zlbusapi 0.5.12

ZeroLab Bus API for Python

ZLBus Python SDK

ZLBus Python SDK 是一个用于与ZLBus设备通信的Python库。它提供了丰富的API来控制和配置ZLBus设备，包括数据格式设置、设备校准、RF参数配置等功能。

许可证

本项目仅供内部使用。

功能特性

• 数据处理: 提供校验和、CRC等数据处理函数
• 设备控制: 支持设备参数配置，如数据格式、采样频率、上传频率等
• 校准功能: 支持IMU静态校准、磁力计校准等
• RF配置: 支持RF功率、连接间隔等参数配置
• 枚举和结构体: 提供丰富的枚举类型和数据结构定义

安装

将 ZlBusApi.py 文件和相关的DLL文件放置在您的Python项目目录中。

快速开始

import ZlBusApi as zlapi

zlapi.example()

主要功能

C语言结构体 -> Python版本的使用说明

Axis3_I16

import ZlBusApi as zlapi
import ctypes

block = zlapi.Axis3_I16()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.axis.x = 100
block.axis.y = 200
block.axis.z = 300

# 打印
print(block.axis.x, block.axis.y, block.axis.z)

Axis3_Float

import ZlBusApi as zlapi
import ctypes

block = zlapi.Axis3_Float()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.axis.x = 100.0
block.axis.y = 200.0
block.axis.z = 300.0

# 打印
print(block.axis.x, block.axis.y, block.axis.z)

AhrsQuaternion

import ZlBusApi as zlapi
import ctypes

block = zlapi.AhrsQuaternion()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.element.w = 1.0
block.element.x = 0.0
block.element.y = 0.0
block.element.z = 0.0

# 打印
print(block.element.w, block.element.x, block.element.y, block.element.z)

AhrsEuler

import ZlBusApi as zlapi
import ctypes

block = zlapi.AhrsEuler()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.angle.roll = 10.0
block.angle.pitch = 45.0
block.angle.yaw = 60.0

# 打印
print(block.angle.roll, block.angle.pitch, block.angle.yaw)

xxxIdBlock

import ZlBusApi as zlapi
import ctypes

block = zlapi.xxxIdBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.cmdId = 0x01
block.subCmdId = 0x02
block.rfId = 0x03
block.dotId = 0x04
block.flowId = 0x05
block.userId = 0x06

# 打印
print(hex(block.cmdId), hex(block.subCmdId), hex(block.rfId), hex(block.dotId), hex(block.flowId), hex(block.userId))

e_Upload_DataFormat

import ZlBusApi as zlapi
import ctypes

# 打印
print(hex(zlapi.e_Upload_DataFormat.NEW_UPLOAD_DATA_QUATERNION | zlapi.e_Upload_DataFormat.NEW_UPLOAD_DATA_GYRO))

memsDataBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.memsDataBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.temperature = 25.0

block.quat.element.w = 1.0
block.quat.element.x = 0.0
block.quat.element.y = 0.0
block.quat.element.z = 0.0

block.acc.axis.x = 100.0
block.acc.axis.y = 200.0
block.acc.axis.z = 300.0

block.gyro.axis.x = 10.0
block.gyro.axis.y = 20.0
block.gyro.axis.z = 30.0

deviceStateBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.deviceStateBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.deviceState = 0xFFFFFFFF

# 打印
print(hex(block.deviceState))

batteryBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.batteryBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.mvOk = True
block.mv = 3300

# 打印
print(block.mv)

adcValueBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.adcValueBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.adcNums = 2
block.adcValue[0] = 2652
block.adcValue[1] = 1458
block.adcValue[2] = 0

# 打印
print(block.adcNums, block.adcValue[0], block.adcValue[1])

cmdOkBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.cmdOkBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.pkId.cmdId = 0x01
block.dataBlockId = 0xD501
block.dataLen = 0

# 打印
print(block.dataBlockId, block.dataLen)

cmdErrBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.cmdErrBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.pkId.cmdId = 0x01
block.dataBlockId = 0xD501
block.errCode = 0x01

# 打印
print(block.dataBlockId, block.errCode)

uploadDataFormatBlock_t （略……）

e_SampleHz （类型e_Upload_DataFormat，略……）

samplingHzBlock_t （略……）

e_UploadHz （略……）

uploadHzBlock_t （略……）

e_FiterParam （略……）

filterMapBlock_t （略……）

e_Convention （略……）

icDirBlock_t （略……）

devieRfNameBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.devieRfNameBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
rfName = b"RfName"
ctypes.memmove(ctypes.addressof(block.name), rfName, len(rfName))

# 打印
print(bytes(block.name).split(b'\0', 1)[0].decode('utf-8', errors='ignore'))

rfPowerBlock_t （略……）

e_LedColor （略……）

e_LedMode （略……）

ledRgbDataBlock_t （略……）

e_BaudRate （略……）

uartBaudRateBlock_t （略……）

blockSizeBlock_t （略……）

deviceMacBlock_t （略……）

deviceSnFullStrBlock_t （类似devieRfNameBlock_t, 略……）

deviceBoardVersionBlock_t （类似devieRfNameBlock_t, 略……）

deviceFirmwareVersionBlock_t （类似devieRfNameBlock_t, 略……）

---

dotIdBlock_t （略……）

bleConnIntervalBlock_t （略……）

e_AccRange （略……）

accRangeBlock_t （略……）

e_GyroRange （略……）

gyroRangeBlock_t （略……）

magEllipsoidCalParamBlock_t （略……）

e_TK_FlowIdFormat （略……）

flowIdFormatBlock_t （略……）

ahrsOffsetBlock_t （略……）

e_DataOutPort （略……）

dataPortBlock_t （略……）

dataPortMapBlock_t （略……）

adcFilterParam_t （略……）

fingerMapBlock_t （略……）

---

e_AdcEn （略……）

e_BlockSizeType （略……）

---

deviceBlock_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.deviceBlock_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.devId = 0x01
block.connState = 0x01
block.mac[:] = (ctypes.c_uint8 * 6)(0x11, 0x22, 0x33, 0x44, 0x55, 0x66)
device_name = b"TestDevice"
ctypes.memmove(ctypes.addressof(block.name), device_name, len(device_name))

# 打印
print(bytes(block.mac).hex(' '))
print(bytes(block.name).split(b'\0', 1)[0].decode('utf-8', errors='ignore'))

deviceBlockList_t

import ZlBusApi as zlapi
import ctypes

block = zlapi.deviceBlockList_t()

# 赋0，初始化
ctypes.memset(ctypes.addressof(block), 0, ctypes.sizeof(block))

# 赋值
block.nums = 2
block.list[0].mac[:] = (ctypes.c_uint8 * 6)(0x11, 0x22, 0x33, 0x44, 0x55, 0x66)
block.list[1].mac[:] = (ctypes.c_uint8 * 6)(0x22, 0x33, 0x44, 0x55, 0x66, 0x77)
device_name1 = b"TestDevice1"
device_name2 = b"TestDevice2"
ctypes.memmove(ctypes.addressof(block.list[0].name), device_name1, len(device_name1))
ctypes.memmove(ctypes.addressof(block.list[1].name), device_name2, len(device_name2))

# 打印
print(bytes(block.list[0].mac).hex(' '))
print(bytes(block.list[0].name).split(b'\0', 1)[0].decode('utf-8', errors='ignore'))
print(bytes(block.list[1].mac).hex(' '))
print(bytes(block.list[1].name).split(b'\0', 1)[0].decode('utf-8', errors='ignore'))

dongleSnFullStrBlock_t （类似deviceSnFullStrBlock_t, 略……）

deviceConnNumsBlock_t （略……）

identifyWayBlock_t （略……）

Dongle: scanBlock_t

import ZlBusApi as zlapi
import ctypes
#----------------------------------------------------------------------------------
# zlex.api.scanBlock_t
#----------------------------------------------------------------------------------
def use_api_DL_ScanBlock():
    block = zlapi.scanBlock_t()

    # 设置 Mac
    block.mac[:] = (ctypes.c_uint8 * 6)(0x11, 0x22, 0x33, 0x44, 0x55, 0x66)

    # 设置 name
    device_name = b"TestDevice"
    ctypes.memmove(ctypes.addressof(block.name), device_name, len(device_name))

    print(bytes(block.mac).hex(' '))
    print(bytes(block.name).split(b'\0', 1)[0].decode('utf-8', errors='ignore'))

timeStampSyncBlock_t （略……）

接口说明（略……）