hexapod_ng/python/test_serial.py

import serial
import datetime
import bitarray
import bitarray.util

s = serial.Serial("/dev/ttyAMA0", baudrate=100000, parity=serial.PARITY_ODD, stopbits = serial.STOPBITS_TWO, bytesize=serial.EIGHTBITS)

counter = 0

synchronized = False
last_t = datetime.datetime.now()
while not synchronized:
    rx = s.read(1)
    t = datetime.datetime.now()
    delta_t = (t-last_t).microseconds
    last_t = t

    if delta_t > 1000 and rx == b'\x0f':
        counter += 1
        if counter > 2:
            synchronized = True
            s.read(24)

print("Synchronized!\n\n")     
        
while True:
    rx=s.read(25)

    if rx[0] != 15 or rx[24] != 0:
        print("Invalid frame!")
    
    flags = int(rx[23])
    
    ba = bitarray.bitarray(endian='little')
    ba.frombytes(rx[1:22])

    channel = []
    for i in range(0, 15):
        channel.append(bitarray.util.ba2int(ba[i*11:i*11 + 11]))

    print(" ".join([str(x) for x in channel]), " " * 20, end="\r")