def send(self, buf, timeout=500):
# power up
self.reg_write(CONFIG, (self.reg_read(CONFIG) | PWR_UP) & ~PRIM_RX)
pyb.udelay(150)
# send the data
self.cs.low()
self.spi.send(W_TX_PAYLOAD)
self.spi.send(buf)
if len(buf) < self.payload_size:
self.spi.send(b'\x00' * (self.payload_size - len(buf))) # pad out data
self.cs.high()
# enable the chip so it can send the data
self.ce.high()
pyb.udelay(15) # needs to be >10us
self.ce.low()
# blocking wait for tx complete
start = pyb.millis()
while pyb.millis() - start < timeout:
status = self.reg_read_ret_status(OBSERVE_TX)
if status & (TX_DS | MAX_RT):
break
# get and clear all status flags
status = self.reg_write(STATUS, RX_DR | TX_DS | MAX_RT)
if not (status & TX_DS):
raise OSError("send failed")
# power down
self.reg_write(CONFIG, self.reg_read(CONFIG) & ~PWR_UP)
def read_register(self, address, signed=False):
# take the chip select low to select the device
self._cs_pin.low()
# send the device the register you want to read
#junk = self.spi.send_recv((address).to_bytes(1))
self.spi.send((address).to_bytes(1))
junk = self.spi.recv(1)
# small delay
pyb.udelay(50)
# end a value of 0 to read the first byte returned
#result = self.spi.send_recv((0x00).to_bytes(1))
self.spi.send((0x00).to_bytes(1))
result = self.spi.recv(1)
# take the chip select high to de-select
self._cs_pin.high()
# Fix for signed or unsigned bytes
if signed:
result = struct.unpack('b', result)[0]
else:
result = struct.unpack('B', result)[0]
return result
def update(t): # Interrupt handler may not be able to acquire the lock
global var1, var2 # if main loop has it
if mutex.test(): # critical section start
var1 += 1
pyb.udelay(200)
var2 += 1
mutex.release() # critical section end
def get(self):
self._trig.high()
pyb.udelay(10)
self._trig.low()
d = pulseIn(self._echo, HIGH) / 29 / 2
if d and d > D_MIN and d < D_MAX:
return {'enable':True}
def time_it(self, idx):
sig = self.in_pin.value()
while self.in_pin.value() == sig:
self.buf[idx] += 1
pyb.udelay(20)
if self.buf[idx] > 350: # EOF
raise Exception()
def centimeters( self ) :
start = 0
end = 0
self.counter = 0
#Send 10us pulse.
self._tpin.high()
udelay(10)
self._tpin.low()
while not self._epin.value():
start = self.counter
j = 0
# Wait 'till the pulse is gone.
while self._epin.value() and j < 1000:
j += 1
end = self.counter
# Calc the duration of the recieved pulse, divide the result by
# 2 (round-trip) and divide it by 29 (the speed of sound is
# 340 m/s and that is 29 us/cm).
return (end - start) / 58
def distance_to_obstacle_in_cm(
self
): #trigger us sensor to measure distance to the closest obstacle
start = 0
stop = 0
self._pin_trigger.low()
self._us_tmr.counter(0)
# Send a 10us pulse - this triggers measurement sequence
self._pin_trigger.high()
pyb.udelay(10)
self._pin_trigger.low()
# Wait 'till the pulse starts.
while self._pin_echo.value() == 0:
start = self._us_tmr.counter()
# Wait 'till the pulse is gone.
while self._pin_echo.value() == 1:
stop = self._us_tmr.counter()
#calculate a distance in cm
dist_in_cm = ((stop - start) /
2) / 29 #convert response pulse duration into distance
return dist_in_cm
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 balance():
gangle = 0.0
start = pyb.micros()
controlspeed = 0
fspeed = 0
while abs(gangle) < 45: # give up if inclination angle >=45 degrees
angle = imu.pitch()
rate = imu.get_gy()
gangle = compf(gangle, angle, rate, pyb.elapsed_micros(start),0.99)
start = pyb.micros()
# speed control
actualspeed = (motor1.get_speed()+motor2.get_speed())/2
fspeed = 0.95 * fspeed + 0.05 * actualspeed
cmd = radio.poll() # cmd[0] is turn speed, cmd[1] is fwd/rev speed
tangle = speedcontrol(800*cmd[1],fspeed)
# stability control
controlspeed += stability(tangle, gangle, rate)
controlspeed = constrain(controlspeed,-MAX_VEL,MAX_VEL)
# set motor speed
motor1.set_speed(-controlspeed-int(300*cmd[0]))
motor2.set_speed(-controlspeed+int(300*cmd[0]))
pyb.udelay(5000-pyb.elapsed_micros(start))
# stop and turn off motors
motor1.set_speed(0)
motor2.set_speed(0)
motor1.set_off()
motor2.set_off()
def init(set=True):
global interruptOnLowClock
cv(0)
pyb.udelay(110)
dv(0)
if set:
interruptOnLowClock = setInterrupt(ci)
def get_pixel_data(self): # TODO: send data to serPort do not print the data here
isFirstPixel = True
# write to frame capture register to force capture of frame
self.write_register(ADNS3080_FRAME_CAPTURE,0x83);
# wait 3 frame periods + 10 nanoseconds for frame to be captured
pyb.udelay(1510); # min frame speed is 2000 frames/second so 1 frame = 500 nano seconds. so 500 x 3 + 10 = 1510
data = "[["
# display the pixel data
for i in range(ADNS3080_PIXELS_Y):
for j in range(ADNS3080_PIXELS_X):
regValue = self.read_register(ADNS3080_FRAME_CAPTURE)
if( isFirstPixel and (regValue & 0x40) == 0 ):
print("failed to find first pixel\n")
isFirstPixel = False
pixelValue = ( regValue << 2) & 255 # Shift to the left and cut off the last to bits
data += str(pixelValue) # Used to be -> pixelValue,DEC not sure what the ,DEC did do
if( j!= ADNS3080_PIXELS_X-1 ):
data += ","
pyb.udelay(50)
data += "\n"
data += "]]"
return data
def dist(self):
start = 0
end = 0
# Send a 10us pulse.
self.trigger.high()
pyb.udelay(10)
self.trigger.low()
# Wait 'till whe pulse starts.
start_tout = pyb.micros() + 1000
while self.echo.value() == 0:
start = pyb.micros()
if start > start_tout:
print("start_tout")
return -1
# Wait 'till the pulse is gone.
end_tout = pyb.micros() + 10000
while self.echo.value() == 1:
end = pyb.micros()
if end > end_tout:
print("end_tout")
return -1
# Calc the duration of the recieved pulse, divide the result by
# 2 (round-trip) and divide it by 29 (the speed of sound is
# 340 m/s and that is 29 us/cm).
dist_in_cm = end - start
return dist_in_cm
def update(self):
# TODO: check for constants used
# TODO: return x and y changes
surface_quality = self.read_register(ADNS3080_SQUAL)
# small delay
pyb.udelay(50)
# check for movement, update x,y values
motion_reg = self.read_register(ADNS3080_MOTION)
_overflow = ((motion_reg & 0x10) != 0) # check if we've had an overflow # TODO: do something whit this info
if( (motion_reg & 0x80) != 0 ):
raw_dx = self.read_register(ADNS3080_DELTA_X, signed=True)
# small delay
pyb.udelay(50)
raw_dy = self.read_register(ADNS3080_DELTA_Y, signed=True)
self._motion = True
else:
raw_dx = 0
raw_dy = 0
last_update = pyb.millis()
# Fix for orientation if needed
#self.apply_orientation_matrix()
self.dx = raw_dx
self.dy = raw_dy
self.x += raw_dx
self.y += raw_dy
return True
def distance_in_cm(self):
start = 0
end = 0
# Create a microseconds counter.
micros = pyb.Timer(2, prescaler=83, period=0x3fffffff)
micros.counter(0)
# Send a 10us pulse.
self.trigger.high()
pyb.udelay(10)
self.trigger.low()
# Wait 'till whe pulse starts.
while self.echo.value() == 0:
start = micros.counter()
# Wait 'till the pulse is gone.
while self.echo.value() == 1:
end = micros.counter()
# Deinit the microseconds counter
micros.deinit()
# Calc the duration of the recieved pulse, divide the result by
# 2 (round-trip) and divide it by 29 (the speed of sound is
# 340 m/s and that is 29 us/cm).
dist_in_cm = ((end - start) / 2) / 29
return dist_in_cm
def update(t): # Interrupt handler may not be able to acquire the lock
global var1, var2 # if main loop has it
if mutex.test(): # critical section start
var1 += 1
pyb.udelay(200)
var2 += 1
mutex.release() # critical section end
def init():
global moduleInit
cv(0)
pyb.udelay(110)
dv(0)
if not moduleInit:
moduleInit=True
setInterrupt(ci)
def step(self, num):
for i in range(num):
phase = self.phase.__next__()
self.pin1.value(phase[0])
self.pin2.value(phase[1])
self.pin3.value(phase[2])
self.pin4.value(phase[3])
pyb.udelay(self.delay_time)
def syncSteps(self, n):
"""Make n steps = n*/512 turn ≈ n*0.7° and return when done.
n > 0 turns counter clockwise (positive trigonometric angle).
n < 0 turns clockwise (negative trigonometric angle).
"""
self._setupSteps(n)
usdelay = int(self._phasePeriod() * 1E6)
while self._onePhase():
pyb.udelay(usdelay)
def __init__(self, sensor_table, srv):
self.light_sensor = LightSensor()
self.mutex = esp.mutex()
self.sensor_table = sensor_table
self.sensors = dict()
self.task = esp.os_task(callback=lambda task: handler(task, srv, self))
for sensor_name, sensor_port in sensor_table.items():
self.sensors[sensor_name] = Sensor(sensor_name, sensor_port, 10000, task=self.task, mutex=self.mutex)
pyb.udelay(10000)
def info(self):
self.pinCS.low()
pyb.udelay(1000) # FLASH wake up delay
self.spi.send(FLASH_RDID)
manufacturer = self.spi.send_recv(FLASH_NOP)[0]
id_high = self.spi.send_recv(FLASH_NOP)[0]
id_low = self.spi.send_recv(FLASH_NOP)[0]
self.pinCS.high()
return manufacturer, id_high << 8 | id_low
def read(self,read_addr,nr_bytes):
buf = bytearray(1)
buf[0]=read_addr
self.CS.low()
pyb.udelay(self.delay)
self._write(buf)
result = self._read(nr_bytes)
self.CS.high()
return result
def reset(self):
# return immediately if the reset pin is not defined
if( ADNS3080_RESET == 0):
return
self._reset_pin.high() # reset sensor
pyb.udelay(10)
self._reset_pin.low() # return sensor to normal
pyb.udelay(10)
def turn(self):
# counter incremented in timer callback, effectively changes the freq
if self.speed != 0:
self.count = (self.count+1)%self.rate
if self.count == 0:
self.step.high()
# the stepper motor driver needs a 2us pulse
pyb.udelay(2)
self.step.low()
def playSlurred(note, Hz, length):
# print(note, Hz, int(Hz * length))
for duration in range(0, int(Hz * length), 2):
# print('Running note:', note + ':', 1/Hz, duration, '/', int(Hz * length))
phone.high()
udelay(int(1e6/Hz))
phone.low()
udelay(int(1e6/Hz))
print('Done')
def tone(f,t,b=0):
global bz
p = int(1000000/f)
t1 = pyb.millis()+t
while pyb.millis() < t1:
bz.high()
pyb.udelay(p)
bz.low()
pyb.udelay(p)
if b!=0: pyb.delay(b)
def update(self, round_start):
if not self.ignited:
while elapsed_micros(round_start) < self.ign_point:
self.pin.low()
self.pin.high()
udelay(self.ignition_length)
self.pin.low()
self.ignited = True
else:
self.pin.low()
def main(self):
while True:
if not self.in_pin.value():
self.scan()
print()
print(self.buf)
print("".join(["X" if _ > 29 else " " for _ in self.buf]))
print()
pyb.delay(90)
pyb.udelay(50)
def read_raw_pressure(self):
"""Reads the raw (uncompensated) pressure level from the sensor."""
conversion_time = [5000, 8000, 14000, 26000]
self._write_byte(BMP180_CONTROL, BMP180_READPRESSUREDCMD+(self._mode<<6))
pyb.udelay(conversion_time[self._mode])
raw = self._read_u24(BMP180_PRESSUREDATA)>>(8-self._mode)
#MSB = self._read_byte(BMP180_PRESSUREDATA)
#LSB = self._read_byte(BMP180_PRESSUREDATA+1)
#XLSB = self._read_byte(BMP180_PRESSUREDATA+2)
#raw = ((MSB << 16) + (LSB << 8) + XLSB) >> (8 - self._mode)
return raw
def handleSplitCharSet(listset, key, baseOctave, bpm, timesig):
print(listset)
prefix, note, suffix = listset[0], listset[1], listset[2]
style, octave = handlePrefix(prefix, baseOctave)
note, length = handleSuffix(note, key, suffix, bpm, timesig)
print(note, octave, length, style)
if note == 'Rz':
udelay(int(length * 1e6))
else:
playNote(note, octave, length, style)
print('Terminating...')
def start_listening(self):
self.reg_write(CONFIG, self.reg_read(CONFIG) | PWR_UP | PRIM_RX)
self.reg_write(STATUS, RX_DR | TX_DS | MAX_RT)
if self.pipe0_read_addr is not None:
self.reg_write(RX_ADDR_P0, self.pipe0_read_addr)
self.flush_rx()
self.flush_tx()
self.ce.high()
pyb.udelay(130)
def getTempHum(self, buzz=True):
id_bit = 0 # identificador del bit que estamos tratando
vbit = 0 # valor de la palabra de 40 bits que se lee, incluye checksum
self.oneWire.init(pyb.Pin.OUT_PP)
self.oneWire.high()
retardo=250
if buzz:
#suena buzzer
self.ch2.pulse_width(12000)
pyb.delay(80) #in msecs
self.ch2.pulse_width(0)
retardo=170
#pull the pin high and wait 250 milliseconds (ya esta en high, esperamos 250ms de todos modos)
pyb.delay(retardo)
#Host pulls low 1.5 ms
start = pyb.micros()
self.oneWire.low()
pyb.udelay(1500)
#Host pulls up 30us
self.oneWire.high()
pyb.udelay(30)
#Paso a INPUT
self.oneWire.init(pyb.Pin.IN)
#sensor pulls low 80us
while self.oneWire.value() != 0:
pass
#sensor pulls up 80us
while self.oneWire.value() != 1:
pass
#sensor pulls low 50us // start bit
while self.oneWire.value() != 0:
pass
while(True):
#bit starts
while self.oneWire.value() != 1:
pass
start = pyb.micros()
#bit ends
while self.oneWire.value() != 0:
pass
if (pyb.micros()-start) > 50:
vbit = (vbit << 1) | 0x1
else:
vbit = (vbit << 1)
id_bit = id_bit + 1
if id_bit >= 40:
check_rec = vbit & 0xff # checksum recibido
vbit = vbit >> 8 #aqui "vbit" contiene el valor medido (32 bits)
check_cal = (vbit & 0xff) + ((vbit >> 8) & 0xff) + ((vbit >> 16) & 0xff) + ((vbit >> 24) & 0xff) # checksum calculado
if check_cal != check_rec:
self.frt.setAlarmBit(2)
break
return vbit
def read_BMP180_temp():
UT = 0
for i in range(3):
# writing read temp register 0x2E
i2c.mem_write(0x2E, sladdr, 0xF4)
pyb.udelay(4500)
MSB = struct.unpack("<h", i2c.mem_read(1, sladdr, 0xF6))[0]
LSB = struct.unpack("<h", i2c.mem_read(1, sladdr, 0xF7))[0]
UT += (MSB<<8) | LSB
return int(UT/3)
def mouseInit():
global clockDelay,dataDelay,stopDelay,shortDelay,oneHundredMicroSeconds,dataPin,clockPin
"""
the dialogue should be (in decimal!)
Sending reset to mouse
250
170
0
Sending remote mode code
250
Sending reset to mouse
251
36
36
Sending remote mode code
243
>>> psmouse.setup()
Sending reset to mouse
228
228
228
Sending remote mode code
251
>>> psmouse.setup()
Sending reset to mouse
251
36
36
Sending remote mode code
251
"""
goHi(clockPin)
goHi(dataPin)
print('Sending reset to mouse')
mouseWrite(0xff)
print(mouseRead()) # ack byte */
# Serial.print("Read ack byte1\n");
print(mouseRead()) # blank */
print(mouseRead()) # blank */
print('Sending remote mode code')
mouseWrite(0xf0) # remote mode */
print(mouseRead() ) # mouseRead() # ack */
# Serial.print("Read ack byte2\n");
pyb.udelay(oneHundredMicroSeconds);
def _read(gpio:int) -> int:
read = ptr32(gpio + stm.GPIO_IDR)
set_hi = ptr16(gpio + stm.GPIO_BSRRL)
set_lo = ptr16(gpio + stm.GPIO_BSRRH)
bit = 0X01
res = 0
# release the clock and data
set_hi[0] = 1 << 0 # write X1=PA0 clock
set_hi[0] = 1 << 1 # write X2=PA1 data
udelay(50) # I don't know why we wait for 1/2 clock cycle?
# wait for the clock to go LOW
while read[0] & (1 << 0): # read X1=PA0 clock
pass
# ignore start bit
while not read[0] & (1 << 0): # read X1=PA0 clock
pass
# now read in the 8 data bits
for i in range(8):
# wait for the clock to go LOW
while read[0] & (1 << 0): # read X1=PA0 clock
pass
#read the bit on the data pin
if read[0] & (1 << 1): # read X2=PA1 data
res |= bit
while not read[0] & (1 << 0): # read X1=PA0 clock
pass
bit <<= 1
#ignore parity bit, wait a full clock cycle
while read[0] & (1 << 0): # read X1=PA0 clock
pass
while not read[0] & (1 << 0): # read X1=PA0 clock
pass
#ignore stop bit, wait a full clock cycle
while read[0] & (1 << 0): # read X1=PA0 clock
pass
while not read[0] & (1 << 0): # read X1=PA0 clock
pass
#hold incoming data, lock the clock
set_lo[0] = 1 << 0 # write X1=PA0 clock
return res
