def __writeSetup(self):
self.p7 = pyb.Pin(7)
self.p7.init(pyb.Pin.OUT_PP,pyb.Pin.PULL_NONE)
pyb.delay(1)
self.p8 = pyb.Pin(8)
self.p8.init(pyb.Pin.IN,pyb.Pin.PULL_NONE)
pyb.delay(1)
def test_8(self):
self.__writeSetup()
self.p7.low()
pyb.delay(10)
v = self.p8.value()
self.assertEqual(v,0,"Write Low test")
def init_uart(self, uart_bus, baud_rate, update_rate):
self.uart = pyb.UART(uart_bus, baud_rate, read_buf_len=1000)
pyb.delay(50)
# get RMC and GGA sentences at 1 hz
if update_rate == 1:
self.send_command(PMTK_SET_NMEA_OUTPUT_RMCGGA)
self.send_command(PMTK_SET_NMEA_UPDATE_1HZ)
self.send_command(PMTK_API_SET_FIX_CTL_1HZ)
elif update_rate == 5:
# get RMC and GGA sentences at 5 hz
self.send_command(PMTK_SET_NMEA_OUTPUT_RMCGGA)
self.send_command(PMTK_SET_NMEA_UPDATE_5HZ)
self.send_command(PMTK_API_SET_FIX_CTL_5HZ)
elif update_rate == 10:
if baud_rate == 9600: # send less data if using slower baud rate
self.send_command(PMTK_SET_NMEA_OUTPUT_RMCONLY)
elif baud_rate == 57600:
self.send_command(PMTK_SET_NMEA_OUTPUT_RMCGGA)
else:
raise ValueError("Invalid baud rate:", baud_rate)
self.send_command(PMTK_SET_NMEA_UPDATE_10HZ)
# fix can't update at 10 hz
self.send_command(PMTK_API_SET_FIX_CTL_5HZ)
else:
raise ValueError("Invalid update rate:", update_rate)
def test_main():
"""Test function for verifying basic functionality."""
print("Running test_main")
i2c = I2C(1, I2C.MASTER)
lcd = I2cLcd(i2c, 0x27, 2, 16)
lcd.putstr("It Works!\nSecond Line")
delay(3000)
lcd.clear()
count = 0
while True:
lcd.move_to(0, 0)
lcd.putstr("%7d" % (millis() // 1000))
delay(1000)
count += 1
if count % 10 == 3:
print("Turning backlight off")
lcd.backlight_off()
if count % 10 == 4:
print("Turning backlight on")
lcd.backlight_on()
if count % 10 == 5:
print("Turning display off")
lcd.display_off()
if count % 10 == 6:
print("Turning display on")
lcd.display_on()
if count % 10 == 7:
print("Turning display & backlight off")
lcd.backlight_off()
lcd.display_off()
if count % 10 == 8:
print("Turning display & backlight on")
lcd.backlight_on()
lcd.display_on()
def cycleAll():
vals = [0 for i in range(nbShiftRegs)]
for i in range(nbShiftRegs):
for j in range(8):
vals[i] |= 1<<j
testSPI(vals)
delay(100)
def __init__(self, pinout, height=32, external_vcc=True, i2c_devid=DEVID):
self.external_vcc = external_vcc
self.height = 32 if height == 32 else 64
self.pages = int(self.height / 8)
self.columns = 128
# Infer interface type from entries in pinout{}
if "dc" in pinout:
# SPI
rate = 1 * 1024 * 1024
self.spi = pyb.SPI(2, pyb.SPI.MASTER, baudrate=rate, polarity=1, phase=0) # SCK: Y6: MOSI: Y8
self.dc = pyb.Pin(pinout["dc"], pyb.Pin.OUT_PP, pyb.Pin.PULL_DOWN)
self.cs = pyb.Pin(pinout["cs"], pyb.Pin.OUT_PP, pyb.Pin.PULL_DOWN)
self.offset = 0
self.cs.high()
pyb.delay(100)
self.cs.low()
else:
# Infer bus number from pin
if pinout["sda"] == "X9":
self.i2c = pyb.I2C(1)
else:
self.i2c = pyb.I2C(2)
self.i2c.init(pyb.I2C.MASTER, baudrate=400000) # 400kHz
self.devid = i2c_devid
# used to reserve an extra byte in the image buffer AND as a way to
# infer the interface type
self.offset = 1
# I2C command buffer
self.cbuffer = bytearray(2)
self.cbuffer[0] = CTL_CMD
def mainLoop(self):
while True:
if polling:
self.pollPollables()
self.processQ()
# put a sleep comand here to save energy
pyb.delay(self.mainLoopDelay)
def main_client(addr):
nic = network.WIZNET5K(pyb.SPI(2), pyb.Pin.board.Y5, pyb.Pin.board.Y4)
nic.ifconfig((SENSOR_IP, SENSOR_MASK, SENSOR_GATEWAY, SENSOR_DNS))
# print(nic.ifconfig())
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
count = 0
try:
s.connect(addr)
except:
pass
data = {
'serial_no':'1234567890',
'ip':SENSOR_IP,
'op':gOperator['OP_REGISTER'],
'type':gSensorType['TEMPERATURE']
}
DHT22.init()
while True:
pyb.delay(100)
hum, tem = measure()
print('%d hum:%f, tem:%f' % (count,hum, tem))
data['value'] = {'hum':hum, 'tem':tem}
count += 1
try:
send(s, 'post', '/test_pymagic', data)
print(s.recv(4096))
except:
pass
pyb.delay(1000)
def test_6(self):
t0 = pyb.Timer(0)
t0.init(freq=1000)
t0.counter(0)
pyb.delay(100)
t0.deinit()
self.assertGT(t0.counter(), 8, "timer counter")
def run(cName='X7',dName='X8'):
p = PS2a.PS2(cName,dName)
mInit(p)
#setup local loop variabls
lmStat = 'y'
mStat = 'n'
lmx = '1'
mx = '0'
lmy = '1'
my = '0'
outputTemplate = 'X=%d\tY=%d\t%s'
while True:
p.write(0XEB) # poll
print('Write POLL')
p.read() # ignore the ACK
mstat = p.read() # status byte
mx = p.read() # delta-x byte
my = p.read() # delta-y byte
if mstat != lmstat or mx != lmx or my != lmy:
print (outputTemplate%(mx,my,interpretStat(mstat)))
lmstat = mstat
lmx = mx
lmy =my
pyb.delay(20)
def _communicate(self, request, number_of_bytes_to_read):
_checkInt(number_of_bytes_to_read)
# Sleep to make sure 3.5 character times have passed
minimum_silent_period = _calculate_minimum_silent_period(self.serial.get_baudrate())
pyb.delay(minimum_silent_period)
# Write request
self.serial.write(request)
# Read response
answer = bytearray()
timeOutRead = 200
while True:
if self.serial.any():
answer = self.serial.read(number_of_bytes_to_read)
break
else:
pyb.delay(10)
timeOutRead-=1
if timeOutRead<=0:
break
#_________
if len(answer) == 0:
raise Exception('No communication with the instrument (no answer)')
return answer
def lcd_fun():
# Main program block
lcd = HD44780()
# Pins 0-5 as above
lcd.PINS = ['Y1','Y2','Y3','Y4','Y5','Y6']
# Initialise display
lcd.init()
# Use it
lcd.set_line(0) # First line
lcd.set_string("ABCDEFGHIJKLMNOP") # Send a string
lcd.set_line(1) # Second line
lcd.set_string("1234567890123456") # Again
pyb.delay(3000) # 3 second delay
# Send some more
lcd.set_line(0)
lcd.set_string("*micropython-lcd")
lcd.set_line(1)
lcd.set_string("github.com/wjdp")
pyb.delay(3000)
# Done
lcd.clear()
def brake( self ) : """ Brake the motor by sending power both directions. """ self._forward.high() self._backward.high() self._speedControl.pulse_width_percent = 100 delay(1000) self.speed = 0
def test_9(self):
self.__writeSetup()
self.p7.high()
pyb.delay(10)
v = self.p8.value()
self.assertEqual(v,1,"Write High test")
def wait_for_connection():
print( "wifi.py: wait_for_connection()" )
global _state
while not nic().is_connected():
nic().update()
pyb.delay(100)
_state = NICState.CONNECTED
def hal_write_command(self, cmd):
"""Writes a command to the LCD."""
self.i2c.mem_write(cmd, self.i2c_addr, self.LCD_DDRAM)
if cmd <= 3:
# The home and clear commands require a worst
# case delay of 4.1 msec
delay(5)
def hdc1080_read(a=0):
b1[0] = a
i2c.writeto(64, b1)
pyb.delay(dt)
i2c.readfrom_into(64, b2)
#return '%02x%02x' % (b[0], b[1])
return (b2[0] << 8) | b2[1]
def slave():
nrf = NRF24L01(SPI(2), Pin('Y5'), Pin('Y4'), payload_size=8)
nrf.open_tx_pipe(pipes[1])
nrf.open_rx_pipe(1, pipes[0])
nrf.start_listening()
print('NRF24L01 slave mode, waiting for packets... (ctrl-C to stop)')
while True:
pyb.wfi()
if nrf.any():
while nrf.any():
buf = nrf.recv()
millis, led_state = struct.unpack('ii', buf)
print('received:', millis, led_state)
for i in range(4):
if led_state & (1 << i):
pyb.LED(i + 1).on()
else:
pyb.LED(i + 1).off()
pyb.delay(15)
nrf.stop_listening()
try:
nrf.send(struct.pack('i', millis))
except OSError:
pass
print('sent response')
nrf.start_listening()
def testrgb( display ) :
print("bgr")
display.rgb(False) #bgr
pyb.delay(2000)
print("rgb")
display.rgb(True) #rgb
pyb.delay(1000)
def __init__(self, spi_port, pin_rst, pin_dc):
self.spi = spi_port
if type(self.spi) == pyb.SPI:
self.spi.init(pyb.SPI.MASTER, baudrate=600000, polarity=0)
elif type(self.spi) == SoftSPI:
self.spi.polarity = 0
self.rst_value = pyb.Pin(pin_rst, pyb.Pin.OUT_PP).value
self.dc_value = pyb.Pin(pin_dc, pyb.Pin.OUT_PP).value
# Reset
self.dc_value(0)
self.rst_value(0)
pyb.delay(1)
self.rst_value(1)
pyb.delay(1)
# Init
self.dc_value(0)
self.spi.send(0x21) # LCD Extended Commands.
self.spi.send(0x9f) # Set LCD Vop
self.spi.send(0x06) # Set Temp coefficent.
#self.spi.send(0x15) # BIAS
self.spi.send(0x20) # LCD Standard Commands
self.spi.send(0x0c) # LCD in normal mode D=1 E=0 (&h0d- invert)
self.spi.send(0x1b)
self.dc_value(1)
def testline( display ) :
print('testing line')
displaysize = display.size()
start = (int(displaysize[0] / 2), int(displaysize[1] / 2))
px = 0
py = 0
def draw(x, y) :
display.line(start, (x, y), randcolor())
for x in range(displaysize[0]) :
draw(px, py)
px += 1
for y in range(displaysize[1]) :
draw(px, py)
py += 1
for x in range(displaysize[0]) :
draw(px, py)
px -= 1
for y in range(displaysize[1]) :
draw(px, py)
py -= 1
pyb.delay(2000)
def run(sensitivity = 100):
"""
does the init steps and then loops on poll calls
"""
if not sensitivity or sensitivity >100:
print('Sensitivity is a percent and must be on [100,1]')
return
s = round(minPollDelay * 100/ sensitivity)
# init the is1 module
is1.i()
# reset the trackball
is1.r()
# set trackball to remote, i.e. polling mode
is1.m()
while True:
# recover x,y offsets
(x,y) = is1.p()
# if there has been some movement, process it
if x !=0 or y!=0 :
process(x,y)
lx=x
ly=y
# give some time to do other stuff!
pyb.delay(s)
def loop():
global mstat,lmstat,mx,lmx,my,lmy,maxX,maxY
#get a reading from the mouse */
mouseWrite(0xeb) # /* give me data! */
mouseRead() # /* ignore ack */
mstat = mouseRead()
mx = mouseRead()
my = mouseRead()
if((mstat != lmstat) or
(mx !=lmx) or
(my != lmy)):
#/* send the data back up */
#//Serial.print(mstat, BIN);
print('X=',str(mx),'\tY=',str(my) + interpretStatByte(mstat))
lmstat = mstat
lmx = mx
lmy = my
#maxX = max(mx,maxX);
#maxY = max(my,maxY);
"""
Serial.print("maxX: ");
Serial.print(maxX,DEC);
Serial.print("\tmaxY: ");
Serial.println(maxY,DEC);
"""
pyb.delay(20)
def test():
mpu9150 = MPU9150("X")
testfunc(mpu9150)
print()
pyb.delay(250)
print("Repeating")
testfunc(mpu9150)
def uart_hash():
# initialize UART(6) to output TX on Pin Y1
uart = UART(6)
while True:
uart.init(9600, bits=8, parity = 0, stop = 2)
uart.writechar(ord('#')) # letter '#'
pyb.delay(5) # delay by 5ms
def flash(): # routine to flash blue LED when beat detected b_LED.on() pyb.delay(30) b_LED.off()
def calibrate():
with open("calibration.txt", "r") as f:
data = f.read()
while True:
print(clear_screen, end="")
print(data, end="")
pyb.delay(200)
def clear_tastes(tastes = ['Y1', 'Y2', 'Y3', 'Y4'], duration = 10000):
for i in tastes:
pyb.Pin(i, pyb.Pin.OUT_PP).high()
pyb.delay(duration)
for i in tastes:
pyb.Pin(i, pyb.Pin.OUT_PP).low()
print('The purge is complete. This has been the most sucessful purge yet.')
def FadingLEDPWM(cnt=10, step = 1.07, ledNdx1 = 1, ledNdx2 = 2):
led = pyb.LED(ledNdx1)
led2 = pyb.LED(ledNdx2)
bri = 1.0
dir = 1
while cnt:
if dir == 1:
bri *= step
if bri > 270:
bri = 255
dir = -1
print("Fading out")
else:
bri /= step
if bri < 1:
dir = 1
bri = 1
print("Fading in")
cnt -= 1
intbri = int(bri)
if intbri > 255:
intbri = 255
led.intensity(intbri)
led2.intensity(intbri)
pyb.delay(25)
print("exiting")
def ultrasound():
Trigger = Pin('X3', Pin.OUT_PP)
Echo = Pin('X4',Pin.IN)
# Create a microseconds counter.
micros = pyb.Timer(2, prescaler=83, period=0x3fffffff)
micros.counter(0)
start = 0
end = 0
# Send a 20usec pulse every 10ms
while True:
Trigger.high()
pyb.udelay(20)
Trigger.low()
# Wait until pulse starts
while Echo.value() == 0: # do nothing
start = micros.counter() # mark time at rising edge
# Wait until pulse goes low
while Echo.value() == 1: # do nothing
end = micros.counter() # mark time at falling edge
# Duration echo pulse = end - start
# Divide this by 2 to take account of round-trip
# Speed of sound in air is 340 m/s or 29 us/cm
# Distance in cm = (pulse_width)*0.5/29
distance = int(((end - start) / 2) / 29)
print('Distance: ', distance, ' cm')
pyb.delay(500)
def flash():
b_LED.on()
pyb.delay(20)
b_LED.off()
def dealWithUnicastREQ(self, payload):
# Note the time of receiving this packet
reqTime = utime.ticks_ms()
# Parse the source address
srcNode = struct.unpack('B', payload[3:4])[0]
# If this is the first REQ or a repeated REQ (retransmissions)
reqIndex = struct.unpack('B', payload[4:5])[0]
# Check if I need to go back to always-on state after this
sleepFlag = struct.unpack('B', payload[5:6])[0]
# Decode the addresses of nodes expected to respond
destAddr = list()
for n in range(7, len(payload)):
addr = struct.unpack('B', payload[n:n + 1])[0]
destAddr.append(int(addr))
# Print message for debugging
print("Unicast REQ received from Node " + str(srcNode))
# If this is a blank REQ (e.g. go-to-sleep instruction)
if not destAddr:
# Transmit a blank broadcast REQ to my child nodes three times
numREQCopies = 3
interval = 2000 # 2 second intervals between REQ copies
for n in range(numREQCopies):
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Transmit blank broadcast REQ
ttnf = max(
0, self.timeTillNextFrame -
utime.ticks_diff(utime.ticks_ms(), self.ttnfTimestamp))
print("Sending Blank Broadcast REQ...")
gwf.sendBroadcastREQ(self.nm, "S", n + 1, ttnf,
(sleepFlag == 1), [])
# Wait for a set interval before transmitting it again
pyb.delay(interval)
# If this is not a blank REQ gather the data from my child nodes
else:
# Try gathering the data from all child nodes
packetBuffer = list()
nodesToRespond = destAddr.copy()
numRetries = 3
for n in range(1, numRetries + 1):
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Transmit a broadcast REQ packet
ttnf = max(
0, self.timeTillNextFrame -
utime.ticks_diff(utime.ticks_ms(), self.ttnfTimestamp))
print("Sending Broadcast REQ...")
gwf.sendBroadcastREQ(self.nm, payload[6:7].decode(), n, ttnf,
(sleepFlag == 1), nodesToRespond)
# Go into a loop listening for payload packets from child nodes
sfStartTime = utime.ticks_ms()
timeout = self.subframeLength + 2 * self.guardInt
while utime.ticks_diff(utime.ticks_ms(),
utime.ticks_add(sfStartTime,
timeout)) < 0:
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Check if a packet has been received
self.nm.poll_receiver()
self.nm.process_incoming_buffer()
if self.nm.has_received_packet():
# Decode the packet
packet = self.nm.get_received_packet()
payload = bytes(packet.packet_payload)
# If the source address is one of the child nodes
srcAddr = struct.unpack('B', payload[3:4])[0]
if (payload[0:3] == b'UND') and (srcAddr
in self.childNodes):
# Store the packet in the forwarding buffer and take out the child node out of the list
print(" Data packet received from N" +
"%03d" % srcAddr)
packetBuffer.append(packet)
nodesToRespond.remove(srcAddr)
# Add a delay before checking the serial port again
pyb.delay(25)
# If there are no more child nodes to gather data from, do not transmit a REQ again
if not nodesToRespond:
break
# Transmit a START DATA TRANSFER handshake packet to the gateway and wait for an ACK
numTries = 5
timeout = 5.0
gwReady = False
for n in range(numTries):
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Transmit a short handshake packet "UNSDT", if ACK is received, proceed with data transfer
print("Contacting GW to initiate data transfer...")
delay = self.nm.send_unicast_message_with_ack(
srcNode, b'UNSDT', timeout)
if delay > 0:
print(" GW is ready to receive")
gwReady = True
break
# Forward all payload packets in the buffer to the node that requested it
# Wait for a Repeated REQ in case retransmissions are required
frameIsOver = False
while gwReady and (not frameIsOver):
# Forward the packets
for fwPacket in packetBuffer:
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Send the packet
payload = bytes(fwPacket.packet_payload)
srcAddr = struct.unpack('B', payload[3:4])[0]
# Transmit the payload packet if this node was specified in the REQ
if (srcAddr in destAddr):
print("Forwarding data packet from Node " +
str(srcAddr) + " to Node " + str(srcNode) +
"...")
self.nm.send_unicast_message(srcNode, payload)
pyb.delay(
gwf.dataPktDur + self.guardInt
) # delay while we are transmitting the packet
# If there are any child nodes who did not respond with a data packet
for unrNode in nodesToRespond:
if unrNode in destAddr:
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Send blank packets to the Gateway
payload = b'UND' + struct.pack('B',
unrNode) + b'no_packet'
print("Sending blank data packet from Node " +
str(unrNode) + " to Node " + str(srcNode) +
"...")
self.nm.send_unicast_message(srcNode, payload)
pyb.delay(
gwf.dataPktDur + self.guardInt
) # delay while we are transmitting the packet
# Wait for a repeated REQ asking for retransmissions (10 sec timeout)
txEndTime = utime.ticks_ms()
timeout = 10000
anotherREQReceived = False
while utime.ticks_diff(utime.ticks_ms(),
utime.ticks_add(txEndTime,
timeout)) < 0:
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Check if a packet has been received
self.nm.poll_receiver()
self.nm.process_incoming_buffer()
if self.nm.has_received_packet():
# Read the incoming packet and see if it is a REQ
packet = self.nm.get_received_packet()
payload = bytes(packet.packet_payload)
srcId = packet.source_address
pktType = packet.packet_type
# If it is a REQ, resend some of the packets again
if (pktType == 'U') and (len(payload) > 4) and (
payload[0:3] == b'UNR'):
# Check if I need to go back to always-on state after this
anotherREQReceived = True
sleepFlag = struct.unpack('B', payload[5:6])[0]
# Decode the addresses of nodes expected to respond
destAddr = list()
for n in range(7, len(payload)):
addr = struct.unpack('B', payload[n:n + 1])[0]
destAddr.append(int(addr))
# Transmit the missing packets again (by staying in this loop)
# Otherwise, pass it up to the main packet handling function
else:
(canGoToSleep, _,
pktIgnored) = self.handle_packet(packet)[0]
if not pktIgnored:
sleepFlag = 1 if (
canGoToSleep
) else 0 # Convert the sleep flag (due to recursion here!)
# Check if the frame is over
frameIsOver = not anotherREQReceived
# Return the sleep flag
return (sleepFlag == 1)
count_ = 0
def ChangeLEDState(num_):
global leds
len_ = len(leds)
for i in range(0, len_):
if i != num_:
leds[i].off()
else:
leds[i].on()
while True:
u2.init(2400, bits=8, parity=None, stop=1)
pyb.delay(80)
Quality = 'DATA NULL'
if (u2.any() > 0):
u2.deinit()
_dataRead = u2.readall()
#R代表截取数据的起始位
R = _dataRead.find(b'\xaa')
#R>-1代表存在起始位，长度大于起始位位置+2
if R > -1 and len(_dataRead) > (R + 2):
P = _dataRead[R + 1]
L = _dataRead[R + 2]
#把串口收到的十六进制数据转换成十进制
SHI = P * 256 + L
SHUCHU = SHI / G * A
if (SHUCHU < 35):
Quality = 'Excellente'
def touch_pos():
#local switch
#screen_sw = pyb.Switch()
#initiate values
#lcd.set_text_color(lcd.rgb(255, 0, 0), lcd.rgb(0, 0, 0))
#
lcd.erase()
#t,x,y = lcd.get_touch()
exit = 0
#draw touch areas
fg = lcd.rgb(255, 128, 128)
bg = lcd.rgb(0, 0, 0)
lcd.set_pen(fg, bg)
#rect(x,y,w,h)
lcd.rect(2, 2, 50, 80)
lcd.set_pos(5, 5)
lcd.write('S 1')
pyb.delay(500)
lcd.set_pen(fg, lcd.rgb(128, 128, 128))
lcd.rect(2, 82, 50, 78)
lcd.set_pos(5, 85)
lcd.write('S 2')
pyb.delay(500)
lcd.set_pen(fg, lcd.rgb(96, 96, 96))
lcd.rect(53, 2, 50, 80)
lcd.set_pos(56, 5)
lcd.write('S 3')
pyb.delay(500)
lcd.set_pen(fg, lcd.rgb(64, 64, 64))
lcd.rect(53, 82, 50, 78)
lcd.set_pos(56, 85)
lcd.write('S 4')
lcd.set_pen(fg, lcd.rgb(128, 0, 0))
lcd.rect(105, 2, 15, 160)
lcd.set_pos(106, 5)
lcd.write('exit')
pyb.delay(2000)
while exit == 0:
#lcd.erase()
t, x, y = lcd.get_touch()
lcd.set_pos(15, 150)
lcd.write(str(t))
lcd.set_pos(45, 150)
lcd.write(' ')
lcd.set_pos(45, 150)
lcd.write(str(x))
lcd.set_pos(75, 150)
lcd.write(' ')
lcd.set_pos(75, 150)
lcd.write(str(y))
lcd.set_pos(105, 150)
if (x > 105):
exit = 1
if (x < 53 and y < 82):
lcd.write('S1')
if (x < 53 and y > 82):
lcd.write('S2')
if (x > 53 and y < 82):
lcd.write('S3')
if (x > 53 and y > 82):
lcd.write('S4')
#sleep(1) # pyboard also doesn't recognize input
pyb.delay(1000) #alternative
lcd.erase()
lcd.set_pos(20, 80)
lcd.write('EXIT TOUCH TEST')
pyb.delay(2000)
import pyb
from libraries.mpu6050 import MPU6050
from libraries.hmc5883l import HMC5883L
from libraries.fusion import Fusion
imu = MPU6050(1, False)
compass = HMC5883L(1, declination=(-9, 16))
fuse = Fusion()
sw = pyb.Switch()
fuse.calibrate(compass.axes, sw, lambda: pyb.delay(100))
print(fuse.magbias)
count = 0
while True:
fuse.update(imu.get_acc(), imu.get_gyro(), compass.axes())
# if count % 50 == 0:
print("Heading, Pitch, Roll: {:7.3f} {:7.3f} {:7.3f}".format(
fuse.heading, fuse.pitch, fuse.roll))
pyb.delay(20)
count += 1
# Make sure it is ready
while True:
check_ready = True
if DO_SCAN:
slaves = i2c.scan()
print("I2C device addresses: " + ", ".join([str(slave) for slave in slaves]))
if not FDC_ADDR in slaves:
check_ready = False
if check_ready:
if (i2c.is_ready(FDC_ADDR)):
print("Ready!")
break
else:
print("FDC is not ready.")
pyb.delay(1000)
# Setup
print("Starting setup:")
for cmd in setup_sequence:
print("\t" + cmd[0])
i2c.send(bytearray(cmd[1]), addr=FDC_ADDR)
print("Setup done")
# Do checks
print("Starting checks")
regscan(do_print=True)
if __name__ == "__main__":
print("Starting streaming")
while True:
fuse = Fusion()
# Choose test to run
Calibrate = True
Timing = False
def getmag(): # Return (x, y, z) tuple (blocking read)
return imu.mag.xyz
if Calibrate:
print("Calibrating. Press switch when done.")
sw = pyb.Switch()
fuse.calibrate(getmag, sw, lambda: pyb.delay(100))
print(fuse.magbias)
if Timing:
mag = imu.mag.xyz # Don't include blocking read in time
accel = imu.accel.xyz # or i2c
gyro = imu.gyro.xyz
start = pyb.micros()
fuse.update(accel, gyro, mag) # 1.65mS on Pyboard
t = pyb.elapsed_micros(start)
print("Update time (uS):", t)
count = 0
while True:
fuse.update(imu.accel.xyz, imu.gyro.xyz,
imu.mag.xyz) # Note blocking mag read
# main.py -- put your code here! import pyb switch = pyb.Switch() accel = pyb.Accel() while True: pyb.hid((switch(), accel.x(), -accel.y(), 0)) pyb.delay(20)
# break
if new_data:
while True:
my_gps.update(chr(uart.readchar()))
if my_gps.latitude[0] != 0:
xbee.write('\nChecking GPS and altitude to see if landed...')
initial_lat = convert_latitude(my_gps.latitude)
initial_long = convert_longitude(my_gps.longitude)
initial_point = (initial_lat, initial_long)
xbee.write('\nCurrent point: {}'.format(initial_point))
dist_from_launch = calculate_distance(launch_point, initial_point)
xbee.write('\nDistance from launch: {}'.format(dist_from_launch))
# acceptable distance is currently set for simple testing
if dist_from_launch < acceptable_dist_from_launch:
# pyb.stop()
pyb.delay(100)
elif dist_from_launch > acceptable_dist_from_launch:
altitude_1 = my_gps.altitude
pyb.delay(10000) # change to 10000 for real launch
altitude_2 = my_gps.altitude
altitude_change = abs(altitude_1 - altitude_2)
xbee.write('\nAltitude change: {}'.format(altitude_change))
if altitude_change > acceptatble_altitude_change:
# pyb.stop()
pyb.delay(100)
elif altitude_change < acceptatble_altitude_change and pyb.elapsed_millis(start) >= altitude_concurrent_timer: # acceptable time yet to be determined
break
elif pyb.elapsed_millis(start) >= backup_timer:
break
new_data = False
past_point2 = None
def conway_go(num_frames):
for i in range(num_frames):
conway_step() # do 1 iteration
lcd.show() # update the LCD
pyb.delay(50)
tim.prescaler(300)
print(tim.prescaler())
tim.period(400)
print(tim.period())
tim = Timer(4, freq=1)
tim.init(freq=2000)
def f(t):
print(1)
t.callback(None)
tim.callback(f)
pyb.delay(10)
# f3 closes over f2.y
def f2(x):
y = x
def f3(t):
print(2, y)
t.callback(None)
return f3
tim.callback(f2(3))
pyb.delay(10)
import pyb
from BioloidController import BioloidController
from Support import RangeFinder
def arduino_map(x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) // (in_max - in_min) + out_min
blue = pyb.LED(4)
ranger = RangeFinder('C3')
controller = BioloidController()
controller.rampServoTo(13, 306)
values = []
pyb.delay(250)
blue.on()
totalStart = pyb.millis()
for position in range(30600, 71700, 1705):
start = pyb.millis()
end = start + 40
i_pos = int(position / 100)
controller.setPosition(13, i_pos)
values.append(ranger.getDistance())
pyb.delay(max(0, end - pyb.millis()))
blue.off()
print("Total time: ", (pyb.millis() - totalStart))
# controller.rampServoTo(13, 511)
print(values)
#初始化ADC
Soil = pyb.ADC('B1')
#显示标题
d.printStr('01Studio Soil Test', 10, 10, BLACK, size=4)
while True:
value = Soil.read() #获取ADC数值
#LCD显示
d.printStr('Vol:' + str('%.2f' % (value / 4095 * 3.3)) + " V",
10,
100,
BLACK,
size=4)
d.printStr('Value:' + str(value) + " ", 10, 200, BLACK, size=4)
d.printStr("(4095)", 300, 200, BLACK, size=4)
#判断土壤湿度，分3档位显示
if 0 < value <= 1247:
d.printStr('Dry ', 10, 300, BLACK, size=4)
if 1247 < value <= 2238:
d.printStr('Normal', 10, 300, BLACK, size=4)
if 2238 < value <= 4095:
d.printStr('Wet ', 10, 300, BLACK, size=4)
pyb.delay(1000) #延时1秒
pass
print(can.recv(0))
try:
can.send('abcde', 2, timeout=0)
can.send('abcde', 3, timeout=0)
can.send('abcde', 4, timeout=0)
can.send('abcde', 5, timeout=0)
except OSError as e:
if str(e) == '16':
print('passed')
else:
print('failed')
pyb.delay(500)
while can.any(0):
print(can.recv(0))
# Testing rtr messages
bus1 = CAN(1, CAN.LOOPBACK)
while bus1.any(0):
bus1.recv(0)
bus1.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
bus1.setfilter(1, CAN.LIST16, 0, (5, 6, 7, 8), rtr=(True, True, True, True))
bus1.setfilter(2, CAN.MASK16, 0, (64, 64, 32, 32), rtr=(False, True))
bus1.send('', 1, rtr=True)
print(bus1.any(0))
bus1.send('', 5, rtr=True)
print(bus1.recv(0))
def reset(self):
self.i2c.writeto_mem(self.addr, RFD77402_COMMAND, b'x40') # 1<<6
pyb.delay(10)
for i in tastes:
pyb.Pin(i, pyb.Pin.OUT_PP).high()
pyb.delay(duration)
for i in tastes:
pyb.Pin(i, pyb.Pin.OUT_PP).low()
print('The purge is complete. This has been the most sucessful purge yet.')
# This is for manual shaping of behavior.
def shape(maxtrials = 100, outport = 'Y2', opentime = 12)
i = 0
inport = 'X6'
while i < maxtrials:
if pyb.Pin(inport, pyb.Pin.IN).value() == 0:
pyb.Pin(outport, pyb.Pin.OUT_PP).high()
pyb.delay(opentime)
pyb.Pin(outport, pyb.Pin.OUT_PP).low()
pyb.delay(500)
i += 1
print(str(i)+' rewards given.')
# Water passive habituation
def passive_water(outport = 'Y2', opentime = 12, trials = 50, iti = 15000):
i = 1 # trial counter
while i <= trials:
pyb.Pin(outport, pyb.Pin.OUT_PP).high()
pyb.delay(opentime)
pyb.Pin(outport, pyb.Pin.OUT_PP).low()
i = i+1
pyb.delay(iti)
cpufreq.set_frequency(216) sensor.reset() sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_framesize(sensor.QQVGA) sensor.set_windowing((120, 120)) sensor.set_contrast(3) sensor.set_auto_exposure(True) sensor.skip_frames(time=2000) uart = UART(3, 115200) #Cambiar a la velocidad que se inicializa en arduino clock = time.clock() LED(1).on() pyb.delay(300) LED(2).on() pyb.delay(300) LED(3).on() min_degreeV = 0 max_degreeV = 5 minDegreeH = 88 maxDegreeH = 94 min_degreeS = 95 max_degreeS = 112 ##################################################################3
def one_round():
grid_size = 8
body_colour = ugfx.RED
back_colour = 0
food_colour = ugfx.YELLOW
wall_colour = ugfx.BLUE
score = 0
edge_x = math.floor(ugfx.width() / grid_size) - 2
edge_y = math.floor(ugfx.height() / grid_size) - 2
def disp_square(x, y, colour):
ugfx.area((x + 1) * grid_size, (y + 1) * grid_size, grid_size,
grid_size, colour)
def disp_body_straight(x, y, rotation, colour):
if (rotation == 0):
ugfx.area((x + 1) * grid_size + 1, (y + 1) * grid_size + 1,
grid_size - 2, grid_size, colour)
elif (rotation == 90):
ugfx.area((x + 1) * grid_size + 1, (y + 1) * grid_size + 1,
grid_size, grid_size - 2, colour)
elif (rotation == 180):
ugfx.area((x + 1) * grid_size + 1, (y + 1) * grid_size - 1,
grid_size - 2, grid_size, colour)
else:
ugfx.area((x + 1) * grid_size - 1, (y + 1) * grid_size + 1,
grid_size, grid_size - 2, colour)
def disp_eaten_food(x, y, colour):
ugfx.area((x + 1) * grid_size, (y + 1) * grid_size, grid_size,
grid_size, colour)
def randn_square():
return [pyb.rng() % edge_x, pyb.rng() % edge_y]
body_x = [12, 13, 14, 15, 16]
body_y = [2, 2, 2, 2, 2]
ugfx.area(0, 0, ugfx.width(), ugfx.height(), 0)
ugfx.area(0, 0, grid_size * (edge_x + 1), grid_size, wall_colour)
ugfx.area(0, 0, grid_size, grid_size * (edge_y + 1), wall_colour)
ugfx.area(grid_size * (edge_x + 1), 0, grid_size, grid_size * (edge_y + 1),
wall_colour)
ugfx.area(0, grid_size * (edge_y + 1), grid_size * (edge_x + 2), grid_size,
wall_colour)
keepgoing = 1
food = [20, 20]
disp_square(food[0], food[1], food_colour)
dir_x = 1
dir_y = 0
orient = 270
#for i in range(0,len(body_x)):
# disp_body_straight(body_x[i],body_y[i],orient,body_colour)
while keepgoing:
if buttons.is_pressed("JOY_RIGHT"):
dir_x = 1
dir_y = 0
orient = 270
elif buttons.is_pressed("JOY_LEFT"):
dir_x = -1
dir_y = 0
orient = 90
elif buttons.is_pressed("JOY_DOWN"):
dir_y = 1
dir_x = 0
orient = 180
elif buttons.is_pressed("JOY_UP"):
dir_y = -1
dir_x = 0
orient = 0
body_x.append(body_x[-1] + dir_x)
body_y.append(body_y[-1] + dir_y)
for i in range(0, len(body_x) - 1):
if (body_x[i] == body_x[-1]) and (body_y[i] == body_y[-1]):
keepgoing = 0
if not ((body_x[-1] == food[0]) and (body_y[-1] == food[1])):
x_del = body_x.pop(0)
y_del = body_y.pop(0)
disp_eaten_food(x_del, y_del, back_colour)
else:
disp_eaten_food(food[0], food[1], body_colour)
food = randn_square()
disp_square(food[0], food[1], food_colour)
score = score + 1
disp_body_straight(body_x[-1], body_y[-1], orient, body_colour)
if ((body_x[-1] >= edge_x) or (body_x[-1] < 0)
or (body_y[-1] >= edge_y) or (body_y[-1] < 0)):
break
pyb.delay(100)
return score
pinD = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
# Create a timer object running at 1KHz which which will power the
# PWM output on our OpenMV Cam. Just needs to be created once.
tim = pyb.Timer(4, freq=1000)
# These PWM channels will set the PWM percentage on the H-Bridge
# driver pair above. If you'd like to change the driver power
pinABPower = tim.channel(1,
pyb.Timer.PWM,
pin=pyb.Pin("P7"),
pulse_width_percent=100)
pinCDPower = tim.channel(2,
pyb.Timer.PWM,
pin=pyb.Pin("P8"),
pulse_width_percent=100)
while (True):
pyb.delay(1000)
pinA.value(0)
pinB.value(1)
pinC.value(0)
pinD.value(1)
pyb.delay(1000)
pinA.value(1)
pinB.value(0)
pinC.value(1)
pinD.value(0)
def reset(self):
self.__reset_pin.low()
pyb.delay(2)
self.__reset_pin.high()
pyb.delay(6)
def tft_init(self,
controller="SSD1963",
lcd_type="LB04301",
orientation=LANDSCAPE,
v_flip=False,
h_flip=False,
power_control=True):
#
# For convenience, define X1..X1 and Y9..Y12 as output port using thy python functions.
# X1..X8 will be redefind on the fly as Input by accessing the MODER control registers
# when needed. Y9 is treate seperately, since it is used for Reset, which is done at python level
# since it need long delays anyhow, 5 and 15 ms vs. 10 µs.
#
# Set TFT general defaults
self.controller = controller
self.lcd_type = lcd_type
self.orientation = orientation
self.v_flip = v_flip # flip vertical
self.h_flip = h_flip # flip horizontal
self.c_flip = 0 # flip blue/red
self.rc_flip = 0 # flip row/column
self.tft_io = TFT_IO()
self.setColor((255, 255, 255)) # set FG color to white as can be.
self.setBGColor((0, 0, 0)) # set BG to black
self.bg_buf = bytearray()
#
self.pin_led = None # deferred init Flag
self.power_control = power_control
if self.power_control:
# special treat for Power Pin
self.pin_power = pyb.Pin("Y4", pyb.Pin.OUT_PP)
self.power(True) ## switch Power on
#
pyb.delay(10)
# this may have to be moved to the controller specific section
if orientation == PORTRAIT:
self.setXY = self.tft_io.setXY_P
self.drawPixel = self.tft_io.drawPixel_P
else:
self.setXY = self.tft_io.setXY_L
self.drawPixel = self.tft_io.drawPixel_L
self.swapbytes = self.tft_io.swapbytes
self.swapcolors = self.tft_io.swapcolors
# ----------
for pin_name in [
"X1", "X2", "X3", "X4", "X5", "X6", "X7", "X8", "Y10", "Y11",
"Y12"
]:
pin = pyb.Pin(pin_name, pyb.Pin.OUT_PP) # set as output
pin.value(1) ## set high as default
# special treat for Reset
self.pin_reset = pyb.Pin("Y9", pyb.Pin.OUT_PP)
# Reset the device
self.pin_reset.value(1) ## do a hard reset
pyb.delay(10)
self.pin_reset.value(0) ## Low
pyb.delay(20)
self.pin_reset.value(1) ## set high again
pyb.delay(20)
#
# Now initialiize the LCD
# This is for the SSD1963 controller and two specific LCDs. More may follow.
# Data taken from the SSD1963 data sheet, SSD1963 Application Note and the LCD Data sheets
#
if controller == "SSD1963": # 1st approach for 480 x 272
self.tft_io.tft_cmd_data(
0xe2, bytearray(b'\x1d\x02\x54'),
3) # PLL multiplier, set PLL clock to 100M
# N=0x2D for 6.5MHz, 0x1D for 10MHz crystal
# PLLClock = Crystal * (Mult + 1) / (Div + 1)
# The intermediate value Crystal * (Mult + 1) must be between 250MHz and 750 MHz
self.tft_io.tft_cmd_data(0xe0, bytearray(b'\x01'), 1) # PLL Enable
pyb.delay(10)
self.tft_io.tft_cmd_data(0xe0, bytearray(b'\x03'), 1)
pyb.delay(10)
self.tft_io.tft_cmd(0x01) # software reset
pyb.delay(10)
#
# Settings for the LCD
#
# The LCDC_FPR depends on PLL clock and the reccomended LCD Dot clock DCLK
#
# LCDC_FPR = (DCLK * 1048576 / PLLClock) - 1
#
# The other settings are less obvious, since the definitions of the SSD1963 data sheet and the
# LCD data sheets differ. So what' common, even if the names may differ:
# HDP Horizontal Panel width (also called HDISP, Thd). The value store in the register is HDP - 1
# VDP Vertical Panel Width (also called VDISP, Tvd). The value stored in the register is VDP - 1
# HT Total Horizontal Period, also called HP, th... The exact value does not matter
# VT Total Vertical Period, alco called VT, tv, .. The exact value does not matter
# HPW Width of the Horizontal sync pulse, also called HS, thpw.
# VPW Width of the Vertical sync pulse, also called VS, tvpw
# Front Porch (HFP and VFP) Time between the end of display data and the sync pulse
# Back Porch (HBP and VBP Time between the start of the sync pulse and the start of display data.
# HT = FP + HDP + BP and VT = VFP + VDP + VBP (sometimes plus sync pulse width)
# Unfortunately, the controller does not use these front/back porch times, instead it uses an starting time
# in the front porch area and defines (see also figures in chapter 13.3 of the SSD1963 data sheet)
# HPS Time from that horiz. starting point to the start of the horzontal display area
# LPS Time from that horiz. starting point to the horizontal sync pulse
# VPS Time from the vert. starting point to the first line
# FPS Time from the vert. starting point to the vertical sync pulse
#
# So the following relations must be held:
#
# HT > HDP + HPS
# HPS >= HPW + LPS
# HPS = Back Porch - LPS, or HPS = Horizontal back Porch
# VT > VDP + VPS
# VPS >= VPW + FPS
# VPS = Back Porch - FPS, or VPS = Vertical back Porch
#
# LPS or FPS may have a value of zero, since the length of the front porch is detemined by the
# other figures
#
# The best is to start with the recomendations of the lCD data sheet for Back porch, grab a
# sync pulse with and the determine the other, such that they meet the relations. Typically, these
# values allow for some ambuigity.
#
if lcd_type == "LB04301": # Size 480x272, 4.3", 24 Bit, 4.3"
#
# Value Min Typical Max
# DotClock 5 MHZ 9 MHz 12 MHz
# HT (Hor. Total 490 531 612
# HDP (Hor. Disp) 480
# HBP (back porch) 8 43
# HFP (Fr. porch) 2 8
# HPW (Hor. sync) 1
# VT (Vert. Total) 275 288 335
# VDP (Vert. Disp) 272
# VBP (back porch) 2 12
# VFP (fr. porch) 1 4
# VPW (vert. sync) 1 10
#
# This table in combination with the relation above leads to the settings:
# HPS = 43, HPW = 8, LPS = 0, HT = 531
# VPS = 14, VPW = 10, FPS = 0, VT = 288
#
self.disp_x_size = 479
self.disp_y_size = 271
self.tft_io.tft_cmd_data_AS(0xe6, bytearray(b'\x01\x70\xa3'),
3) # PLL setting for PCLK
# (9MHz * 1048576 / 100MHz) - 1 = 94371 = 0x170a3
self.tft_io.tft_cmd_data_AS(
0xb0,
bytearray( # # LCD SPECIFICATION
[
0x20, # 24 Color bits, HSync/VSync low, No Dithering
0x00, # TFT mode
self.disp_x_size >> 8,
self.disp_x_size & 0xff, # physical Width of TFT
self.disp_y_size >> 8,
self.disp_y_size & 0xff, # physical Height of TFT
0x00
]),
7) # Last byte only required for a serial TFT
self.tft_io.tft_cmd_data_AS(
0xb4, bytearray(b'\x02\x13\x00\x2b\x08\x00\x00\x00'), 8)
# HSYNC, Set HT 531 HPS 43 HPW=Sync pulse 8 LPS 0
self.tft_io.tft_cmd_data_AS(
0xb6, bytearray(b'\x01\x20\x00\x0e\x0a\x00\x00'), 7)
# VSYNC, Set VT 288 VPS 14 VPW 10 FPS 0
self.tft_io.tft_cmd_data_AS(
0x36,
bytearray([(orientation & 1) << 5 | (h_flip & 1) << 1 |
(v_flip) & 1]), 1)
# rotation/ flip, etc., t.b.d.
elif lcd_type == "AT070TN92": # Size 800x480, 7", 18 Bit, lower color bits ignored
#
# Value Min Typical Max
# DotClock 26.4 MHz 33.3 MHz 46.8 MHz
# HT (Hor. Total 862 1056 1200
# HDP (Hor. Disp) 800
# HBP (back porch) 46 46 46
# HFP (Fr. porch) 16 210 254
# HPW (Hor. sync) 1 40
# VT (Vert. Total) 510 525 650
# VDP (Vert. Disp) 480
# VBP (back porch) 23 23 23
# VFP (fr. porch) 7 22 147
# VPW (vert. sync) 1 20
#
# This table in combination with the relation above leads to the settings:
# HPS = 46, HPW = 8, LPS = 0, HT = 1056
# VPS = 23, VPW = 10, VPS = 0, VT = 525
#
self.disp_x_size = 799
self.disp_y_size = 479
self.tft_io.tft_cmd_data_AS(0xe6, bytearray(b'\x05\x53\xf6'),
3) # PLL setting for PCLK
# (33.3MHz * 1048576 / 100MHz) - 1 = 349174 = 0x553f6
self.tft_io.tft_cmd_data_AS(
0xb0,
bytearray( # # LCD SPECIFICATION
[
0x00, # 18 Color bits, HSync/VSync low, No Dithering/FRC
0x00, # TFT mode
self.disp_x_size >> 8,
self.disp_x_size & 0xff, # physical Width of TFT
self.disp_y_size >> 8,
self.disp_y_size & 0xff, # physical Height of TFT
0x00
]),
7) # Last byte only required for a serial TFT
self.tft_io.tft_cmd_data_AS(
0xb4, bytearray(b'\x04\x1f\x00\x2e\x08\x00\x00\x00'), 8)
# HSYNC, Set HT 1056 HPS 46 HPW 8 LPS 0
self.tft_io.tft_cmd_data_AS(
0xb6, bytearray(b'\x02\x0c\x00\x17\x08\x00\x00'), 7)
# VSYNC, Set VT 525 VPS 23 VPW 08 FPS 0
self.tft_io.tft_cmd_data_AS(
0x36,
bytearray([(orientation & 1) << 5 | (h_flip & 1) << 1 |
(v_flip) & 1]), 1)
# rotation/ flip, etc., t.b.d.
elif lcd_type == "AT090TN10": # Size 800x480, 9", 24 Bit, lower color bits ignored
#
# Value Min Typical Max
# DotClock 26.4 MHz 33.3 MHz 46.8 MHz
# HT (Hor. Total 862 1056 1200
# HDP (Hor. Disp) 800
# HBP (back porch) 46 46 46
# HFP (Fr. porch) 16 210 354
# HPW (Hor. sync) 1 40
# VT (Vert. Total) 510 525 650
# VDP (Vert. Disp) 480
# VBP (back porch) 23 23 23
# VFP (fr. porch) 7 22 147
# VPW (vert. sync) 1 20
#
# This table in combination with the relation above leads to the settings:
# HPS = 46, HPW = 8, LPS = 0, HT = 1056
# VPS = 23, VPW = 10, VPS = 0, VT = 525
#
self.disp_x_size = 799
self.disp_y_size = 479
self.tft_io.tft_cmd_data_AS(0xe6, bytearray(b'\x05\x53\xf6'),
3) # PLL setting for PCLK
# (33.3MHz * 1048576 / 100MHz) - 1 = 349174 = 0x553f6
self.tft_io.tft_cmd_data_AS(
0xb0,
bytearray( # # LCD SPECIFICATION
[
0x20, # 24 Color bits, HSync/VSync low, No Dithering/FRC
0x00, # TFT mode
self.disp_x_size >> 8,
self.disp_x_size & 0xff, # physical Width of TFT
self.disp_y_size >> 8,
self.disp_y_size & 0xff, # physical Height of TFT
0x00
]),
7) # Last byte only required for a serial TFT
self.tft_io.tft_cmd_data_AS(
0xb4, bytearray(b'\x04\x1f\x00\x2e\x08\x00\x00\x00'), 8)
# HSYNC, Set HT 1056 HPS 46 HPW 8 LPS 0
self.tft_io.tft_cmd_data_AS(
0xb6, bytearray(b'\x02\x0c\x00\x17\x08\x00\x00'), 7)
# VSYNC, Set VT 525 VPS 23 VPW 08 FPS 0
self.tft_io.tft_cmd_data_AS(
0x36,
bytearray([(orientation & 1) << 5 | (h_flip & 1) << 1 |
(v_flip) & 1]), 1)
# rotation/ flip, etc., t.b.d.
else:
print("Wrong Parameter lcd_type: ", lcd_type)
return
self.tft_io.tft_cmd_data_AS(0xBA, bytearray(b'\x0f'),
1) # GPIO[3:0] out 1
self.tft_io.tft_cmd_data_AS(0xB8, bytearray(b'\x07\x01'),
1) # GPIO3=input, GPIO[2:0]=output
self.tft_io.tft_cmd_data_AS(0xf0, bytearray(b'\x00'),
1) # Pixel data Interface 8 Bit
self.tft_io.tft_cmd(0x29) # Display on
self.tft_io.tft_cmd_data_AS(0xbe,
bytearray(b'\x06\xf0\x01\xf0\x00\x00'),
6)
# Set PWM for B/L
self.tft_io.tft_cmd_data_AS(0xd0, bytearray(b'\x0d'),
1) # Set DBC: enable, agressive
else:
print("Wrong Parameter controller: ", controller)
return
#
# Set character printing defaults
#
self.text_font = None
self.setTextStyle(self.color, self.BGcolor, 0, None, 0)
#
# Init done. clear Screen and switch BG LED on
#
self.text_x = self.text_y = self.text_yabs = 0
self.clrSCR() # clear the display
lcd.erase()
if start_up == 0:
lcd.set_pos(5, 2)
lcd.write('Starting system...')
loading = 0
while loading < 100:
lcd.set_pos(57, 20)
lcd.write(str(loading))
lcd.write('%')
loading += randint(1, 10)
if loading >= 100:
loading = 100
lcd.set_pos(55, 20)
lcd.write(str(loading))
lcd.write('%')
pyb.delay(randint(200, 800))
start_up = 1
lcd.set_pos(40, 60)
lcd.write('WELCOME')
lcd.set_pos(25, 100)
lcd.write('choose option')
pyb.delay(5000)
lcd.erase()
t_choice = 0
fg = lcd.rgb(255, 128, 128)
lcd.set_pen(fg, lcd.rgb(0, 128, 0))
lcd.rect(2, 2, 122, 78)
lcd.set_pos(20, 40)
def __init__(self, pin_name):
time.sleep(1)
self.N1 = Pin(pin_name, Pin.OUT_PP)
self.PinName = pin_name
pyb.delay(10)
def __init__(self,
rs_pin,
enable_pin,
d0_pin=None,
d1_pin=None,
d2_pin=None,
d3_pin=None,
d4_pin=None,
d5_pin=None,
d6_pin=None,
d7_pin=None,
rw_pin=None,
backlight_pin=None,
num_lines=2,
num_columns=16):
"""Constructs the GpioLcd object. All of the arguments must be pyb.Pin
objects which describe which pin the given line from the LCD is
connected to.
When used in 4-bit mode, only D4, D5, D6, and D7 are physically
connected to the LCD panel. This function allows you call it like
GpioLcd(rs, enable, D4, D5, D6, D7) and it will interpret that as
if you had actually called:
GpioLcd(rs, enable, d4=D4, d5=D5, d6=D6, d7=D7)
The enable 8-bit mode, you need pass d0 through d7.
The rw pin isn't used by this library, but if you specify it, then
it will be set low.
"""
self.rs_pin = rs_pin
self.enable_pin = enable_pin
self.rw_pin = rw_pin
self.backlight_pin = backlight_pin
self._4bit = True
if d4_pin and d5_pin and d6_pin and d7_pin:
self.d0_pin = d0_pin
self.d1_pin = d1_pin
self.d2_pin = d2_pin
self.d3_pin = d3_pin
self.d4_pin = d4_pin
self.d5_pin = d5_pin
self.d6_pin = d6_pin
self.d7_pin = d7_pin
if self.d0_pin and self.d1_pin and self.d2_pin and self.d3_pin:
self._4bit = False
else:
# This is really 4-bit mode, and the 4 data pins were just
# passed as the first 4 arguments, so we switch things around.
self.d0_pin = None
self.d1_pin = None
self.d2_pin = None
self.d3_pin = None
self.d4_pin = d0_pin
self.d5_pin = d1_pin
self.d6_pin = d2_pin
self.d7_pin = d3_pin
self.rs_pin.init(Pin.OUT_PP)
self.rs_pin.low()
if self.rw_pin:
self.rw_pin.init(Pin.OUT_PP)
self.rw_pin.low()
self.enable_pin.init(Pin.OUT_PP)
self.enable_pin.low()
self.d4_pin.init(Pin.OUT_PP)
self.d5_pin.init(Pin.OUT_PP)
self.d6_pin.init(Pin.OUT_PP)
self.d7_pin.init(Pin.OUT_PP)
self.d4_pin.low()
self.d5_pin.low()
self.d6_pin.low()
self.d7_pin.low()
if not self._4bit:
self.d0_pin.init(Pin.OUT_PP)
self.d1_pin.init(Pin.OUT_PP)
self.d2_pin.init(Pin.OUT_PP)
self.d3_pin.init(Pin.OUT_PP)
self.d0_pin.low()
self.d1_pin.low()
self.d2_pin.low()
self.d3_pin.low()
if self.backlight_pin is not None:
self.backlight_pin.init(Pin.OUT_PP)
self.backlight_pin.low()
# See about splitting this into begin
delay(20) # Allow LCD time to powerup
# Send reset 3 times
self.hal_write_init_nibble(self.LCD_FUNCTION_RESET)
delay(5) # need to delay at least 4.1 msec
self.hal_write_init_nibble(self.LCD_FUNCTION_RESET)
delay(1)
self.hal_write_init_nibble(self.LCD_FUNCTION_RESET)
delay(1)
cmd = self.LCD_FUNCTION
if not self._4bit:
cmd |= self.LCD_FUNCTION_8BIT
self.hal_write_init_nibble(cmd)
delay(1)
LcdApi.__init__(self, num_lines, num_columns)
if num_lines > 1:
cmd |= self.LCD_FUNCTION_2LINES
self.hal_write_command(cmd)
# boot.py -- runs on boot-up
# Select which scripts to run, with some extra logic
# > To run 'follow.py':
# * press reset and do nothing else
# > To run 'dataread.py':
# * press reset
# * press user switch and hold until orange LED goes out
import pyb
orange = pyb.LED(3) # create orange LED object
orange.on() # indicate we are waiting for switch press
pyb.delay(2000) # wait for user to maybe press the switch
switch = pyb.Switch() # create switch object
switch_val = switch() # sample the switch at end of delay
orange.off() # indicate that we finished waiting for the switch
blue = pyb.LED(4) # create blue LED object
blue.on() # indicate that we are selecting the mode
if switch_val:
pyb.usb_mode('CDC+MSC')
pyb.main('dataread.py') # if switch was pressed, run this
else:
pyb.usb_mode('CDC+HID')
pyb.main('pitlStage1.py') # if switch wasn't pressed, run this
blue.off() # indicate that we finished selecting the mode
def main() :
telemeter = HCSR04('X11', 'X12')
while True :
print('D:', telemeter.measure(), 'cm')
pyb.delay(500)
# http://forum.micropython.org/viewtopic.php?f=5&t=195&p=873&hilit=lcd_gfx#p873
import pyb
from ssd1306 import SSD1306
import lcd_gfx
oled = SSD1306(pinout={'dc': 'X4', 'res': 'X3'}, height=64, external_vcc=False)
oled.poweron()
oled.init_display()
oled.clear()
## text
oled.text('Hello World!', 20, 55)
oled.display()
pyb.delay(2000)
## draw straight lines
for x in [0, 127]:
for y in range(64):
oled.pixel(x, y, True)
for y in [0, 47, 48, 63]:
for x in range(127):
oled.pixel(x, y, True)
oled.display()
pyb.delay(2000)
## whole buffer
b = [1] * 1024
for i in range(0, 1024, 16):
def dealWithBroadcastREQ(self, srcId, payload, dataPacket):
# Start reading the sensor if the data packet is not given (new transmission)
# mainloop is responsible for initiating sensor data acquisition and processing now.
# if not dataPacket:
# self.sensor.start_acquisition()
# Note the time of receiving this packet
reqTime = utime.ticks_ms()
# If this is the first broadcast REQ of the frame, note the frame start time
reqIndex = struct.unpack('B', payload[3:4])[0]
# Update the start of frame time
self.timeTillNextFrame = struct.unpack('I', payload[4:8])[0]
self.ttnfTimestamp = reqTime # note the time stamp for this TTNF
# Check if I need to go back to always-on state after this
sleepFlag = struct.unpack('B', payload[8:9])[0]
# Decode the addresses of nodes expected to respond
destAddr = list()
for n in range(10, len(payload)):
addr = struct.unpack('B', payload[n:n + 1])[0]
destAddr.append(int(addr))
# Respond only if I am in the list
if self.thisNode in destAddr:
# Print message for debugging
print("REQ received from Node " + str(srcId))
print(" Time till next frame: " + str(self.timeTillNextFrame) +
" msec")
# If this is a request for location, put it into the payload
if payload[9:10] == b'L':
# Create the data payload
dataPayload = b'L' + struct.pack(
'f', self.location[0]) + b'L' + struct.pack(
'f', self.location[1])
packetPayload = b'UND' + struct.pack(
'B', self.thisNode) + dataPayload
# Otherwise, this is a request for sensor readings
else:
# Read the sensor and create the data payload
try:
if not dataPacket:
# mainloop is responsible for initiating sensor data acquisition and processing now.
# self.sensor.process_acquisition()
dataPayload = self.sensor.get_latest_data_as_bytes()
packetPayload = b'UND' + struct.pack(
'B', self.thisNode) + dataPayload
else:
packetPayload = dataPacket
except Exception as e:
# If an Exception was caught, print the error
print("Error reading the sensor: " + str(e))
packetPayload = b'UND' + struct.pack(
'B', self.thisNode) + b'sensor_error'
# Sleep for the remaining part of the transmit delay
timeElapsed = utime.ticks_diff(utime.ticks_ms(), reqTime)
if (self.txDelay > timeElapsed):
pyb.delay(self.txDelay - timeElapsed)
# Transmit the payload packet to the master node
self.nm.send_unicast_message(srcId, packetPayload)
# Print this transmission
if payload[9:10] == b'L':
print("Location data sent: Lat=" + '%.5f' % self.location[0] +
", Long=" + '%.5f' % self.location[1])
else:
print("Sensor readings sent")
# If I have any child nodes, do not go to sleep after this REQ
if self.isRelay:
sleepFlag = 0
# Wait for a retransmission request, if one arrives (10 sec timeout)
reTxTimeout = 10000
timerStart = utime.ticks_ms()
while utime.ticks_diff(utime.ticks_ms(),
utime.ticks_add(timerStart,
reTxTimeout)) < 0:
# Feed the watchdog
if self.wdt:
self.wdt.feed()
# Check if a packet has been received
self.nm.poll_receiver()
self.nm.process_incoming_buffer()
if self.nm.has_received_packet():
# Read the incoming packet and see if it is a REQ
packet = self.nm.get_received_packet()
payload = bytes(packet.packet_payload)
srcId = packet.source_address
pktType = packet.packet_type
# If it is a REQ, process it by calling this function again
if (pktType
== 'B') and (len(payload) > 5) and (payload[0:3]
== b'UNR'):
# But if this is a broadcast REQ not from my master node, ignore it
if (srcId == self.masterNode):
canGoToSleep = self.dealWithBroadcastREQ(
srcId, payload, packetPayload)
sleepFlag = 1 if (
canGoToSleep
) else 0 # Convert the sleep flag (due to recursion here!)
break # finish waiting, the protocol has moved on
# If it is a unicast REQ, data transmission was successful, move on to relaying
elif (pktType
== 'U') and (len(payload) > 4) and (payload[0:3]
== b'UNR'):
canGoToSleep = self.dealWithUnicastREQ(payload)
sleepFlag = 1 if (
canGoToSleep
) else 0 # Convert the sleep flag (due to recursion here!)
break # finish waiting, the protocol has moved on
# Otherwise, pass it up to the main packet handling function
else:
(canGoToSleep, _,
pktIgnored) = self.handle_packet(packet)[0]
if not pktIgnored:
sleepFlag = 1 if (
canGoToSleep
) else 0 # Convert the sleep flag (due to recursion here!)
break
# Return the flag indicating if I can go to sleep or should stay awake
return (sleepFlag == 1)
# full off and then back again.
if PwmDirection == PWM_COUNT_DOWN:
DutyCycle -= DUTY_CYCLE_CHANGE_RATE
if DutyCycle <= LED_FULL_ON:
PwmDirection = PWM_COUNT_UP
else:
DutyCycle += DUTY_CYCLE_CHANGE_RATE
if DutyCycle >= LED_FULL_OFF:
PwmDirection = PWM_COUNT_DOWN
# This is a simple "State Machine" that will run different
# colors and patterns based on how many times the button
# has been pressed
try:
if System_State == 0:
RGB_Button.RGB.Write(DutyCycle, LED_FULL_OFF, LED_FULL_OFF)
elif System_State == 1:
RGB_Button.RGB.Write(LED_FULL_OFF, DutyCycle, LED_FULL_OFF)
elif System_State == 2:
RGB_Button.RGB.Write(LED_FULL_OFF, LED_FULL_OFF, DutyCycle)
elif System_State == 3:
RGB_Button.RGB.Write(DutyCycle, DutyCycle, DutyCycle)
except Exception as e:
sys.print_exception(e)
# This sets a periodic delay so that the DutyCycle doesn't
# change too fast
pyb.delay(25)
# Create peripheral objects
b_LED = LED(4)
pot = ADC(Pin('X11'))
# I2C connected to Y9, Y10 (I2C bus 2) and Y11 is reset low active
oled = OLED_938(pinout={
'sda': 'Y10',
'scl': 'Y9',
'res': 'Y8'
},
height=64,
external_vcc=False,
i2c_devid=61)
oled.poweron()
oled.init_display()
# Simple Hello world message
oled.draw_text(0, 0, 'Hello, world!') # each character is 6x8 pixels
tic = pyb.millis() # store starting time
while True:
b_LED.toggle()
toc = pyb.millis() # read elapsed time
oled.draw_text(0, 20, 'Delayed time:{:6.3f}sec'.format(
(toc - tic) * 0.001))
oled.draw_text(0, 40, 'POT5K reading:{:5d}'.format(pot.read()))
tic = pyb.millis() # start time
oled.display()
delay = pyb.rng() % 1000 # Generate a random number btw 0 and 999
pyb.delay(delay) # Delay in milliseconds
