mr-rfr-tools 2.0.2

Modular Robotics robot auto-detection and I2C mutex utilities

mr-rfr-tools

Common Python utilities shared across Modular Robotics platforms (GoPiGo3, BrickPi3, GrovePi, PivotPi).

Modules

auto_detect_robot

Detects which Modular Robotics board(s) are connected to the Raspberry Pi. Supports: GoPiGo3, GoPiGo, BrickPi3, BrickPi+, GrovePi, PivotPi.

import auto_detect_robot

robot = auto_detect_robot.autodetect()
print(robot)  # e.g. "GoPiGo3"

auto_detect_rpi

Identifies the Raspberry Pi model by reading /proc/device-tree/model — no lookup table required, works with all current and future Pi hardware.

import auto_detect_rpi

print(auto_detect_rpi.getRPIGenerationCode())   # e.g. "RPI4"
print(auto_detect_rpi.getRPIHardwareRevCode())  # e.g. "Raspberry Pi 4 Model B Rev 1.5"

Generation codes returned: RPI0, RPI0-2, RPI1, RPI2, RPI3, RPI3B+, RPI3A+, RPI4, RPI5, RPI-COMPUTE-MODULE, RPI-COMPUTE-MODULE3, RPI-COMPUTE-MODULE4.

di_i2c

I2C abstraction layer supporting multiple bus backends:

Bus name	Hardware
"RPI_1"	Raspberry Pi hardware I2C (/dev/i2c-1) via python-periphery
"RPI_1SW"	Redirected to RPI_1 (software I2C / wiringpi removed on Trixie)
"GPG3_AD1"	GoPiGo3 Grove port AD1
"GPG3_AD2"	GoPiGo3 Grove port AD2
"BP3_1" … "BP3_4"	BrickPi3 sensor ports 1–4

from di_i2c import DI_I2C

bus = DI_I2C(bus="RPI_1", address=0x29)
bus.write_reg_8(0x00, 0x01)
value = bus.read_16(0x01)

Multiple sensors on different ports share a single underlying controller instance automatically — no risk of SPI bus conflicts from duplicate GoPiGo3() constructors.

di_mutex / I2C_mutex

File-based inter-process mutexes that prevent concurrent I2C bus access across multiple Python processes.

di_mutex.DI_Mutex is used internally by di_i2c. I2C_mutex.Mutex is a compatible alternative used by some legacy tools.

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Installation

On the robot (Raspberry Pi)

pip install mr_rfr-tools

Or install directly from the repository for development:

git clone https://github.com/DexterInd/RFR_Tools
cd RFR_Tools/miscellaneous
pip install -e .

Dependencies

Package	Purpose
python-periphery	Hardware I2C on /dev/i2c-1 (Trixie / Debian 12+)
pyserial	Serial port scanning in auto_detect_robot

I2C must be enabled on the Pi before using di_i2c with "RPI_1":

sudo raspi-config   # Interface Options → I2C → Enable
# or add dtparam=i2c_arm=on to /boot/firmware/config.txt and reboot

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Requirements

• Python 3.7+
• Raspberry Pi running Raspberry Pi OS (Trixie / Debian 12 recommended)

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License

MIT — see LICENSE or https://choosealicense.com/licenses/mit/