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# Set a GPIO pin's state gpio_set(port, pin, state: bool) # Get a GPIO pin's state as a bool gpio_get(port, pin) -> bool # Get an ADC reading, in mV if raw is False adc_read(port, pin, raw=False) -> int # Write tx_bytes over I2C; perform a register write if reg is not None i2c_write(i2c_port, address, tx_bytes: list[int], reg=None) # Read rx_len bytes over I2C; perform a register read if reg is not None # (coming soon) i2c_read(i2c_port, address, rx_len, reg=None) -> list[int] # Perform a SPI exchange, first sending tx_bytes, then reading rx_len bytes # cs is an optional (port, pin) specifying the chip select GPIO pin to use # (coming soon) spi_exchange(tx_bytes, rx_len, spi_port=1, spi_mode=0, baudrate=6000000, cs=None) # Send a raw CAN message # (coming soon) can_send_raw(msg_id, data: list[int], device_id=BABYDRIVER_DEVICE_ID, channel=None) # Load a DBC database specifying the format of our CAN messages # (coming soon) load_dbc(dbc_filename) # Send a CAN message with human-readable names from the loaded DBC database # Fields can be specified in keyword arguments, e.g. status=1, voltage=3500 # (coming soon) can_send(msg_name: str, channel=None, **data) # Register a GPIO interrupt; callback defaults to printing the port/pin # (coming soon) register_gpio_interrupt(port, pin, edge=RISING, callback=None) # Unregister a GPIO interrupt previously registered # (coming soon) unregister_gpio_interrupt(port, pin) |
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