def __init__(self, scl=_SCL_PIN, sda=_SDA_PIN):
"""
Initialize the turtleplotbot, optionally passing an i2c object to use.
"""
self._current_step = [0, 0] # current step indexes
self._step_delay = 1000 # us delay between steps
self._pen_delay = 250 # ms delay for pen raise or lower
self.mcp23017 = mcp23017.MCP23017(
machine.I2C(scl=machine.Pin(scl),
sda=machine.Pin(sda),
freq=100000), 0x20)
# pylint: disable=no-member
self.mcp23017.porta.mode = 0x00 # porta output
self.mcp23017.porta.gpio = 0x00 # all pins low
self._pen_servo = Servo(machine.Pin(_SERVO_PIN, machine.Pin.OUT),
freq=50,
min_us=600,
max_us=2400,
angle=180)
time.sleep_ms(100)
self._pen_servo.write_angle(degrees=_PEN_UP_ANGLE)
self.rst = machine.Pin(16,
machine.Pin.OUT) # power pin for LCD display
self.rst.value(1) # power on
super().__init__()
def setmode(mode=BCM):
GPIO.expanders = []
for i2c_addr in range(0x20, 0x28):
try:
expander = mcp23017.MCP23017(bus_addr=1, i2c_addr=i2c_addr)
expander.read_byte(i2c_addr, 0x00)
GPIO.expanders.append(expander)
print("found", i2c_addr)
except OSError:
pass
#print("missed", i2c_addr)
RGPIO.setmode(mode)
for expander in GPIO.expanders:
expander.setmode(mode)
from machine import Pin
from time import sleep
import mcp23017
mcp = mcp23017.MCP23017(0x20)
mcp.pullUps(mcp.PORTA, 0xFF)
mcp.pullUps(mcp.PORTB, 0xFF)
mcp.write8(mcp23017.MCP23017_IPOLA, 0xFF)
mcp.write8(mcp23017.MCP23017_IPOLB, 0xFF)
# mirror on, int pin high indicates interrupt
mcp.configSystemInterrupt(mcp.INTMIRROROFF, mcp.INTPOLACTIVEHIGH)
# for the input pin, enable interrupts and compare to previous value rather than default
mcp.configPinInterrupts(mcp.PORTA, 0xFF, 0x00, 0x00)
mcp.configPinInterrupts(mcp.PORTB, 0xFF, 0x00, 0x00)
p_intA = 12 # D6
p_intB = 14 # D5
toggle_intA = Pin(p_intA, Pin.IN)
toggle_intB = Pin(p_intB, Pin.IN)
def cb(p):
if p == toggle_intA:
data = mcp.readInterrupt(mcp.PORTA)
else:
data = mcp.readInterrupt(mcp.PORTB)
print("Values: {}".format(data))
# mcp.clearInterrupts()
# sleep(0.02) #debounce
mcp_address = i
break
for i in range(72, 74):
if i in found:
print('Found ADS1015 at I2C address {} {}'.format(i, hex(i)))
ads_address = i
break
del found
# adc
import ads1015
ads = ads1015.ADS1015(i2c, ads_address, gain=1)
# mcp23017
import mcp23017
mcp = mcp23017.MCP23017(i2c, mcp_address)
# sd card
import uos as os
from machine import SDCard
sd = SDCard(slot=2)
sd_cd = Pin(33, Pin.IN)
# if sd card detect pin is LOW, a card is inserted
if sd_cd.value() == 0:
try:
print('Found SD card {}'.format(sd.info()))
os.mount(sd, '/sd')
print('Mounted SD card at /sd')
except OSError:
print('Failed to mount SD card')
def run_switch(params, start_time=None):
"""Run the switch. Cycle between sources by turning on appropriate
Raspberry Pi GPIO pins for user-specified lengths of time.
- params : options from parser
- start_time : optional starting time stamp for the log file
"""
# Open log file
if start_time is None:
start_time = datetime.datetime.utcnow().strftime('%Y%m%d_%H%M%S')
# Setup MCP23017 GPIO's as outputs
gpios = mcp23017.MCP23017(i2c_bus, 0x20)
for switch in params['switch-control']['switches'].keys():
for gpio in params['switch-control']['switches'][switch]['gpios'].keys(
):
port = None
pin = None
if params['switch-control']['switches'][switch]['gpios'][
gpio] != 'None':
port = params['switch-control']['switches'][switch]['gpios'][
gpio][0]
pin = params['switch-control']['switches'][switch]['gpios'][
gpio][1:]
logging.debug('Setting port %s, pin %s to output' %
(port, pin))
gpios.set_gpio_direction(port, pin, False)
for aux_gpio in params['switch-control']['aux-gpios'].keys():
port = params['switch-control']['aux-gpios'][aux_gpio][0]
pin = params['switch-control']['aux-gpios'][aux_gpio][1:]
logging.debug('Setting port %s, pin %s to output' % (port, pin))
gpios.set_gpio_direction(port, pin, False)
while True:
tstart = time.time()
tfrag = repr(tstart)[:5]
#starttime = datetime.datetime.utcnow()#.strftime('%Y%m%d_%H%M%S')
outsubdir = params[
'data-directory'] + '/switch_data/' + tfrag + '/' + str(
nm.int64(tstart))
if not os.path.isdir(outsubdir):
os.makedirs(outsubdir)
pos_scio_files = {}
for pos in params['switch-control']['sequence']:
pos_scio_files[pos] = scio.scio(
outsubdir + '/%s.scio' % (pos),
compress=params['scio-files']['compress'])
seq_list = params['switch-control']['sequence']
while time.time() - tstart < params['scio-files']['file_time']:
seq = seq_list.pop(0)
which_switch = params['switch-control'][seq]['switch']
which_pos = str(params['switch-control'][seq]['position'])
ontime = params['switch-control'][seq]['ontime']
port = params['switch-control']['switches'][which_switch]['gpios'][
which_pos][0]
pin = params['switch-control']['switches'][which_switch]['gpios'][
which_pos][1:]
starttime = datetime.datetime.utcnow().strftime('%Y%m%d_%H%M%S')
logging.debug('Reset On')
if params['switch-control']['switches'][which_switch]['gpios'][
'reset'] != 'None':
reset_port = params['switch-control']['switches'][
which_switch]['gpios']['reset'][0]
reset_pin = params['switch-control']['switches'][which_switch][
'gpios']['reset'][1:]
gpios.set_output_latch(reset_port, reset_pin, True)
time.sleep(0.20)
gpios.set_output_latch(reset_port, reset_pin, False)
time.sleep(0.01)
logging.debug('Reset off')
# Special case for noise source: need to turn mosfet on as well
if params['switch-control'][seq]['aux'] != 'None':
aux = params['switch-control'][seq]['aux']
aux_port = params['switch-control']['aux-gpios'][aux][0]
aux_pin = params['switch-control']['aux-gpios'][aux][1:]
gpios.set_output_latch(aux_port, aux_pin, True)
logging.debug('AUX %s on' % (aux))
# Set switch to the appropriate
# source. These are latching
# switches, so just need to pulse the
# pin...
gpios.set_output_latch(port, pin, True)
logging.debug('%s Source On' % (seq))
time.sleep(0.20)
# ...and then immediately turn off again
logging.debug('%s Source Off' % (seq))
gpios.set_output_latch(port, pin, False)
# Record time stamps for how long
# we're onu this switch position. Note
# that we're using system time here,
# will need to correct with RTC time
# in post-processing.
t_start = time.time()
pos_scio_files[seq].append(nm.array([1, t_start]))
time.sleep(ontime)
if params['switch-control'][seq]['aux'] != 'None':
aux = params['switch-control'][seq]['aux']
aux_port = params['switch-control']['aux-gpios'][aux][0]
aux_pin = params['switch-control']['aux-gpios'][aux][1:]
gpios.set_output_latch(aux_port, aux_pin, False)
logging.debug('AUX %s off' % (aux))
t_stop = time.time()
pos_scio_files[seq].append(nm.array([0, t_stop]))
seq_list.append(seq)
return None