def SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress):
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortA, AllOutputByte)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortB, AllInputByte)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, PullUp, PortB, AllPullUpByte)

def WriteDataByte(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType, dataByte):
    if (portType == PortA) | (portType == PortA):
       addressOffset = registerAddressArray[dataRegisterIndex]
    if (portType == PortB):
       addressOffset = registerAddressArray[dataRegisterIndex + 11]
    smBus1.write_byte_data(registerBaseAddress, addressOffset, dataByte)

def WriteDataBit(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType, bitNumber, dataBit):
    if (portType == PortA) | (portType == PortA):
       addressOffset = registerAddressArray[dataRegisterIndex]
    if (portType == PortB):
       addressOffset = registerAddressArray[dataRegisterIndex + 11]
    dataByte = smBus1.read_byte_data(registerBaseAddress, addressOffset)
    bitMask = 0x01 << bitNumber
    if (dataBit == 1):
        dataByte = dataByte | bitMask
    else:
        dataByte = dataByte & (~bitMask)
    smBus1.write_byte_data(registerBaseAddress, addressOffset, dataByte)

def ReadDataByte(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType):
    if (portType == PortA):
       addressOffset = registerAddressArray[dataRegisterIndex]
    if (portType == PortB):
       addressOffset = registerAddressArray[dataRegisterIndex + 11]
    dataByte = smBus1.read_byte_data(registerBaseAddress, addressOffset)
    return dataByte

def ReadDataBit(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType, bitNumber):
    if (portType == PortA):
       addressOffset = registerAddressArray[dataRegisterIndex]
    if (portType == PortB):
       addressOffset = registerAddressArray[dataRegisterIndex + 11]
    dataByte = smBus1.read_byte_data(registerBaseAddress, addressOffset)
    bitMask = 0x01 << bitNumber
    dataByte = dataByte & bitMask
    if (dataByte == 0):
      dataBit = 0
    else:
      dataBit = 1
    return dataBit

def ReadUpperNibble(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType):
    dataByte = ReadDataByte(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType)
    upperNibble = dataByte >> 4
    return upperNibble

def ReadLowerNibble(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType):
    dataByte = ReadDataByte(registerBaseAddress, registerAddressArray, dataRegisterIndex, portType)
    lowerNibble = dataByte & 0x0f
    return lowerNibble

# * Config interrupts *
def EnableInterruptOnChangeHighNibble(registerBaseAddress): 
    EnableInterruptHighNibble = 0xf0
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptEnable, PortA, EnableInterruptHighNibble)

def DisableInterruptOnChangeHighNibble(registerBaseAddress): 
    DisableInterruptHighNibble = 0x00
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptEnable, PortA, DisableInterruptHighNibble)

def SetInterruptOnChangeDefaultHighNibble(registerBaseAddress): 
    DefaultValueByte = 0xf0 
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptOnChangeDefaultValue, PortA, DefaultValueByte)

def SetInterruptOnChangeCompareDefaultHighNibble(registerBaseAddress): 
    InterruptOnChangeDefaultValueHighNibble = 0xf0 # GP4~7 change from default value will cause interrupt
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, CompareMode, PortA, InterruptOnChangeDefaultValueHighNibble)

def SetInterruptOutputPushPull(registerBaseAddress): # interrupt pin open drain, no auto add inc, no slew rate
    PushPull  = 0b00111010 # 0x32, seq/slew disabled, interrupt output drive drive (push pull) active High
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, PushPullOpenDrain, PortA, PushPull)

def SetInterruptOutputOpenDrain(registerBaseAddress): # interrupt pin open drain, no auto add inc, no slew rate
    OpenDrain = 0b00111000 # 0x34, seq/slew disabled, interrupt output open drain (don't care active High or Low)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, PushPullOpenDrain, PortA, OpenDrain)

# * Poll interrupts *
def ReadInterruptFlagHighNibble(registerBaseAddress): 
    interruptFlagByte = ReadDataByte(registerBaseAddress,  RegisterAddressOffsetArrayBank0, InterruptFlag, PortA)  
    interruptFlagNbble = interruptFlagByte >> 4
    return interruptFlagNibble   
    
def ReadInterruptCaptureHighNibble(registerBaseAddress): 
    interruptCaptureByte = ReadDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptCapture, PortA)    
    interruptCaptureNibble = interruptCaptureByte >> 4
    return interruptCaptureNibble  

def ReadInterruptCaptureLowNibble(registerBaseAddress): 
    interruptCaptureByte = ReadDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptCapture, PortB)    
    interruptCaptureNibble = interruptCaptureByte & 0x0f
    return interruptCaptureNibble  

def DetectOneInterrupt(registerBaseAddress): # !!! NOT tested !!!   
    interruptFlagNibble = ReadInterruptFlagHighNibble(registerBaseAddress)
    interruptCaptureNibble = ReadInterruptCaptureHighNibble(registerBaseAddress)
    print "Interrupt capture high nibble = ", ConvertIntegerToFourBitPattern(interruptCaptureNibble) 
    print "Interrupt capture high nibble = ", ConvertIntegerToFourBitPattern(interruptCaptureNibble) 
    ClearInterruptOnChangeHighNibble(registerBaseAddress) # !!! clear interrupt !!!
    time.sleep(2)

# * Test port toggling, poll interrupts *

def ToggleMcp23017GP(registerBaseAddress, toggleTime, toggleCount):
    SetupMcp23017BothPortAllOutput(registerBaseAddress)
    for i in range(toggleCount):
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllHighByte)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortB, AllHighByte)
time.sleep(toggleTime)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllLowByte)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortB, AllLowByte)
  time.sleep(toggleTime)

def ToggleMcp23017B1(registerBaseAddress, toggleTime, toggleCount):
    SetupMcp23017BothPortAllOutput(registerBaseAddress)

    for i in range(toggleCount):
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllHighByte)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortB, AllHighByte)
time.sleep(toggleTime)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllLowByte)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortB, AllLowByte)
  time.sleep(toggleTime)

def TestToggleMcp23017GP():
    ToggleMcp23008GP(Mcp23017BaseAddress1,  ToggleTime, ToggleCount)

def TestDetectInterrupt(count): # !!! NOT Tested !!!
    RegisterBaseAddress =  Mcp23008BaseAddress2
    SetupKeypadInterruptHighNibbleCompareDefaultValueOpenDrainOutput(RegisterBaseAddress)
    for i in range(count): 
        DetectOneInterrupt(RegisterBaseAddress)

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * System B test functions *

def TestToggleMcp23017SystemB1(count): 
    ToggleTime = 0.5
    ToggleCount = 4

    registerBaseAddress = Mcp23017BaseAddressSystemB1
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)

    for i in range(count):
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllHighByte)
time.sleep(ToggleTime)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllLowByte)
  time.sleep(ToggleTime)

def TestToggleMcp23017PortAoutput(registerBaseAddress, toggleTime, toggleCount): 
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)
    for i in range(toggleCount):
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllHighByte)
time.sleep(toggleTime)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, AllLowByte)
  time.sleep(toggleTime)

def TestReadMcp23017SystemB1(count):
    registerBaseAddress = Mcp23017BaseAddressSystemB1
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)
    for i in range(count):
        dataByte = ReadDataByte(Mcp23017BaseAddressSystemB1, RegisterAddressOffsetArrayBank0, PortStatus, PortB)
        PrintEightBitPattern("Data byte read = ", dataByte)
        time.sleep(1) 

def TestReadMcp23017PortBinput(registerBaseAddress, readTime, readCount):
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)
    for i in range(readCount):
        dataByte = ReadDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, PortStatus, PortB)
        PrintEightBitPattern("MCP23x17 Port B data byte read = ", dataByte)
        time.sleep(1)

def TestBlinkMcp23017SystemB1GPIObit(bitNumber, onTime, offTime, count) :

    registerBaseAddress = Mcp23017BaseAddressSystemB1
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)

    for i in range(count):

        WriteDataBit(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, bitNumber, High)
time.sleep(onTime)
        WriteDataBit(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, bitNumber, Low)
  time.sleep(offTime)


def TestReadMcp23017SystemB1GPIObit(bitNumber, count):

    registerBaseAddress = Mcp23017BaseAddressSystemB1
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)

    for i in range(count):
        dataBit = ReadDataBit(registerBaseAddress, RegisterAddressOffsetArrayBank0, PortStatus, PortB, bitNumber)
        if (dataBit == High):
   print "Data bit is High"
        else:
   print "Data bit is Low"
  time.sleep(1)


#******************************************************************************
#******************************************************************************
#******************************************************************************
#******************************************************************************
#******************************************************************************

# 8. Decimal keypad *********************************************************** 

# * Decimal keypad using Mcp23017 v4.17 2013feb15 *

# * Configuration *
# Mcp23017 GPIO direction - Port A = output, Port B = input
# Keypad pin assignment - GPA0~A2 = Col0~2, GPB0~B3 = Row0~3

KeypadInterruptPinMcp23017 = RPiGPIOgen6

# * Local constants *

RegisterBaseAddress = 0x20
OutputLatchRegisterResetValue = 0x00
PortStatusRegisterResetValue = 0x00
InterruptCaptureRegisterResetValue = 0x00
InterruptFlagRegisterResetValue = 0x00

# * Polling modes *
NoPollJustGetKeyEverySecond = 0
PollRowStatusNibble = 1
PollMcp23017Interrupt = 2

# * Setup keypad *
def SetupKeypadMcp017(registerBaseAddress):
     SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)
     SetupKeypadInterruptMcp23017(registerBaseAddress) # buggy !!!!!!!!!!
     ClearKeypadInterruptMcp23017(registerBaseAddress) 
     WriteKeypadColumnsAllLowMcp23017(registerBaseAddress)

# * Setup/Clear/Check keypad interrupt *

def SetupKeypadInterruptMcp23017(registerBaseAddress):
    SetKeypadInterruptEnableMcp23017(registerBaseAddress)
    SetKeypadDefaultValueMcp23017(registerBaseAddress) 
    SetKeypadEnableCompareDefaultValueMcp23017(registerBaseAddress)  
    SetKeypadBankInterruptDriverModeMcp23017(registerBaseAddress) 

def SetKeypadInterruptEnableMcp23017(registerBaseAddress): 
    EnableInterruptLowNibble = 0x0f
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptEnable, PortB, EnableInterruptLowNibble)

def SetKeypadInterruptDisableMcp23017(registerBaseAddress): 
    DisableInterruptByte = 0x00
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptEnable, PortB, DisableInterruptByte)

def SetKeypadDefaultValueMcp23017(registerBaseAddress): 
    DefaultValueByte = 0x0f # row status nibble is all bits high if no key pressed  
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, DefaultValue, PortB, DefaultValueByte)

def SetKeypadEnableCompareDefaultValueMcp23017(registerBaseAddress): 
    InterruptOnChangeDefaultValueLowNibble = 0x0f # GPB0~3 change from default value will cause interrupt
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, CompareMode, PortB, InterruptOnChangeDefaultValueLowNibble)

def SetKeypadBankInterruptDriverModeMcp23017(registerBaseAddress): 
    # bit 7 = 0 (Bank = 0, reg with each port are in the same bank (addresses are sequential))
    # bit 6 = 0 (No mirror, INTA and INTB independent)
    # bit 5 = 1 (Sequential operation disabled)
    # bit 4 = 1 (Slew rate disabled)
    # bit 3 = 0 (Disable MCP23S17 address pins, Don't care for Mcp23017)
    # bit 2 = 0 (Interrupt driver push pull, no open drain)
    # bit 1 = 1 (Interrrupt active high)
    # bit 0 = 0 (Unimplemented, read as 0)
    # 0b00110010 = 0x32
    Bank0DriverPushPullHighActive = 0x32
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, BankInterruptPinMode, PortB, Bank0DriverPushPullHighActive)

def ClearKeypadInterruptMcp23017(registerBaseAddress):
    WriteKeypadColumnsAllLowMcp23017(registerBaseAddress)
    time.sleep(0.5)
    dummyRead = ReadInterruptCaptureLowNibble(registerBaseAddress) 

# * Write columns *

def WriteKeypadColumnsMcp23017(registerBaseAddress, columnDataByte):    
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, columnDataByte)

def WriteKeypadColumnsAllLowMcp23017(registerBaseAddress):
    WriteKeypadColumnsMcp23017(registerBaseAddress, AllLowByte)

# * Read rows *

def GetKeypadRowDataNibbleMcp23017(registerBaseAddress): 
    rowDataByte = ReadDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, PortStatus, PortB)
    rowDataNibble = rowDataByte & 0x0f
    return rowDataNibble

# * Get Row Number, Column Number, and Key Number *

def GetKeypadRowNumberMcp23017(registerBaseAddress):
    RowDataNibbleTuple = 0b1110, 0b1101, 0b1011, 0b0111, 0b1111, 0b0000 
    rowDataNibble = GetKeypadRowDataNibbleMcp23017(registerBaseAddress)

    # *** Begin debugging *****************************************************    
    PrintFourBitPattern("Row pattern = ", rowDataNibble) 
    rowNumber = RowDataNibbleTuple.index(rowDataNibble)
    print ("Row number = ", rowNumber)
    # *** End debugging *******************************************************

    rowNumber = RowDataNibbleTuple.index(rowDataNibble)
    return rowNumber

def GetKeypadColumnNumberMcp23017(registerBaseAddress):
    ColumnNibbleTuple = 0b1110, 0b1101, 0b1011
    NoKeyPressNibble = 0b1111    
    for columnNibble in (ColumnNibbleTuple):  
        WriteKeypadColumnsMcp23017(registerBaseAddress, columnNibble) 
        rowDataNibble = GetKeypadRowDataNibbleMcp23017(registerBaseAddress)
        if rowDataNibble != NoKeyPressNibble:
   break
    columnNumber = ColumnNibbleTuple.index(columnNibble)
    return columnNumber

def GetKeypadKeyNumberMcp23017(registerBaseAddress):
    rowNumber = GetKeypadRowNumberMcp23017(registerBaseAddress)
    columnNumber = GetKeypadColumnNumberMcp23017(registerBaseAddress)
    keyNumber = (rowNumber * 3) + (columnNumber + 1) 
    return keyNumber

# * Get keys *

def GetKeypadKeyMcp23017(registerBaseAddress, checkPressingKeyMode): 
    if (checkPressingKeyMode == NoPollJustGetKeyEverySecond): 
        print "Read key every second"
time.sleep(1)
LoopUntilOneSecondEnded()

    elif (checkPressingKeyMode == PollRowStatusNibble):   
        print "Polling Gpio"
        LoopUntilKeypadRowDataNibbleChangeMcp23017(registerBaseAddress)      

    elif (checkPressingKeyMode == PollMcp23017Interrupt):  
        print "Polling Mcp23017 interrupt INTB"
        LoopUntilKeypadInterruptPinMcp23017Active(registerBaseAddress)

    keyNumber = GetKeypadKeyNumberMcp23017(registerBaseAddress)
    return keyNumber

def GetKeypadKeySequenceMcp23017(registerBaseAddress, checkPressingKeyMode, count):     
    for i in range (count):        
        OneBeep() 
keyNumber = GetKeypadKeyMcp23017(registerBaseAddress, checkPressingKeyMode)
        print "Key", i + 1, " = ", keyNumber
time.sleep(0.25) 

# * No polling, just read key at the end of each second *
def LoopUntilOneSecondEnded():
    time.sleep(1)

# * Poll row status *
def LoopUntilKeypadRowDataNibbleChangeMcp23017(registerBaseAddress): 
    WriteKeypadColumnsMcp23017(registerBaseAddress, AllLowByte)
    NoKeyPressedNibble = 0xf
    rowDataNibble = NoKeyPressedNibble 
    while (rowDataNibble == NoKeyPressedNibble):
        rowDataNibble = GetKeypadRowDataNibbleMcp23017(registerBaseAddress)        
    time.sleep(0.05) # debouncing time 50mS

# * Poll Mcp23017 interrupt pin *
def LoopUntilKeypadInterruptPinMcp23017Active(registerBaseAddress):

    # Mcp23017 INTB shifted up to 5V) logical level, then connected to Mcp23017 GPB5
    KeypadInterruptPinNumber = 5

    ClearKeypadInterruptMcp23017(registerBaseAddress)

    interruptDataBit = High  # !!! ULN2803 inverts Mcp23017 INTB, so interrupt is now Low active !!!
    while (interruptDataBit == High):
        interruptDataBit = ReadDataBit(registerBaseAddress, RegisterAddressOffsetArrayBank0, PortStatus, PortB, KeypadInterruptPinNumber)    

    time.sleep(0.1) # debouncing time

# * Test Mcp23017 Decimal keypad *

def TestKeypadMcp23017(registerBaseAddress, checkPressingKeyMode, keyCount):   
    SetupKeypadMcp017(registerBaseAddress) 
    GetKeypadKeySequenceMcp23017(registerBaseAddress, checkPressingKeyMode, keyCount)
    SetupKeypadMcp017(registerBaseAddress)

#******************************************************************************
#******************************************************************************
#******************************************************************************
#******************************************************************************
#******************************************************************************

# * Decimal keypad using 2x Mcp23008 v4.19 2013feb17 *

RegisterBaseAddress1 = 0x21
RegisterBaseAddress1 = 0x22

# Mcp23008 #1 0x21 port = output, GP0~2 = Rows 0~2
# Mcp23008 #2 0x22 port = input, GP0~3 = Columns 0~3

KeypadInterruptPinMcp23008 = RPiGPIOgen6

# * Local constants *

OutputLatchRegisterResetValue = 0x00
PortStatusRegisterResetValue = 0x00
InterruptCaptureRegisterResetValue = 0x00
InterruptFlagRegisterResetValue = 0x00

# * Polling modes *

NoPollJustGetKeyEverySecond = 0
PollRowStatusNibble = 1
PollMcp23017Interrupt = 2

# * Setup keypad *

def SetupKeypadMcp23008(registerBaseAddress1, registerBaseAddress2):
    SetupPortAllOutputMcp23008(registerBaseAddress1)
    SetupPortAllInputMcp23008(registerBaseAddress2)
    #SetupKeypadInterruptMcp23008(registerBaseAddress) 
    #ClearKeypadInterruptMcp23008(registerBaseAddress) 
    WriteKeypadColumnsAllLowMcp23008(registerBaseAddress1)

# * Setup/Clear/Check keypad interrupt *

#def SetupKeypadInterruptMcp23008(registerBaseAddress):
#    SetKeypadInterruptEnableMcp23008(registerBaseAddress)
#    SetKeypadDefaultValueMcp23008(registerBaseAddress) 
#    SetKeypadEnableCompareDefaultValueMcp23008(registerBaseAddress)  
#    SetKeypadBankInterruptDriverModeMcp23008(registerBaseAddress) 

#def SetKeypadInterruptEnableMcp23008(registerBaseAddress): 
#    EnableInterruptLowNibble = 0x0f
#    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptEnable, PortB, EnableInterruptLowNibble)

#def SetKeypadInterruptDisableMcp23008(registerBaseAddress): 
#    DisableInterruptByte = 0x00
#    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InterruptEnable, PortB, DisableInterruptByte)

#def SetKeypadDefaultValueMcp23008(registerBaseAddress): 
#    DefaultValueByte = 0x0f # row status nibble is all bits high if no key pressed  
#    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, DefaultValue, PortB, DefaultValueByte)

#def SetKeypadEnableCompareDefaultValueMcp23008(registerBaseAddress): 
#    InterruptOnChangeDefaultValueLowNibble = 0x0f # GPB0~3 change from default value will cause interrupt
#    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, CompareMode, PortB, InterruptOnChangeDefaultValueLowNibble)

#def SetKeypadBankInterruptDriverModeMcp23008(registerBaseAddress): 
    # bit 7 = 0 (Bank = 0, reg with each port are in the same bank (addresses are sequential))
    # bit 6 = 0 (No mirror, INTA and INTB independent)
    # bit 5 = 1 (Sequential operation disabled)
    # bit 4 = 1 (Slew rate disabled)
    # bit 3 = 0 (Disable MCP23S17 address pins, Don't care for Mcp23017)
    # bit 2 = 0 (Interrupt driver push pull, no open drain)
    # bit 1 = 1 (Interrrupt active high)
    # bit 0 = 0 (Unimplemented, read as 0)
    # 0b00110010 = 0x32
#    Bank0DriverPushPullHighActive = 0x32
#    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, BankInterruptPinMode, PortB, Bank0DriverPushPullHighActive)

#def ClearKeypadInterruptMcp23008(registerBaseAddress):
#    WriteKeypadColumnsAllLowMcp23008(registerBaseAddress)
#    time.sleep(0.5)
#    dummyRead = ReadInterruptCaptureLowNibble(registerBaseAddress) 

# * Write columns *

def WriteKeypadColumnsMcp23008(registerBaseAddress, columnDataByte):    
    WriteDataByteMcp23008(registerBaseAddress, OutputLatch, columnDataByte)

def WriteKeypadColumnsAllLowMcp23008(registerBaseAddress):
    WriteKeypadColumnsMcp23008(registerBaseAddress, AllLowByte)

# * Read rows *

def GetKeypadRowDataNibbleMcp23008(registerBaseAddress): 
    rowDataByte = ReadDataByteMcp23008(registerBaseAddress, PortStatus)
    rowDataNibble = rowDataByte & 0x0f
    return rowDataNibble

# * Get Row Number, Column Number, and Key Number *

def GetKeypadRowNumberMcp23008(registerBaseAddress):
    RowDataNibbleTuple = 0b1110, 0b1101, 0b1011, 0b0111, 0b1111, 0b0000 
    rowDataNibble = GetKeypadRowDataNibbleMcp23008(registerBaseAddress)

    # *** Begin debugging *****************************************************    
    PrintFourBitPattern("Row pattern = ", rowDataNibble) 
    rowNumber = RowDataNibbleTuple.index(rowDataNibble)
    print ("Row number = ", rowNumber)
    # *** End debugging *******************************************************

    rowNumber = RowDataNibbleTuple.index(rowDataNibble)
    return rowNumber

def GetKeypadColumnNumberMcp23008(registerBaseAddress1, registerBaseAddress2):
    ColumnNibbleTuple = 0b1110, 0b1101, 0b1011
    NoKeyPressNibble = 0b1111    
    for columnNibble in (ColumnNibbleTuple):  
        WriteKeypadColumnsMcp23008(registerBaseAddress1, columnNibble) 
        rowDataNibble = GetKeypadRowDataNibbleMcp23008(registerBaseAddress2)
        if rowDataNibble != NoKeyPressNibble:
   break
    columnNumber = ColumnNibbleTuple.index(columnNibble)
    return columnNumber

def GetKeypadKeyNumberMcp23008(registerBaseAddress1, registerBaseAddress2):
    rowNumber = GetKeypadRowNumberMcp23008(registerBaseAddress2)
    columnNumber = GetKeypadColumnNumberMcp23008(registerBaseAddress1, registerBaseAddress2)
    keyNumber = (rowNumber * 3) + (columnNumber + 1) 
    return keyNumber

# * Get keys *

def GetKeypadKeyMcp23008(registerBaseAddress1, registerBaseAddress2, checkPressingKeyMode): 
    if (checkPressingKeyMode == NoPollJustGetKeyEverySecond): 
        print "Read key every second"
time.sleep(1)
LoopUntilOneSecondEnded()

    elif (checkPressingKeyMode == PollRowStatusNibble):   
        print "Polling Gpio"
        LoopUntilKeypadRowDataNibbleChangeMcp23008(registerBaseAddress1, registerBaseAddress2)      

    elif (checkPressingKeyMode == PollMcp23017Interrupt):  
        print "Polling Mcp23017 interrupt INTB"
        LoopUntilKeypadInterruptPinMcp23008Active(registerBaseAddress2)

    keyNumber = GetKeypadKeyNumberMcp23008(registerBaseAddress1, registerBaseAddress2)
    return keyNumber

def GetKeypadKeySequenceMcp23008(registerBaseAddress1, registerBaseAddress2, checkPressingKeyMode, count):     
    for i in range (count):        
        OneBeep() 
keyNumber = GetKeypadKeyMcp23008(registerBaseAddress1, registerBaseAddress2, checkPressingKeyMode)
        print "Key", i + 1, " = ", keyNumber
time.sleep(0.25) 

# * No polling, just read key at the end of each second *
def LoopUntilOneSecondEnded():
    time.sleep(1)

# * Poll row status *
def LoopUntilKeypadRowDataNibbleChangeMcp23008(registerBaseAddress1, registerBaseAddress2): 
    WriteKeypadColumnsMcp23008(registerBaseAddress1, AllLowByte)
    NoKeyPressedNibble = 0xf
    rowDataNibble = NoKeyPressedNibble 
    while (rowDataNibble == NoKeyPressedNibble):
        rowDataNibble = GetKeypadRowDataNibbleMcp23008(registerBaseAddress2)        
    time.sleep(0.05) # debouncing time 50mS

# * Poll interrupt pin *
def LoopUntilKeypadInterruptPinMcp23008Active(registerBaseAddress):

    # Mcp23017 INTB shifted up to 5V) logical level, then connected to Mcp23017 GPB5
    KeypadInterruptPinNumber = 5

    ClearKeypadInterrupt(registerBaseAddress)

    interruptDataBit = High  # !!! ULN2803 inverts Mcp23017 INTB, so interrupt is now Low active !!!
    while (interruptDataBit == High):
        interruptDataBit = ReadDataBit(registerBaseAddress, RegisterAddressOffsetArrayBank0, PortStatus, PortB, KeypadInterruptPinNumber)    

    time.sleep(0.1) # debouncing time

# * Test Decimal keypad Mcp23008 *

def TestKeypadMcp23008(registerBaseAddress1, registerBaseAddress2, checkPressingKeyMode, keyCount):   
    SetupKeypadMcp23008(registerBaseAddress1, registerBaseAddress2) 
    GetKeypadKeySequenceMcp23008(registerBaseAddress1, registerBaseAddress2, checkPressingKeyMode, keyCount)
    SetupKeypadMcp23008(registerBaseAddress1, registerBaseAddress2)

def TestKeypadMcp23017PollingMode(i2cRegisterBaseAddress):
    TestKeypadMcp23017(i2cRegisterBaseAddress, checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * LCD1602 ******************************************************************* 

LcdRegisterBaseAddress = Mcp23008BaseAddress3 # 0x26 

# * LCD1602A-1 16-pin connector (Mcp23008 GPIO 6-pin connector) Pin numbering *

# Pin 04 (Pin 1) RegisterSelect
# Pin 06 (Pin 2) WriteEnable  
# Pin 11 (Pin 3) DataBit4 = 2
# Pin 12 (Pin 4) DataBit5 = 3
# Pin 13 (Pin 5) DataBit6 = 4
# Pin 14 (Pin 6) DataBit7 = 5

# LCD1602 software initialization procedure

# Part 1 - Pseudo 8 bit instructions to config 4 bit instruction mode (0x30, 0x30, 0x30, 0x20)

# 1. Power on, wait 20mS (> 15mS)
# 2. Write 0x3, wait 5mS (> 4.1mS) # set 8 bit interface
# 3. Write 0x3, wait 1mS (> 100uS) # set 8 bit interface
# 4. Write 0x3, wait 1mS (> 37uS)  # set 8 bit interface
# 5. Write 0x2, wait 1mS (> 37uS)  # set 4 bit interface

# Part 2- 4 bit instructions to config display characteristics (0x28, 0x08, 0x01, 0x06, 0x02)

# 6. Write 0x2, wait 1mS (> 37uS) 0x8 wait 1mS (> 37uS) (2 lines, 5x8 dot)
# 7. Write 0x0, wait 1mS (> 37uS) 0x8 wait 1mS (> 37uS) (cursor on, no blinking, blank screen)
# 8. Write 0x0, wait 1mS (> 37uS) 0x1 wait 2mS (> 1.52mS)(clear display)
# 9. Write 0x0, wait 1mS (> 37uS) 0xe (DisplayOnCursorOnCursorBlinkOff)
# a. Write 0x0, wait 1mS (> 37uS) 0x2 wait 2mS (cursor home)

# * LCD1602A-1 16-pin connector pin numbering *

RegisterSelect = 0 # 0 = instruction register, 1 = data register
WriteEnable = 1 # 1 = enable, 0 = disable 
DataBit4 = 2
DataBit5 = 3
DataBit6 = 4
DataBit7 = 5

# * Constant data bytes *

AllZeroDataByte = 0x00
AllOneDataByte = 0xff

# * Write Enable/Disable, Select Data/Instruction masks *

EnableWriteMask  = 0x02 # 0b 0000 0010
DisableWriteMask = 0xfd # 0b 1111 1101

SelectDataRegisterMask        = 0x01 # 0b 0000 0001
SelectInstructionRegisterMask = 0xfe # 0b 1111 1110

# Register selection constant *

InstructionRegister = 0
DataRegister = 1

# * LCD1602A-1 control instructions *

# * Instruction codes *

EightBitInstructionMode = 0x3
FourBitInstructionMode  = 0x2

TwoLineFiveTimesEightDot1 = 0x2
TwoLineFiveTimesEightDot2 = 0x8

DisplayOnCursorOnCursorBlinkOff1 = 0x0
DisplayOnCursorOnCursorBlinkOff2 = 0xe

ClearDisplay1 = 0x0
ClearDisplay2 = 0x1

CursorIncrementDisplayNoShift1 = 0x0
CursorIncrementDisplayNoShift2 = 0x6

CursorHome1 = 0x0
CursorHome2 = 0x2

# * Instruction timing *

PowerOnResetDelay      = 0.05    # 50mS
VeryLongOperationDelay = 0.005   # 5mS
LongOperationDelay     = 0.002   # 2mS
ShortOperationDelay    = 0.00005 # 50uS
WritePulseLength       = 0.00005 # 50uS

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * LCD functions Mcp23008 v4.15 2013feb15 *

def LcdGpioSetupMcp23008(registerBaseAddress):
    SetupPortAllOutputMcp23008(registerBaseAddress)
    
def LcdConfigurationMcp23008(registerBaseAddress):
    dataControlByte = AllZeroDataByte
    # PrintEightBitPattern("dataControlByte01 = ", dataControlByte)
    LcdDisableWriteMcp23008(registerBaseAddress, dataControlByte)
    time.sleep(PowerOnResetDelay)

    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, EightBitInstructionMode, InstructionRegister, VeryLongOperationDelay) 
    # PrintEightBitPattern("dataControlByte02 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, EightBitInstructionMode, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte03 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, EightBitInstructionMode, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte04 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, FourBitInstructionMode, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte05 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, TwoLineFiveTimesEightDot1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte06 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, TwoLineFiveTimesEightDot2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte07 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, DisplayOnCursorOnCursorBlinkOff1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte08 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, DisplayOnCursorOnCursorBlinkOff2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte09 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, ClearDisplay1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte10 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, ClearDisplay2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte11 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, CursorIncrementDisplayNoShift1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte12 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, CursorIncrementDisplayNoShift2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte13 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, CursorHome1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte14 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, CursorHome2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte15 = ", dataControlByte)

    return dataControlByte

def LcdSelectDataRegisterMcp23008(registerBaseAddress, dataByte):
    dataByte = dataByte | SelectDataRegisterMask
    LcdWriteDataByteMcp23008(registerBaseAddress, dataByte)  
    return dataByte

def LcdSelectInstructionRegisterMcp23008(registerBaseAddress, dataByte):
    dataByte = dataByte & SelectInstructionRegisterMask
    LcdWriteDataByteMcp23008(registerBaseAddress, dataByte)
    return dataByte

def LcdEnableWriteMcp23008(registerBaseAddress, dataByte):
    dataByte = dataByte | EnableWriteMask
    LcdWriteDataByteMcp23008(registerBaseAddress, dataByte)
    return dataByte

def LcdDisableWriteMcp23008(registerBaseAddress, dataByte):
    dataByte = dataByte & DisableWriteMask
    LcdWriteDataByteMcp23008(registerBaseAddress, dataByte)
    return dataByte

def LcdWritePulseMcp23008(registerBaseAddress, dataByte):
    LcdEnableWriteMcp23008(registerBaseAddress, dataByte)
    time.sleep(WritePulseLength)
    LcdDisableWriteMcp23008(registerBaseAddress, dataByte)
    return dataByte

def LcdWriteDataByteMcp23008(registerBaseAddress, dataByte): 
    WriteDataByteMcp23008(registerBaseAddress, OutputLatch, dataByte)
    return dataByte

def LcdWriteDataNibbleMcp23008(registerBaseAddress, dataByte, dataNibble, registerType, operationDelay):
    dataNibble = dataNibble << 2
    dataByte = dataByte & 0b11000011
    dataByte = dataByte | dataNibble
    if (registerType == InstructionRegister):
       dataByte = LcdSelectInstructionRegisterMcp23008(registerBaseAddress, dataByte)
    elif (registerType == DataRegister):
       dataByte = LcdSelectDataRegisterMcp23008(registerBaseAddress, dataByte)
    LcdDisableWriteMcp23008(registerBaseAddress, dataByte)
    dataByte = LcdWriteDataByteMcp23008(registerBaseAddress, dataByte)
    LcdWritePulseMcp23008(registerBaseAddress, dataByte)
    time.sleep(operationDelay)
    return dataByte

def LcdWriteCharFourBitModeMcp23008(registerBaseAddress, dataControlByte, asciiChar, registerType):
    charUpperNibble = ord(asciiChar) >> 4
    charLowerNibble = ord(asciiChar) & 0x0f
    LcdWriteCharTwoNibblesMcp23008(registerBaseAddress, dataControlByte, charUpperNibble, charLowerNibble, registerType)
    return dataControlByte

def LcdWriteDataByteFourBitModeMcp23008(registerBaseAddress, dataControlByte, dataByte, registerType):
    upperNibble = dataByte >> 4
    lowerNibble = dataByte & 0x0f
    LcdWriteCharTwoNibblesMcp23008(registerBaseAddress, dataControlByte, upperNibble, lowerNibble, registerType)
    return dataControlByte

def LcdWriteCharTwoNibblesMcp23008(registerBaseAddress, dataControlByte, upperNibble, lowerNibble, registerType):
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, upperNibble, registerType, ShortOperationDelay) 
    # PrintEightBitPattern("dataControlByte01 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23008(registerBaseAddress, dataControlByte, lowerNibble, registerType, ShortOperationDelay)
    # PrintEightBitPattern("dataControlByte02 = ", dataControlByte)
    return dataControlByte

def LcdWriteCharStringMcp23008(registerBaseAddress, dataControlByte, string):
    for asciiChar in (string):
        LcdWriteCharFourBitModeMcp23008(registerBaseAddress, dataControlByte, asciiChar, DataRegister)
    return dataControlByte

def LcdMoveCursorMcp23008(registerBaseAddress, dataControlByte, rowNumber, columnNumber):
    if (rowNumber == 1):
       cursorByte = 0x80 | (0x00 + (columnNumber - 1)) # command = 0x80, row 1 DDRAM start address = 0x10
    elif (rowNumber == 2):
       cursorByte = 0x80 | (0x40 + (columnNumber - 1)) # row 2 DDRAM start address = 0x40
    LcdWriteDataByteFourBitModeMcp23008(registerBaseAddress, dataControlByte, cursorByte, InstructionRegister)

    # charUpperNibble = cursorByte >> 4
    # charLowerNibble = cursorByte & 0x0f
    # dataControlByte = LcdWriteDataNibble(registerBaseAddress, dataControlByte, charUpperNibble, InstructionRegister, ShortOperationDelay)
    # dataControlByte = LcdWriteDataNibble(registerBaseAddress, dataControlByte, charLowerNibble, InstructionRegister, ShortOperationDelay)
    return dataControlByte

# * Test LCD1602 Mcp23008 *

def TestLcdMcp23008(registerBaseAddress):
    LcdGpioSetupMcp23008(registerBaseAddress)
    dataControlByte = LcdConfigurationMcp23008(registerBaseAddress)
    dataControlByte = LcdMoveCursorMcp23008(registerBaseAddress, dataControlByte, 1, 1)
    dataControlByte = LcdWriteCharStringMcp23008(registerBaseAddress, dataControlByte, ProgramTitle1)
    dataControlByte = LcdMoveCursorMcp23008(registerBaseAddress, dataControlByte, 2, 1)
    dataControlByte = LcdWriteCharStringMcp23008(registerBaseAddress, dataControlByte, ProgramTitle2)

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * LCD functions Mcp23017 v4.15 2013feb15 *

def LcdGpioSetupMcp23017(registerBaseAddress):
    #registerBaseAddress = Mcp23017BaseAddressSystemB1
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)

def LcdConfigurationMcp23017(registerBaseAddress):
    dataControlByte = AllZeroDataByte
    # PrintEightBitPattern("dataControlByte01 = ", dataControlByte)
    LcdDisableWriteMcp23017(registerBaseAddress, dataControlByte)
    time.sleep(PowerOnResetDelay)

    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, EightBitInstructionMode, InstructionRegister, VeryLongOperationDelay) 
    # PrintEightBitPattern("dataControlByte02 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, EightBitInstructionMode, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte03 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, EightBitInstructionMode, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte04 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, FourBitInstructionMode, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte05 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, TwoLineFiveTimesEightDot1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte06 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, TwoLineFiveTimesEightDot2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte07 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, DisplayOnCursorOnCursorBlinkOff1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte08 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, DisplayOnCursorOnCursorBlinkOff2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte09 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, ClearDisplay1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte10 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, ClearDisplay2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte11 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, CursorIncrementDisplayNoShift1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte12 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, CursorIncrementDisplayNoShift2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte13 = ", dataControlByte)

    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, CursorHome1, InstructionRegister, LongOperationDelay) 
    # PrintEightBitPattern("dataControlByte14 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, CursorHome2, InstructionRegister, LongOperationDelay)
    # PrintEightBitPattern("dataControlByte15 = ", dataControlByte)

    return dataControlByte

def LcdSelectDataRegisterMcp23017(registerBaseAddress, dataByte):
    dataByte = dataByte | SelectDataRegisterMask
    LcdWriteDataByteMcp23017(registerBaseAddress, dataByte)  
    return dataByte

def LcdSelectInstructionRegisterMcp23017(registerBaseAddress, dataByte):
    dataByte = dataByte & SelectInstructionRegisterMask
    LcdWriteDataByteMcp23017(registerBaseAddress, dataByte)
    return dataByte

def LcdEnableWriteMcp23017(registerBaseAddress, dataByte):
    dataByte = dataByte | EnableWriteMask
    LcdWriteDataByteMcp23017(registerBaseAddress, dataByte)
    return dataByte

def LcdDisableWriteMcp23017(registerBaseAddress, dataByte):
    dataByte = dataByte & DisableWriteMask
    LcdWriteDataByteMcp23017(registerBaseAddress, dataByte)
    return dataByte

def LcdWritePulseMcp23017(registerBaseAddress, dataByte):
    LcdEnableWriteMcp23017(registerBaseAddress, dataByte)
    time.sleep(WritePulseLength)
    LcdDisableWriteMcp23017(registerBaseAddress, dataByte)
    return dataByte

def LcdWriteDataByteMcp23017(registerBaseAddress, dataByte):
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, dataByte)
    return dataByte

def LcdWriteDataNibbleMcp23017(registerBaseAddress, dataByte, dataNibble, registerType, operationDelay):
    dataNibble = dataNibble << 2
    dataByte = dataByte & 0b11000011
    dataByte = dataByte | dataNibble
    if (registerType == InstructionRegister):
       dataByte = LcdSelectInstructionRegisterMcp23017(registerBaseAddress, dataByte)
    elif (registerType == DataRegister):
       dataByte = LcdSelectDataRegisterMcp23017(registerBaseAddress, dataByte)
    LcdDisableWriteMcp23017(registerBaseAddress, dataByte)
    dataByte = LcdWriteDataByteMcp23017(registerBaseAddress, dataByte)
    LcdWritePulseMcp23017(registerBaseAddress, dataByte)
    time.sleep(operationDelay)
    return dataByte

def LcdWriteCharFourBitModeMcp23017(registerBaseAddress, dataControlByte, asciiChar, registerType):
    charUpperNibble = ord(asciiChar) >> 4
    charLowerNibble = ord(asciiChar) & 0x0f
    LcdWriteCharTwoNibblesMcp23017(registerBaseAddress, dataControlByte, charUpperNibble, charLowerNibble, registerType)
    return dataControlByte

def LcdWriteDataByteFourBitModeMcp23017(registerBaseAddress, dataControlByte, dataByte, registerType):
    upperNibble = dataByte >> 4
    lowerNibble = dataByte & 0x0f
    LcdWriteCharTwoNibblesMcp23017(registerBaseAddress, dataControlByte, upperNibble, lowerNibble, registerType)
    return dataControlByte

def LcdWriteCharTwoNibblesMcp23017(registerBaseAddress, dataControlByte, upperNibble, lowerNibble, registerType):
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, upperNibble, registerType, ShortOperationDelay) 
    # PrintEightBitPattern("dataControlByte01 = ", dataControlByte)
    dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, lowerNibble, registerType, ShortOperationDelay)
    # PrintEightBitPattern("dataControlByte02 = ", dataControlByte)
    return dataControlByte

def LcdWriteCharStringMcp23017(registerBaseAddress, dataControlByte, string):
    for asciiChar in (string):
        LcdWriteCharFourBitModeMcp23017(registerBaseAddress, dataControlByte, asciiChar, DataRegister)
    return dataControlByte

def LcdMoveCursorMcp23017(registerBaseAddress, dataControlByte, rowNumber, columnNumber):
    if (rowNumber == 1):
       cursorByte = 0x80 | (0x00 + (columnNumber - 1)) # command = 0x80, row 1 DDRAM start address = 0x10
    elif (rowNumber == 2):
       cursorByte = 0x80 | (0x40 + (columnNumber - 1)) # row 2 DDRAM start address = 0x40
    LcdWriteDataByteFourBitModeMcp23017(registerBaseAddress, dataControlByte, cursorByte, InstructionRegister)

    # charUpperNibble = cursorByte >> 4
    # charLowerNibble = cursorByte & 0x0f
    # dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, charUpperNibble, InstructionRegister, ShortOperationDelay)
    # dataControlByte = LcdWriteDataNibbleMcp23017(registerBaseAddress, dataControlByte, charLowerNibble, InstructionRegister, ShortOperationDelay)
    return dataControlByte

# * Test LCD1602 functions *

def TestLcdMcp23017(i2cRegisterBaseAddress):
    LcdGpioSetupMcp23017(i2cRegisterBaseAddress)
    dataControlByte = LcdConfigurationMcp23017(i2cRegisterBaseAddress)
    dataControlByte = LcdMoveCursorMcp23017(i2cRegisterBaseAddress, dataControlByte, 1, 1)
    dataControlByte = LcdWriteCharStringMcp23017(i2cRegisterBaseAddress, dataControlByte, ProgramTitle1)
    dataControlByte = LcdMoveCursorMcp23017(i2cRegisterBaseAddress, dataControlByte, 2, 1)
    dataControlByte = LcdWriteCharStringMcp23017(i2cRegisterBaseAddress, dataControlByte, ProgramTitle2)

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# 8. Unipolar Stepping Motor 28BYJ48/NPM-PF35/PX245 ***************************

# Unipolar Stepping Motor Switching Sequence 
# 1. Wave sequence = 1 - 3 - 2 - 4 (A-, B-, A+, B+)
# 2. Full step sequence = 13 - 14 - 24 - 23 (A-B-, A-B+, A+B+, A+B-)
# 3. Half step sequence  = 13 - 1 - 14 - 4 - 24 - 2 - 23 - 3 
# 4. One step swing = 1 - 3 - 1 - 3 (A-, B-, A-, B-)
# Winding        A-(1)    A+(2)    B-(3)   B+(4)    COM
# NPM PF35       Black    Yellow   Brown   Orange   Red
# 28BYJ48        Pink     Orange   Blue    Yellow   Red  
# PX245          Black    Green    Blue    Red      Yelow/White

# * Convert decimal pin number to hex *
def convert1PinToHex(p): # convert 1 of 8 high pin to hex
    hexString = 0x01
    for count in range(p-1):
    hexString = hexString << 1
    return hexString
def convert2PinToHex(p1, p2):  # convert 2 of 8 high pins to hex
    return (convert1PinToHex(p1) | convert1PinToHex(p2))

def convert2PinToHighNibble(p1, p2):  # convert 2 of 8 high pins to high nibble
    lowNibble = convert1PinToHex(p1) | convert1PinToHex(p2)
    highNibble = lowNibble << 4
    return highNibble

# * Move unipolar stepping motor *

def WriteMotorWindingWaveSequence1324(RegisterBaseAddress, NibbleType, StepCount, StepTime): # move motor using 13-24 sequence  
    # Set port all output
    WriteDataByte(Mcp23008BaseAddress1, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortA, AllOutputByte)

    if NibbleType == LowNibble:
hexString1 =  convert2PinToHex(1, 3)
  hexString2 =  convert2PinToHex(2, 4)
    else:
hexString1 = convert2PinToHighNibble(1, 3)
hexString2 = convert2PinToHighNibble(2, 4)
    for i in range(StepCount):
        WriteDataByte(Mcp23008BaseAddress1, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, hexString1) 
    time.sleep(StepTime)
        WriteDataByte(Mcp23008BaseAddress1, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, hexString2) 
        time.sleep(StepTime)

def WriteMotorWindingFullStepSequence13232414(RegisterBaseAddress, NibbleType, StepCount, StepTime): #move motor using 13-23-24-14 sequence 
    # Set port all output
    WriteDataByte(Mcp23008BaseAddress1, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortA, AllOutputByte)

    if NibbleType == LowNibble:
    motorWindingActivationPatternArray = (0x05, 0x06, 0x0a, 0x09)
    else:
motorWindingActivationPatternArray = (0x50, 0x60, 0xa0, 0x90)
    for i in range(StepCount):
for pattern in motorWindingActivationPatternArray:
            WriteDataByte(Mcp23008BaseAddress1, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, pattern) 
   time.sleep(StepTime)

def TestConvert1PinToHex(): # test convert 1 high pin to hex
    print "*** Testing 1 pin number decimal 0 ~ 7 converted to hexdecimal 0x01 ~ 0x80"
    for d in range(8):
    print hex(convert1PinToHex(d))

def TestConvert2PinToHex(p1, p2): # test convert 2 high pins to hex
    print "*** Testing 2 pin numbers decimal 0 ~ 7 converted to hexdecimal"
    print "Pin 1 = ", p1, "Pin 2 = ", p2
    print "Hex = ", hex(convert2PinToHex(p1, p2))

def TestConvert2PinToHighNibble(p1, p2): # test convert 2 of 8 high pins to high nibble
    print "*** Testing 2 pin numbers decimal 0 ~ 7 converted to high nibble"
    print "Pin 1 = ", p1, "Pin 2 = ", p2
    print "HighNibble = ", hex(convert2PinToHighNibble(p1, p2))

def MoveTwoMotors(RegisterBaseAddress):  
OneBeep()
WriteMotorWindingWaveSequence1324(Mcp23008BaseAddress1, LowNibble, TwentyTimes, FiftyMilliSeconds)
OneBeep()
WriteMotorWindingWaveSequence1324(Mcp23008BaseAddress1, HighNibble, TwentyTimes, FiftyMilliSeconds)
OneBeep()
WriteMotorWindingFullStepSequence13232414(Mcp23008BaseAddress1, LowNibble, TwentyTimes, OneHundredMilliSeconds)
OneBeep()
WriteMotorWindingFullStepSequence13232414(Mcp23008BaseAddress1, HighNibble, TwentyTimes, OneHundredMilliSeconds)

def TestMotor():
    MotorRegisterBaseAddress = Mcp23008BaseAddress1
    MoveTwoMotors(MotorRegisterBaseAddress)

def MoveUnipolarSteppingMotor(registerBaseAddress, NibbleType, StepCount, StepTime): 
    SetupPortAoutputPortBinputPullUpMcp23017(registerBaseAddress)

    if NibbleType == LowNibble:
hexString1 =  convert2PinToHex(1, 3)
  hexString2 =  convert2PinToHex(2, 4)
    else:
hexString1 = convert2PinToHighNibble(1, 3)
hexString2 = convert2PinToHighNibble(2, 4)

    for i in range(StepCount):
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, hexString1) 
    time.sleep(StepTime)
        WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, hexString2) 
        time.sleep(StepTime)

def TestMoveMotor():
    registerBaseAddress = Mcp23017BaseAddressSystemB1
    nibbleType = LowNibble
    stepCount = OneHundredTimes
    stepTime = OneHundredMilliSeconds
    MoveUnipolarSteppingMotor(registerBaseAddress, nibbleType, 500, 0.05)


# * Demultiplexer *************************************************************

DemuxRegisterBaseAddress = 0x20

def DemuxGpioSetup(registerBaseAddress):
    UpperNibbleInputLowerNibbleOutput = 0xf0 # Input (GP4~7, Row0~3), Output (GP0~3, Column0~2, 3 reserved)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, InputOutputDirection, PortA, UpperNibbleInputLowerNibbleOutput)
    InitialControlDateByte = 0x00
    return InitialControlDateByte

def DemuxAddressLatch(controlDataByte, latchAction):
    DemuxAddressLatchMask = 0b00001000
    Enable = 1
    Disable = 0
    if (latchAction == Enable):
        controlDataByte = controlDataByte | DemuxAddressLatchMask
    elif (latchAction == Disable):
       controlDataByte = controlDataByte & ~(DemuxAddressLatchMask)
    return controlDataByte

def SetDemuxChannel(registerBaseAddress, controlDataByte, addressNibble):
    Enable = 1
    Disable = 0
    controlDataByte = controlDataByte & 0b11110000
    addressNibble = addressNibble & 0b00000111
    controlDataByte = controlDataByte | addressNibble
    controlDataByte = DemuxAddressLatch(controlDataByte, Disable)
    PrintEightBitPattern("demuxDataByte = ", controlDataByte)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, controlDataByte)
    controlDataByte = DemuxAddressLatch(controlDataByte, Enable)
    PrintEightBitPattern("demuxDataByte = ", controlDataByte)
    WriteDataByte(registerBaseAddress, RegisterAddressOffsetArrayBank0, OutputLatch, PortA, controlDataByte)
    return controlDataByte

def TestDemux(demuxRegisterBaseAddress, channelNumber):  
    controlDataByte = DemuxGpioSetup(demuxRegisterBaseAddress) 
    controlDataByte = SetDemuxChannel(demuxRegisterBaseAddress, controlDataByte, channelNumber)

def TestDemuxLcd(demuxRegisterBaseAddress, lcdRegisterBaseAddress, channelNumber1, channelNumber2):
    Row1 = 1
    Row2 = 2
    Row3 = 3
    Row4 = 4
    Column1 = 1

    # Setup one Mcp23008 for Demultiplexor, another Mcp23008 for LCD1602/LCD2004
    controlDataByte = DemuxGpioSetup(demuxRegisterBaseAddress) 
    LcdGpioSetup(lcdRegisterBaseAddress)

    # Select demux channelNumber1
    controlDataByte = SetDemuxChannel(demuxRegisterBaseAddress, controlDataByte, channelNumber1)

    # Display two lines in the LCD at this channel
    dataControlByte = LcdConfiguration(lcdRegisterBaseAddress)
    dataControlByte = LcdMoveCursor(lcdRegisterBaseAddress, dataControlByte, Row1, Column1)
    dataControlByte = LcdWriteCharString(lcdRegisterBaseAddress, dataControlByte, "Channel 1 01")
    dataControlByte = LcdMoveCursor(lcdRegisterBaseAddress, dataControlByte, Row2, Column1)
    dataControlByte = LcdWriteCharString(lcdRegisterBaseAddress, dataControlByte, "2013-01-28 v201")

    time.sleep(2)

    # Select demux channelNumber2
    controlDataByte = SetDemuxChannel(demuxRegisterBaseAddress, controlDataByte, channelNumber2)

    # Display two lines in the LCD at this channel
    dataControlByte = LcdConfiguration(lcdRegisterBaseAddress)
    dataControlByte = LcdMoveCursor(lcdRegisterBaseAddress, dataControlByte, Row1, Column1)
    dataControlByte = LcdWriteCharString(lcdRegisterBaseAddress, dataControlByte, "Channel 2 01")
    dataControlByte = LcdMoveCursor(lcdRegisterBaseAddress, dataControlByte, Row2, Column1)
    dataControlByte = LcdWriteCharString(lcdRegisterBaseAddress, dataControlByte, "2013-01-30 v204")

    time.sleep(2)


# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * SPI using bit banging *

# SpiClockPin = RPiGpioGen11
# SpiMosiPin = RPiGpioGen10
# SpiMisoPin = RPiGpioGen9
# SpiSelect0Pin = RPiGpioGen8
# SpiSelect1Pin = RPiGpioGen7

def TestRfm12b(registerBaseAddress):
    SetupGPIOpins(OutputPinList, InputPinWithNoPullUpList, InputPinWithPullUpList )

def SpiSelectDevice(deviceNumber):
    if (deviceNumber == 0):
        writeOutputPin(SpiSelect0Pin, Low)  
    else:
        writeOutputPin(SpiSelect1Pin, Low)

def SpiDisSelectDevice(deviceNumber):
    if (deviceNumber == 0):
        writeOutputPin(SpiSelect0Pin, High)  
    else:
        writeOutputPin(SpiSelect1Pin, High)

def SpiClockPulse():
    writeOutputPin(SpiClockPin, High)
    time.sleep(1)
    writeOutputPin(SpiClockPin, Low)
    time.sleep(1)

def SpiWriteBit(dataBit):
    if (dataBit == 1):
        writeOutputPin(SpiMosiPin, High)        
    else:
        writeOutputPin(SpiMosiPin, Low)

def SpiReadBit(inputPin):
    dataBit  = readInputPin(inputPin)                
    # print dataBit
    return dataBit

# * Test Spi functions *

def TestSpiSelectDevice(deviceNumber, count):
    print "Now testing SPI device select pin", deviceNumber, ",..."
    for i in range (count):
        SpiSelectDevice(deviceNumber)
        time.sleep(1)
        SpiDisSelectDevice(deviceNumber)
time.sleep(1)

def TestSpiClockPulse(count):
    for i in range (count):
       SpiClockPulse()

def TestSpiWriteBit(count):
    for i in range (count):
        SpiWriteBit(1)
time.sleep(1)
SpiWriteBit(0)
time.sleep(1)

def TestSpiReadBit(inputPin, count):
    for i in range (count):
        dataBit = SpiReadBit(inputPin)    
if (dataBit == True):
   dataLevel = "High"
        else:
   dataLevel = "Low"
        print "dataBitRead at pin number ", inputPin, " = ", dataLevel
        time.sleep(1)

# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * SPI using wiringPi with Python wrapping 2013feb22 *

def TestWiringPiSpi():
    print "\n" + "*** Start testing wiringPi SPI, ... ***" + "\n"

    spi = spidev.SpiDev() # create spidev object
    spi.open(0,0) # open SPI0, CE0_N

    SendByteList = [0x55, 0xaa, 0xAA]
    ReadByteList = spi.xfer2(SendByteList)
    print "Bytes read = " + hex(ReadByteList[0]) + " " + hex(ReadByteList[1]) + " " + hex(ReadByteList[2])

    print "\n" + "*** Stop testing wiringPi SPI, ... ***" + "\n"



# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * RFM12b 434Mhz Wireless Transceiver testing v1.0 tlfong01 2013feb23 *

# * Arduino C++ functions *
# define wkupOn   0x820E // turn on wake up timer (also xtl, lvd)
# define wkupOff  0x820C // turn off wake up timer (xtl, lvd still on)
# define wkup2ms  0XE002 // wake up every 2mS
# define config01 0x80D7
# define power01  0x8239
# define freq01   0xA640
# define drate01  0xC647
# define rxctrl01 0x94A0
# define fifors01 0xCA81
# define syncpt01 0xCED4
# define afc01    0xC483
# define txctrl01 0x9850
# define pll01    0xCC77
# define wkup01   0xE000
# define ldc01    0xC800
# define lbdclk01 0xC400

# define lvdOn    0x820C // turn on low voltage detection (also xtal, mcu clk)
# define lvd27    0xC064 // set low voltage threshold 2.7V (2.2 + 0.1 * 4) 2MHz,
# define status   0x0000 // read status to execute command and clear interrupt

#void RFM12B01::setupRfm12b()
#  {
#  putWord(0x80D7); //enable tx, rx fifo, 433MHz, 12.0pF
#  // putWord(0x8239); //enable xmitt, syn, xtal, disable clk
#  putWord(0xA640); //operation frequency ???
#  putWord(0xC647); //data rate 4.8kbps
#  putWord(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
#  putWord(0xC2AC); //clk rec auto, digi fltr,DQD4
#  putWord(0xCA81); //fifo8,sync 1, sync, no fifo fill
#  putWord(0xCED4); //sync pattern d4
#  putWord(0xC483); //offset VDI hi, no restrict, afc, afc out
#  putWord(0x9850); //90kHz, max o/p pwr (odBm)
#  putWord(0xCC17); //10MHz, 620uA, disable pll dit, 256kbps
#  putWord(0xE000); //wake up timer not used
#  putWord(0xC800); //low duty cycle not used
#  putWord(0xC040); //1.66MHz,2.2V low battery
#  }

#void RFM12B01::testSetupClock2Mhz()
#  {
#  putWord(0xC064); 
#  }

def PrintDoubleSpaceLine(line):
    print "\n" + line + "\n"

def WaitSeconds(count):
    time.sleep(count)

# * Rfm12b 2 byte commands *

SetExternalMpuClockFrequency1Mhz  = [0xc0, 0x04] #  1 MHz, 2.7V (2.2 + 0.1 * 4)
SetExternalMpuClockFrequency2Mhz  = [0xc0, 0x64] #  2 MHz, 2.7V (2.2 + 0.1 * 4)
SetExternalMpuClockFrequency5Mhz  = [0xc0, 0xc4] #  5 MHz, 2.7V (2.2 + 0.1 * 4)
SetExternalMpuClockFrequency10Mhz = [0xc0, 0xe4] # 10 MHz, 2.7V (2.2 + 0.1 * 4)

EnableWakeupTimerEnableXtlLvd  = [0x82, 0x0e]
DisableWakeupTimerEnableXtlLvd = [0x82, 0x0c]
SetWakeUpTimer2Ms              = [0xe0, 0x02]
ClearInterrupt                 = [0x00, 0x00]

def TestRfm12bSet2Mhz():
    PrintDoubleSpaceLine("*** Start testing RFM12B 2 MHz ***")

    rfm12bSpi = spidev.SpiDev() # create spi object to entertain RFM12B
    rfm12bSpi.open(0,0) # open sci channel 0 and select slave device 0

    ExternalMpuClockFrequency2Mhz = [0xC0, 0x64]

    receiveByteList = rfm12bSpi.xfer2(ExternalMpuClockFrequency2Mhz)
    print "Bytes read = " + hex(receiveByteList[0]) + " " + hex(receiveByteList[1])

    PrintDoubleSpaceLine("*** Stop testing RFM12B ***")

def TestRfm12bSet1Mhz():
    PrintDoubleSpaceLine("*** Start testing RFM12B 1 MHz ***")

    rfm12bSpi = spidev.SpiDev() # create spi object to entertain RFM12B
    rfm12bSpi.open(0,0) # open sci channel 0 and select slave device 0

    ExternalMpuClockFrequency2Mhz = [0xc0, 0x04]

    receiveByteList = rfm12bSpi.xfer2(ExternalMpuClockFrequency2Mhz)
    print "Bytes read = " + hex(receiveByteList[0]) + " " + hex(receiveByteList[1])

    PrintDoubleSpaceLine("*** Stop testing RFM12B ***")

def OpenSpiChannel(spiObject, spiChannelNumber, spiDeviceNumber):
    spiObject.open(spiChannelNumber, spiDeviceNumber) 

def Rfm12bSendCommand1(spiChannelNumber, spiDeviceNumber, sendByteList):
    rfm12bSpi = spidev.SpiDev() 
    rfm12bSpi.open(spiChannelNumber, spiDeviceNumber)    
    receiveByteList = rfm12bSpi.xfer2(sendByteList)
    
def Rfm12bSendCommand2(rfm12bSpi, sendByteList):   
    receiveByteList = rfm12bSpi.xfer2(sendByteList)    

def Rfm12bTest1(spiChannelNumber, spiDeviceNumber):

    PrintDoubleSpaceLine("*** Start Test 1 ***")

    rfm12bSpi = spidev.SpiDev() # create spi object to entertain RFM12B
    rfm12bSpi.open(0,0) # open sci channel 0 and select slave device 0

    Rfm12bSendCommand1(spiChannelNumber, spiDeviceNumber, SetExternalMpuClockFrequency2Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand1(spiChannelNumber, spiDeviceNumber, SetExternalMpuClockFrequency5Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand1(spiChannelNumber, spiDeviceNumber, SetExternalMpuClockFrequency10Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand1(spiChannelNumber, spiDeviceNumber, SetExternalMpuClockFrequency1Mhz)
    WaitSeconds(2)

    PrintDoubleSpaceLine("*** Stop Test 1 ***")

def Rfm12bTest2(spiChannelNumber, spiDeviceNumber):

    PrintDoubleSpaceLine("*** Start Test 2 ***")

    rfm12bSpi = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi, spiChannelNumber, spiDeviceNumber)

    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency2Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency5Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency10Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency1Mhz)
    WaitSeconds(2)

    PrintDoubleSpaceLine("*** Stop Test 2 ***")


def Rfm12bTest3a(spiChannelNumber, spiDeviceNumber):

    PrintDoubleSpaceLine("*** Start Test 3a ***")

    rfm12bSpi = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi, spiChannelNumber, spiDeviceNumber)

    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency2Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency5Mhz)
    WaitSeconds(2)
    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency1Mhz)
    WaitSeconds(2)
    
    Rfm12bSendCommand2(rfm12bSpi, TurnOnWakeupXtlLvd)
    Rfm12bSendCommand2(rfm12bSpi, WakeUpEvery2Ms)
    # WaitSeconds(2)
    # Rfm12bSendCommand2(rfm12bSpi, TurnOffWakeupTurnOnXtlLvd)

    PrintDoubleSpaceLine("*** Stop Test 3a ***")


def Rfm12bTest3b(spiChannelNumber, spiDeviceNumber):

    PrintDoubleSpaceLine("*** Start Test 3b 2013feb2601 ***")

    rfm12bSpi = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi, spiChannelNumber, spiDeviceNumber)

    Rfm12bSendCommand2(rfm12bSpi, SetExternalMpuClockFrequency2Mhz)
    
    Rfm12bSendCommand2(rfm12bSpi, TurnOnWakeupXtlLvd)

    for i in range (100000):   
        Rfm12bSendCommand2(rfm12bSpi, WakeUpEvery2Ms)
        time.sleep(0.005) 
        Rfm12bSendCommand2(rfm12bSpi, ClearInterrupt)
time.sleep(0.010) 
    
    Rfm12bSendCommand2(rfm12bSpi, TurnOffWakeupTurnOnXtlLvd)

    PrintDoubleSpaceLine("*** Stop Test 3b ***")


def Rfm12bTest3c(spiChannelNumber, spiDeviceNumber0,  spiDeviceNumber1):

    PrintDoubleSpaceLine("*** Start Test 3c 2013feb2602 ***")

    rfm12bSpi00 = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi00, spiChannelNumber, spiDeviceNumber0)
    Rfm12bSendCommand2(rfm12bSpi00, SetExternalMpuClockFrequency5Mhz)
    
    rfm12bSpi01 = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi01, spiChannelNumber, spiDeviceNumber1)
    Rfm12bSendCommand2(rfm12bSpi01, SetExternalMpuClockFrequency10Mhz)

    PrintDoubleSpaceLine("*** Stop Test 3c ***")


def Rfm12bTest3d(spiChannelNumber, spiDeviceNumber0,  spiDeviceNumber1):

    PrintDoubleSpaceLine("*** Start Test 3d 2013feb2603 ***")

    rfm12bSpi00 = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi00, spiChannelNumber, spiDeviceNumber0)
    Rfm12bSendCommand2(rfm12bSpi00, SetExternalMpuClockFrequency2Mhz)
    
    rfm12bSpi01 = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi01, spiChannelNumber, spiDeviceNumber1)
    Rfm12bSendCommand2(rfm12bSpi01, SetExternalMpuClockFrequency5Mhz)

    for i in range(4):
        Beep(1)
        Rfm12bSendCommand2(rfm12bSpi00, DisableWakeupTimerEnableXtlLvd)
        Rfm12bSendCommand2(rfm12bSpi00, ClearInterrupt)
time.sleep(2)

        Beep(2)
        Rfm12bSendCommand2(rfm12bSpi00, EnableWakeupTimerEnableXtlLvd)
        Rfm12bSendCommand2(rfm12bSpi00, SetWakeUpTimer2Ms) 
        time.sleep(2)

        Beep(3)
        Rfm12bSendCommand2(rfm12bSpi01, DisableWakeupTimerEnableXtlLvd)
        Rfm12bSendCommand2(rfm12bSpi01, ClearInterrupt)
time.sleep(2)

        Beep(4)
        Rfm12bSendCommand2(rfm12bSpi01, EnableWakeupTimerEnableXtlLvd)
        Rfm12bSendCommand2(rfm12bSpi01, SetWakeUpTimer2Ms) 
        time.sleep(2)
   
    PrintDoubleSpaceLine("*** Stop Test 3d ***")

def TestRfm12bExtMpuClock(spiChannelNumber, Rfm12bSpiDeviceNumber0,  Rfm12bSpiDeviceNumber1):

    PrintDoubleSpaceLine("*** Start RFM12B Test ***")

    rfm12bSpi00 = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi00, spiChannelNumber, Rfm12bSpiDeviceNumber0)
    Rfm12bSendCommand2(rfm12bSpi00, SetExternalMpuClockFrequency5Mhz)
    
    rfm12bSpi01 = spidev.SpiDev()
    OpenSpiChannel(rfm12bSpi01, spiChannelNumber, Rfm12bSpiDeviceNumber1)
    Rfm12bSendCommand2(rfm12bSpi01, SetExternalMpuClockFrequency2Mhz)

    PrintDoubleSpaceLine("*** Stop Test ***")

def  TestDualRfm12bExtMpuClock(spiChannelNumber):
     TestRfm12bExtMpuClock(spiChannelNumber, Rfm12bSpiDeviceNumber0 = 0, Rfm12bSpiDeviceNumber1 = 1)


# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************
# *****************************************************************************

# * Test RPIO.PWM v1.0 tlfong01 2013mar13 *

# RPIO.PWM, PWM via DMA for the Raspberry Pi
# http://pythonhosted.org/RPIO/pwm_py.html

# *** Seeeduino & Towerpro SG90 Test Program - TL Fong 2009jan08
# http://www.todopic.com.ar/foros/index.php?topic=24768.5;wap2
# /******************************************************************************
# * Hello Servo - Turn TowerPro SG90 servo to middle position
# * Created - 2009jan07, Last update - 2008jan07
# * Function - Turn servo to middle position
# * MPU/Programming language - Seeeduino v1.1/Arduino v12.0
# * Author - TL Fong (tlfong01, TaoBao)
# * Copyright - Creative Commons Attribution - ShareAlike 3.0 Licence
# *
# * Test procedure
# * (1) FIRST run the program, [!!! DO NOT POWER ON YET !!! tlfong01 2013mar13]
# * (2) Manually turn servo clockwise or counterclock to limit,
# * (3) Connect 5V power and MPU signal to servo,
# * (4) WARNING - Disconnect 5V power before stopping program,
# *
# * TowerPro SG90 Spec
# * CCW end 900uS, CW end 2100uS, middle 1500uS, 3.0 to 6.0V,
# * 9g, 22 * 11.5 * 27mm, 0.12sec/60 degrees (4.8V no load),
# * stall torque 17.5ozin/1.2 kgcm) (4.8V), dead band 7usec,
# * coreless motor, all nylon gear, RMB30 (TaoBao).
# *
# * Notes
# * 1. To turn counter clockwise limit, change pulse width from 1500 to 900.
# * 2. To turn clockwise limit, change pulse width from to 2100.

# RPiGPIOgen1  = 18 # (P1-12, BCM GPIO 18) PCM_CLK 
# RPiGPIOGclk  = 04 # (P1-07, BCM GPIO 04) GPIO_GCLK 
# RPiPcm       = RPiGPIOgen1  
# RPiGpclk0    = RPiGPIOGclk

def TestRpioServo():
    # from RPIO import PWM

    CounterClockwiseLimitPulseWidth = 900 # CCW limit = 900 uS = 0.9 mS
    ClockwiseLimitPulseWidth = 2100       # CW limit = 2100 uS = 2.1 mS
    MiddlePositionPulseWidth = 1500       # Middle position = 1500 uS = 1.5 mS

    PrintDoubleSpaceLine("*** Testing RPIO.PCM tlfong01 2013mar13 ***")

    RpioServoController = PWM.Servo() # default 20ms subcycle
    RpioServoController.set_servo(RPiPcm, CounterClockwiseLimitPulseWidth)
    RpioServoController.set_servo(RPiGpclk0, MiddlePositionPulseWidth)
    
    time.sleep(60)

# 12. Old test functions *****************************************************

# * Old tests *

# RPi System A Tests *

# TestBuzzer() # beep buzzer 4 times
# TestLED() # blink LED 4 tmes
# TestButtonEchoBuzzer() # echo buton with buzzer 4 times
# TestButtonEchoLED() # echo button with LED 4 times
# TestToggleMcp23017GP() # toggle Mcp23017 #1 output ports (connected to only 1 LED)
# TestToggleMcp23008GP() # toggle Mcp23008 #1 output port (connected to stepping motors)
# TestMotor() # move two stepping motors
# TestPollingKeypad() # read 4 keys by polling IO Expander GPIO port of rows (Mcp23008 #2)
# TestInterruptKeypad() # read 4 keys by polling IO Expander INT pin # !!! not tested !!!
# TestLcd(LcdRegisterBaseAddress) 
# TestDemux(DemuxRegisterBaseAddress, 4)  
# TestDemuxLcd(DemuxRegisterBaseAddress, LcdRegisterBaseAddress, channelNumber1 = 0, channelNumber2 = 1)

# RPi System B Tests *

# TestBuzzer() # beep buzzer 4 times
# TestLED() # blink LED 4 tmes
# TestButtonEchoBuzzer() # echo buton with buzzer 4 times
# TestButtonEchoLED() # echo button with LED 4 times

# TestToggleMcp23017SystemB1() # toggle Mcp23017 System B1
# TestReadMcp23017SystemB1()

# * Rpi Mcp23017 tests *

# TestButtonEchoBuzzer()
# TestTxdPin()
# TestRxdPin() # if set as output
# TestTxdPin()
# TestTxdPinRxdPin1()
# TestTxdPinRxdPin2()
# TestButtonEchoTxD()
# TestButtonEchoRxD()
# TestRxdEchoTxD() !!! not working !!!
# TestToggleMcp23017SystemB1(count = 4)
# TestReadMcp23017SystemB1(count = 4)
# TestKeypad017(checkPressingKeyMode = NoPollJustGetKeyEverySecond, keyCount = 4) 
# TestKeypad017(checkPressingKeyMode = PollMcp23017Interrupt, keyCount = 4)
# TestKeypad017(checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)

#TestLED() # blink LED 4 tmes
#TestBuzzer() # beep buzzer 4 times
#TestButtonEchoBuzzer() # echo buton with buzzer 4 times
#TestButtonEchoLED() # echo button with LED 4 times

#TestToggleMcp23017SystemB1(count = 4)
#TestBlinkMcp23017SystemB1GPIObit(bitNumber = 3, onTime = 0.1, offTime = 0.3, count = 4) 
#TestReadMcp23017SystemB1GPIObit(bitNumber = 4, count = 10)
#TestKeypad017(checkPressingKeyMode = PollRowStatusNibble, keyCount = 20)
#TestKeypad017(checkPressingKeyMode = PollMcp23017Interrupt, keyCount = 20)

#TestKeypad017(checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)
#TestToggleMcp23017SystemB1(count = 4)
#TestBlinkMcp23017SystemB1GPIObit(bitNumber = 3, onTime = 0.1, offTime = 0.3, count = 4) 
#TestMoveMotor()
#TestLcd(Mcp23017BaseAddressSystemB1)
#ToggleGpMcp23008(registerBaseAddress = 0x21, toggleTime = 0.25, toggleCount = 4) 
#ReadGpMcp23008(registerBaseAddress = 0x22, count = 100)

#TestKeypadMcp23017(registerBaseAddress = 0x20, checkPressingKeyMode = NoPollJustGetKeyEverySecond, keyCount = 4) 
#TestKeypadMcp23017(registerBaseAddress = 0x20, checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)
#TestKeypadMcp23017(registerBaseAddress = 0x20, checkPressingKeyMode = PollMcp23017Interrupt, keyCount = 4)
#TestKeypadMcp23008(registerBaseAddress1 = 0x21, registerBaseAddress2 = 0x22, checkPressingKeyMode =  NoPollJustGetKeyEverySecond, keyCount = 4)
#TestKeypadMcp23008(registerBaseAddress1 = 0x21, registerBaseAddress2 = 0x22, checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)

#TestSpiSelectDevice(deviceNumber = 0, count = 4)
#TestSpiSelectDevice(deviceNumber = 1, count = 4)

#TestSpiClockPulse(count = 10)
#TestSpiWriteBit(count = 100)

#TestSpiClockPulse(count = 10)
#TestSpiWriteBit(count = 10)

#TestSpiSelectDevice(deviceNumber = 0, count = 10)
#TestSpiSelectDevice(deviceNumber = 1, count = 4)

#TestSpiReadBit(ButtonPin, count = 10) *** OK ***
#TestSpiReadBit(SpiMisoPin, count = 10) !!! Not working !!!
#TestSpiReadBit(RxdPin, count = 10) !!! Not working !!!

#TestSpiReadBit(ButtonPin, count = 4) # *** OK ***
#TestSpiReadBit(SpiMisoPin, count = 4) # !!! Not working !!!
#TestSpiReadBit(RxdPin, count = 4) # !!! Not working !!

#PrintDoubleSpaceLine("*** Start Test x ***")
#TestRfm12bSet2Mhz()
#WaitSeconds(2)
#TestRfm12bSet1Mhz()
#WaitSeconds(2)
#PrintDoubleSpaceLine("*** Stop Test x ***")

# Rfm12bTest2(spiChannelNumber = 0, spiDeviceNumber = 0)
# Rfm12bTest3b(spiChannelNumber = 0, spiDeviceNumber = 0)
# Rfm12bTest3d(spiChannelNumber = 0, spiDeviceNumber0 = 0, spiDeviceNumber1 = 1)

#TestLcdMcp23017(registerBaseAddress = 0x20)
#TestLcdMcp23008(registerBaseAddress = 0x21)

# TestToggleMcp23017PortAoutput(registerBaseAddress = 0x20, toggleTime = 0.5, toggleCount = 100)
# TestReadMcp23017PortBinput(registerBaseAddress = 0x20, readTime = 2, readCount = 100)
# TestKeypadMcp23017(registerBaseAddress = 0x20, checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)
# TestLcdMcp23017(registerBaseAddress = 0x20)

# TestBuzzer() # beep system buzzer 4 times
# TestLED() # blink system LED 4 tmes
# TestButtonEchoBuzzer() # echo system buton with system buzzer 4 times
# TestButtonEchoLED() # echo system button with system LED 4 times
# TestGpioPin(oPin = TxdPin, toggleTime = 0.5, toggleCount = 10)

# TestLcdMcp23017(registerBaseAddress = 0x21)  
# TestKeypadMcp23017(registerBaseAddress = 0x21, checkPressingKeyMode = PollRowStatusNibble, keyCount = 4)
# TestRfm12bExtMpuClock(spiChannelNumber = 0, Rfm12bSpiDeviceNumber0 = 0, Rfm12bSpiDeviceNumber1 = 1)

# TestJtagPins(toggleTime = 1, testCount = 2)

# TestLcdMcp23017(i2cRegisterBaseAddress = 0x21) #I2C1
# TestKeypadMcp23017PollingMode(i2cRegisterBaseAddress = 0x21) #I2C1
# TestDualRfm12bExtMpuClock(spiChannelNumber = 0) # SPI0

# 13. Main program ************************************************************

StartProgram()

TestLcdMcp23017(i2cRegisterBaseAddress = 0x21) #I2C1
# TestKeypadMcp23017PollingMode(i2cRegisterBaseAddress = 0x21) #I2C1

TestRpioServo()

StopProgram()

# *****************************************************************************
# End of Program
# *****************************************************************************


pi@raspberrypi ~/python_programs/test_rpio $ sudo python fpl605.py

*** Start Program - RPIO.PWM 2013 ***


*** Testing RPIO.PCM tlfong01 2013mar13 ***

Using hardware: PWM
PW increments:  10us
Initializing channel 0...
add_channel_pulse: channel=0, gpio=18, start=0, width=90
init_gpio 18
add_channel_pulse: channel=0, gpio=4, start=0, width=150
init_gpio 4

*** Stop Program ***

shutting down dma channel 0
clear_channel: channel=0
pi@raspberrypi ~/python_programs/test_rpio $

.END









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