Good days, I'm new to python and trying to run a demo provided by Invensense.(9-axis MPU9250 connects a STM32F407G discovery board, I used code and python client in motion_driver_6.12 which downloaded from Invensense website.) the whole python part are python2.7, pysearil, pygame. I searched my issues in Stackoverflow, but the specific situations are a little different, and most of the solutions are useless for me. First, I show my issues.
UART connects the PC, run Invensense's python client through cmd.exe, pygame window appears briefly and disappear and I get the following error
D:\motion_driver_6.12\eMPL-pythonclient>python eMPL-client.py 7 Traceback (most recent call last): File "eMPL-client.py", line 273, in <module> def four_bytes(d1, d2, d3, d4): File "eMPL-client.py", line 12, in __init__ File "C:\Python27\lib\site-packages\serial\serialwin32.py", line 31, in __init__ super(Serial, self).__init__(*args, **kwargs) File "C:\Python27\lib\site-packages\serial\serialutil.py", line 218, in __init__ self.port = port File "C:\Python27\lib\site-packages\serial\serialutil.py", line 264, in port raise ValueError('"port" must be None or a string, not {}'.format(type(port))) ValueError: "port" must be None or a string, not <type 'int'> Second, through the similar questions, what I have done until now:
- open the file "serialwin32.py" .Change
port = self.nametoport = str(self.name). It doesn't work, same error messages. - uninstall the pyserial3.3(the lastest version), using a pyserial2.7. The error meesages were gone but Pygmae now just sits there with a black screen.The old answer said "Invensense tells me that means it is connected and waiting for data".
----------------followed is eMPL-client.py, line 21 and line 273 are marked-----
#!/usr/bin/python # eMPL_client.py # A PC application for use with Embedded MotionApps. # Copyright 2012 InvenSense, Inc. All Rights Reserved. import serial, sys, time, string, pygame from ponycube import * class eMPL_packet_reader: //*********************line 21 __init__ begins********************// def __init__(self, port, quat_delegate=None, debug_delegate=None, data_delegate=None ): self.s = serial.Serial(port,115200) self.s.setTimeout(0.1) self.s.setWriteTimeout(0.2) # TODO: Will this break anything? ##Client attempts to write to eMPL. #try: #self.s.write("\n") #except serial.serialutil.SerialTimeoutException: #pass # write will timeout if umpl app is already started. if quat_delegate: self.quat_delegate = quat_delegate else: self.quat_delegate = empty_packet_delegate() if debug_delegate: self.debug_delegate = debug_delegate else: self.debug_delegate = empty_packet_delegate() if data_delegate: self.data_delegate = data_delegate else: self.data_delegate = empty_packet_delegate() self.packets = [] self.length = 0 self.previous = None def read(self): NUM_BYTES = 23 p = None while self.s.inWaiting() >= NUM_BYTES: rs = self.s.read(NUM_BYTES) if ord(rs[0]) == ord('$'): pkt_code = ord(rs[1]) if pkt_code == 1: d = debug_packet(rs) self.debug_delegate.dispatch(d) elif pkt_code == 2: p = quat_packet(rs) self.quat_delegate.dispatch(p) elif pkt_code == 3: d = data_packet(rs) self.data_delegate.dispatch(d) else: print "no handler for pkt_code",pkt_code else: c = ' ' print "serial misaligned!" while not ord(c) == ord('$'): c = self.s.read(1) self.s.read(NUM_BYTES-1) def write(self,a): self.s.write(a) def close(self): self.s.close() def write_log(self,fname): f = open(fname,'w') for p in self.packets: f.write(p.logfile_line()) f.close() # =========== PACKET DELEGATES ========== class packet_delegate(object): def loop(self,event): print "generic packet_delegate loop w/event",event def dispatch(self,p): print "generic packet_delegate dispatched",p class empty_packet_delegate(packet_delegate): def loop(self,event): pass def dispatch(self,p): pass class cube_packet_viewer (packet_delegate): def __init__(self): self.screen = Screen(480,400,scale=1.5) self.cube = Cube(30,60,10) self.q = Quaternion(1,0,0,0) self.previous = None # previous quaternion self.latest = None # latest packet (get in dispatch, use in loop) def loop(self,event): packet = self.latest if packet: q = packet.to_q().normalized() self.cube.erase(self.screen) self.cube.draw(self.screen,q) pygame.display.flip() self.latest = None def dispatch(self,p): if isinstance(p,quat_packet): self.latest = p class debug_packet_viewer (packet_delegate): def loop(self,event): pass def dispatch(self,p): assert isinstance(p,debug_packet); p.display() class data_packet_viewer (packet_delegate): def loop(self,event): pass def dispatch(self,p): assert isinstance(p,data_packet); p.display() # =============== PACKETS ================= # For 16-bit signed integers. def two_bytes(d1,d2): d = ord(d1)*256 + ord(d2) if d > 32767: d -= 65536 return d # For 32-bit signed integers. //**************************273 begins*********************************// def four_bytes(d1, d2, d3, d4): d = ord(d1)*(1<<24) + ord(d2)*(1<<16) + ord(d3)*(1<<8) + ord(d4) if d > 2147483648: d-= 4294967296 return d ----------------followed is serialutil.py(version 3.3) from line1 to line272, 218 and 264 are marked-------------
#! python # # Base class and support functions used by various backends. # # This file is part of pySerial. https://github.com/pyserial/pyserial # (C) 2001-2016 Chris Liechti <cliechti@gmx.net> # # SPDX-License-Identifier: BSD-3-Clause import io import time # ``memoryview`` was introduced in Python 2.7 and ``bytes(some_memoryview)`` # isn't returning the contents (very unfortunate). Therefore we need special # cases and test for it. Ensure that there is a ``memoryview`` object for older # Python versions. This is easier than making every test dependent on its # existence. try: memoryview except (NameError, AttributeError): # implementation does not matter as we do not really use it. # it just must not inherit from something else we might care for. class memoryview(object): # pylint: disable=redefined-builtin,invalid-name pass try: unicode except (NameError, AttributeError): unicode = str # for Python 3, pylint: disable=redefined-builtin,invalid-name try: basestring except (NameError, AttributeError): basestring = (str,) # for Python 3, pylint: disable=redefined-builtin,invalid-name # "for byte in data" fails for python3 as it returns ints instead of bytes def iterbytes(b): """Iterate over bytes, returning bytes instead of ints (python3)""" if isinstance(b, memoryview): b = b.tobytes() i = 0 while True: a = b[i:i + 1] i += 1 if a: yield a else: break # all Python versions prior 3.x convert ``str([17])`` to '[17]' instead of '\x11' # so a simple ``bytes(sequence)`` doesn't work for all versions def to_bytes(seq): """convert a sequence to a bytes type""" if isinstance(seq, bytes): return seq elif isinstance(seq, bytearray): return bytes(seq) elif isinstance(seq, memoryview): return seq.tobytes() elif isinstance(seq, unicode): raise TypeError('unicode strings are not supported, please encode to bytes: {!r}'.format(seq)) else: # handle list of integers and bytes (one or more items) for Python 2 and 3 return bytes(bytearray(seq)) # create control bytes XON = to_bytes([17]) XOFF = to_bytes([19]) CR = to_bytes([13]) LF = to_bytes([10]) PARITY_NONE, PARITY_EVEN, PARITY_ODD, PARITY_MARK, PARITY_SPACE = 'N', 'E', 'O', 'M', 'S' STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO = (1, 1.5, 2) FIVEBITS, SIXBITS, SEVENBITS, EIGHTBITS = (5, 6, 7, 8) PARITY_NAMES = { PARITY_NONE: 'None', PARITY_EVEN: 'Even', PARITY_ODD: 'Odd', PARITY_MARK: 'Mark', PARITY_SPACE: 'Space', } class SerialException(IOError): """Base class for serial port related exceptions.""" class SerialTimeoutException(SerialException): """Write timeouts give an exception""" writeTimeoutError = SerialTimeoutException('Write timeout') portNotOpenError = SerialException('Attempting to use a port that is not open') class Timeout(object): """\ Abstraction for timeout operations. Using time.monotonic() if available or time.time() in all other cases. The class can also be initialized with 0 or None, in order to support non-blocking and fully blocking I/O operations. The attributes is_non_blocking and is_infinite are set accordingly. """ if hasattr(time, 'monotonic'): # Timeout implementation with time.monotonic(). This function is only # supported by Python 3.3 and above. It returns a time in seconds # (float) just as time.time(), but is not affected by system clock # adjustments. TIME = time.monotonic else: # Timeout implementation with time.time(). This is compatible with all # Python versions but has issues if the clock is adjusted while the # timeout is running. TIME = time.time def __init__(self, duration): """Initialize a timeout with given duration""" self.is_infinite = (duration is None) self.is_non_blocking = (duration == 0) self.duration = duration if duration is not None: self.target_time = self.TIME() + duration else: self.target_time = None def expired(self): """Return a boolean, telling if the timeout has expired""" return self.target_time is not None and self.time_left() <= 0 def time_left(self): """Return how many seconds are left until the timeout expires""" if self.is_non_blocking: return 0 elif self.is_infinite: return None else: delta = self.target_time - self.TIME() if delta > self.duration: # clock jumped, recalculate self.target_time = self.TIME() + self.duration return self.duration else: return max(0, delta) def restart(self, duration): """\ Restart a timeout, only supported if a timeout was already set up before. """ self.duration = duration self.target_time = self.TIME() + duration class SerialBase(io.RawIOBase): """\ Serial port base class. Provides __init__ function and properties to get/set port settings. """ # default values, may be overridden in subclasses that do not support all values BAUDRATES = (50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 576000, 921600, 1000000, 1152000, 1500000, 2000000, 2500000, 3000000, 3500000, 4000000) BYTESIZES = (FIVEBITS, SIXBITS, SEVENBITS, EIGHTBITS) PARITIES = (PARITY_NONE, PARITY_EVEN, PARITY_ODD, PARITY_MARK, PARITY_SPACE) STOPBITS = (STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO) def __init__(self, port=None, baudrate=9600, bytesize=EIGHTBITS, parity=PARITY_NONE, stopbits=STOPBITS_ONE, timeout=None, xonxoff=False, rtscts=False, write_timeout=None, dsrdtr=False, inter_byte_timeout=None, exclusive=None, **kwargs): """\ Initialize comm port object. If a "port" is given, then the port will be opened immediately. Otherwise a Serial port object in closed state is returned. """ self.is_open = False self.portstr = None self.name = None # correct values are assigned below through properties self._port = None self._baudrate = None self._bytesize = None self._parity = None self._stopbits = None self._timeout = None self._write_timeout = None self._xonxoff = None self._rtscts = None self._dsrdtr = None self._inter_byte_timeout = None self._rs485_mode = None # disabled by default self._rts_state = True self._dtr_state = True self._break_state = False self._exclusive = None # assign values using get/set methods using the properties feature //**************218**************// self.port = port //**************218**************// self.baudrate = baudrate self.bytesize = bytesize self.parity = parity self.stopbits = stopbits self.timeout = timeout self.write_timeout = write_timeout self.xonxoff = xonxoff self.rtscts = rtscts self.dsrdtr = dsrdtr self.inter_byte_timeout = inter_byte_timeout self.exclusive = exclusive # watch for backward compatible kwargs if 'writeTimeout' in kwargs: self.write_timeout = kwargs.pop('writeTimeout') if 'interCharTimeout' in kwargs: self.inter_byte_timeout = kwargs.pop('interCharTimeout') if kwargs: raise ValueError('unexpected keyword arguments: {!r}'.format(kwargs)) if port is not None: self.open() # - - - - - - - - - - - - - - - - - - - - - - - - # to be implemented by subclasses: # def open(self): # def close(self): # - - - - - - - - - - - - - - - - - - - - - - - - @property def port(self): """\ Get the current port setting. The value that was passed on init or using setPort() is passed back. """ return self._port @port.setter def port(self, port): """\ Change the port. """ //*************************line 263**********************// if port is not None and not isinstance(port, basestring): raise ValueError('"port" must be None or a string, not {}'.format(type(port))) was_open = self.is_open if was_open: self.close() self.portstr = port self._port = port self.name = self.portstr if was_open: self.open() -------------followed is serialwin32.py(version 3.3), 31 is marked-----------------------------------------
#! python # # backend for Windows ("win32" incl. 32/64 bit support) # # (C) 2001-2015 Chris Liechti <cliechti@gmx.net> # # This file is part of pySerial. https://github.com/pyserial/pyserial # SPDX-License-Identifier: BSD-3-Clause # # Initial patch to use ctypes by Giovanni Bajo <rasky@develer.com> # pylint: disable=invalid-name,too-few-public-methods import ctypes import time from serial import win32 import serial from serial.serialutil import SerialBase, SerialException, to_bytes, portNotOpenError, writeTimeoutError class Serial(SerialBase): """Serial port implementation for Win32 based on ctypes.""" BAUDRATES = (50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, 38400, 57600, 115200) def __init__(self, *args, **kwargs): self._port_handle = None self._overlapped_read = None self._overlapped_write = None //**************31**************// super(Serial, self).__init__(*args, **kwargs) //**************31**************// Questions:
- Any ideas how to solve the error?
- Anyone who has used the MPU9250 with STM32F407G discovery board? Any suggestion?
- two related issues on Stackoverflow
- issue one: visit pyserial serialwin32.py has attribute error
- issue two: visit Invensense Motion Driver 6.12 STM32 demo python don't work