def set_pin(self, pin_number, pin_input, pin_analogue):
"""
For a given pin, set the direction and type for the microbit pin.
:param pin_number: Pin number of the microbit
:param pin_input: False for output, True for input
:param pin_analogue: False for digital, True for analogue
:return:
"""
pin_bit = tools.int_to_uint32(2 ** pin_number)
current_io_setting = self._pin_config
current_ad_setting = self._pin_ad_config
if pin_input:
new_setting = tools.bitwise_or_2lists(pin_bit, current_io_setting)
self._pin_config = new_setting
else:
pin_mask = tools.bitwise_xor_2lists(pin_bit,
[0xff, 0xff, 0xff, 0xff])
new_setting = tools.bitwise_and_2lists(pin_mask,
current_io_setting)
self._pin_config = new_setting
if pin_analogue:
new_setting = tools.bitwise_or_2lists(pin_bit,
current_ad_setting)
self._pin_ad_config = new_setting
else:
pin_mask = tools.bitwise_xor_2lists(pin_bit,
[0xff, 0xff, 0xff, 0xff])
new_setting = tools.bitwise_and_2lists(pin_mask,
current_ad_setting)
self._pin_ad_config = new_setting
def set_pin(self, pin_number, pin_input, pin_analogue):
"""
For a given pin, set the direction and type for the microbit pin.
:param pin_number: Pin number of the microbit
:param pin_input: False for output, True for input
:param pin_analogue: False for digital, True for analogue
:return:
"""
pin_bit = tools.int_to_uint32(2**pin_number)
current_io_setting = self._pin_config
current_ad_setting = self._pin_ad_config
if pin_input:
new_setting = tools.bitwise_or_2lists(pin_bit, current_io_setting)
self._pin_config = new_setting
else:
pin_mask = tools.bitwise_xor_2lists(pin_bit,
[0xff, 0xff, 0xff, 0xff])
new_setting = tools.bitwise_and_2lists(pin_mask,
current_io_setting)
self._pin_config = new_setting
if pin_analogue:
new_setting = tools.bitwise_or_2lists(pin_bit, current_ad_setting)
self._pin_ad_config = new_setting
else:
pin_mask = tools.bitwise_xor_2lists(pin_bit,
[0xff, 0xff, 0xff, 0xff])
new_setting = tools.bitwise_and_2lists(pin_mask,
current_ad_setting)
self._pin_ad_config = new_setting
def _update_motors(self,
left_val,
right_val,
left_rev,
right_rev,
pwm_period=20000):
period = tools.int_to_uint32(pwm_period)
left_pwm = tools.int_to_uint16(left_val)
right_pwm = tools.int_to_uint16(right_val)
self.ubit._io_pin_pwm.value = [
0, left_pwm[0], left_pwm[1], period[0], period[1], period[2],
period[3], 1, right_pwm[0], right_pwm[1], period[0], period[1],
period[2], period[3]
]
self.ubit._pin_states = [0x08, left_rev, 0x0C, right_rev]
def _update_motors(self,
left_val,
right_val,
left_rev,
right_rev,
pwm_period=20000):
period = tools.int_to_uint32(pwm_period)
left_pwm = tools.int_to_uint16(left_val)
right_pwm = tools.int_to_uint16(right_val)
self.pin_pwm_iface.WriteValue([
0, left_pwm[0], left_pwm[1], period[0], period[1], period[2],
period[3], 1, right_pwm[0], right_pwm[1], period[0], period[1],
period[2], period[3]
], ())
self._pin_states([0x08, left_rev, 0x0C, right_rev])
def _pin_pwm_control(self, pin, value, period):
"""
Write only method to set the PWM control data
:param pin: pin number [range 0-19]
:param value: Value is in the range 0 to 1024, per the current DAL API
(e.g. setAnalogValue). 0 means OFF.
:param period: Period is in microseconds and is an unsigned integer
:return:
"""
byte_value = tools.int_to_uint16(value)
byte_period = tools.int_to_uint32(period)
self.pin_pwm_iface.WriteValue([
pin, byte_value[0], byte_value[1], byte_period[0], byte_period[1],
byte_period[2], byte_period[3]
], ())
def _pin_pwm_control(self, pin, value, period):
"""
Write only method to set the PWM control data
:param pin: pin number [range 0-19]
:param value: Value is in the range 0 to 1024, per the current DAL API
(e.g. setAnalogValue). 0 means OFF.
:param period: Period is in microseconds and is an unsigned integer
:return:
"""
pin_pwm_obj = tools.get_dbus_obj(constants.BLUEZ_SERVICE_NAME,
self.io_pin_pwm_path)
pin_pwm_iface = tools.get_dbus_iface(constants.GATT_CHRC_IFACE,
pin_pwm_obj)
byte_value = tools.int_to_uint16(value)
byte_period = tools.int_to_uint32(period)
pin_pwm_iface.WriteValue([
pin, byte_value[0], byte_value[1], byte_period[0], byte_period[1],
byte_period[2], byte_period[3]
], ())
def _update_motors(self, left_val, right_val,
left_rev, right_rev,
pwm_period=20000):
period = tools.int_to_uint32(pwm_period)
left_pwm = tools.int_to_uint16(left_val)
right_pwm = tools.int_to_uint16(right_val)
self.ubit._io_pin_pwm.value = [0,
left_pwm[0],
left_pwm[1],
period[0],
period[1],
period[2],
period[3],
1,
right_pwm[0],
right_pwm[1],
period[0],
period[1],
period[2],
period[3]
]
self.ubit._pin_states = [0x08, left_rev, 0x0C, right_rev]
def _pin_pwm_control(self, data):
"""
Write only method to set the PWM control data
:param pin: pin number [range 0-19]
:param value: Value is in the range 0 to 1024, per the current DAL API
(e.g. setAnalogValue). 0 means OFF.
:param period: Period is in microseconds and is an unsigned integer
:return:
"""
pin = data[0]
value = data[1]
period = data[2]
byte_value = tools.int_to_uint16(value)
byte_period = tools.int_to_uint32(period)
self._io_pin_pwm.value = [pin,
byte_value[0],
byte_value[1],
byte_period[0],
byte_period[1],
byte_period[2],
byte_period[3]
]
def test_all_full(self):
little_endian = tools.int_to_uint32(305419896)
self.assertListEqual(little_endian, [0x78, 0x56, 0x34, 0x12])
def test_with_zeros(self):
little_endian = tools.int_to_uint32(2094)
self.assertListEqual(little_endian, [0x2E, 0x08, 0x00, 0x00])
