def tick(timer):
global neue, animation, animation_index
# t_start = time.ticks_us()
frame = animation[animation_index]
# t_frame = time.ticks_us()
# if animation_index == 0:
# print('frame[0]: {}'.format(t_frame - t_start))
# print('[{}] {}'.format(animation_index, frame))
t_start = time.ticks_us()
for pixel in range(len(frame)):
neue[pixel] = frame[pixel]
t_d_set = time.ticks_us() - t_start
neue.write()
t_d_write = time.ticks_us() - t_start
if animation_index == 0:
print('neue[0]: set {} - write {}'.format(t_d_set, t_d_write))
gc.collect()
if animation_index < (animation.frame_count - 1):
animation_index += 1
else:
animation_index = 0
def time_oh(f, n):
t0 = time.ticks_us()
f(n)
t1 = time.ticks_us()
dt = time.ticks_diff(t1, t0)
fmt = 'time.ticks_us() oh : {:f} usec'
print(fmt.format(dt))
def find_some_blobs(n):
# Liest `n` Bilder ein und versucht Blobs zu finden. Dazu wird die
# Funktion `find_blobs` aus dem Modul `blob` benutzt; `find_blobs` läuft
# auf dem Mikrokontroller. Die gefundenen Blobs und die mittlere Lauf-
# zeit von `find_blobs` werden ausgegeben.
delta = 0
for i in range(n):
# Bild einlesen
img = list(amg.pixels_64x1)
# Blobs suchen
# `find_blobs` liefert eine Liste, in der jeder Eintrag aus einer Liste
# von Parametern besteht, die einen Blob beschreiben:
# [ID, area, x, x, prob], wobei `ID` der Index des Blobs ist, `area` die
# Größe, `x`,`y` die Position und `prob` eine Abschätzung, wie sicher
# die Funktion ist, dass dies ein Blob ist.
t = ticks_us()
res = blob.find_blobs(img, (8, 8))
delta += ticks_diff(ticks_us(), t)
# Blobs anzeigen, falls welche gefunden wurden
s = ""
for b in res:
if b[1] > 1:
s += "{0:.0f}-pixel blob at {1:.1f},{2:.1f} ".format(
b[1], b[2], b[3])
if len(s) > 0:
print("{0:2.0d}: {1}".format(i, s))
# Kurz warten
sleep_ms(200)
# Mittlere Dauer eines `find_blobs`-Aufrufs ausgeben
print('{:6.3f}ms per call (average)\n'.format(delta / (n * 1000)))
def testSoundLength():
read_value = getADCtrigger(floor)
start = time.ticks_us()
_ = adc.readMeaningfulValue()
duration = time.ticks_diff(time.ticks_us(), start)
print("signal length : %i useconds" % duration)
print("\t(%i samples)" % i)
def time_it(f, n):
t0 = time.ticks_us()
f(n)
t1 = time.ticks_us()
dt = time.ticks_diff(t1, t0)
fmt = "{:5.3f} sec, {:6.3f} usec/solve, {:8.4f} solves/sec"
print(fmt.format(dt * 1e-6, dt / n, n / dt * 1e3))
def send_events(sock, json_string, mode, print_flag=False):
need_acknowledgement_flag = False
if json_string:
# Send some data to remote server
# Connect to remote server
tic = time.ticks_us() / 1000
# print('Send START', tic, 'ms')
try:
# Send the whole string
sock.sendall(json_string)
toc = time.ticks_us() / 1000
need_acknowledgement_flag = True
if print_flag:
print('\n Send END', toc, 'ms, Dif send', toc - tic,
'ms:', json_string)
except OSError as err:
if err.errno == 104: # ECONNRESET
print(" send_button_events OS error ECONNRESET:", err)
else:
print(" send_button_events OS error:", err)
need_acknowledgement_flag = False
mode = 'SearchModes'
print('\n======== END Connected Modes ========\n')
print('\n======== BEGIN Search Modes ========\n')
return need_acknowledgement_flag, sock, mode
def setup():
senMPU()
global ori
ori = Fusion()
Timing = True
Calibrate = False
def getmag():
senMPU()
return mag
if Calibrate:
print("Calibrant. Presionar KEY un cop acabat.")
ori.calibrate(getmag, sw, lambda: pyb.delay(100))
print(ori.magbias)
if Timing:
'''
mag = mpu.magnetic # Don't include blocking read in time
accel = mpu.acceleration # or i2c
gyro = mpu.gyro
'''
senMPU()
start = time.ticks_us() # Measure computation time only
ori.update(accel, gyro, mag, 0.005) # 1.97mS on Pyboard
t = time.ticks_diff(time.ticks_us(), start)
print("Temps de mostreig (uS):", t)
def _get_spad_info(self):
# Get reference SPAD count and type, returned as a 2-tuple of
# count and boolean is_aperture. Based on code from:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
self._write_u8(0x80, 0x01)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x00)
self._write_u8(0xFF, 0x06)
self._write_u8(0x83, self._read_u8(0x83) | 0x04)
self._write_u8(0xFF, 0x07)
self._write_u8(0x81, 0x01)
self._write_u8(0x80, 0x01)
self._write_u8(0x94, 0x6b)
self._write_u8(0x83, 0x00)
start = time.ticks_us()
while self._read_u8(0x83) == 0x00:
if self.io_timeout_s > 0 and \
(time.ticks_us() - start) >= self.io_timeout_s:
raise RuntimeError('Timeout waiting for VL53L0X!')
self._write_u8(0x83, 0x01)
tmp = self._read_u8(0x92)
count = tmp & 0x7F
is_aperture = ((tmp >> 7) & 0x01) == 1
self._write_u8(0x81, 0x00)
self._write_u8(0xFF, 0x06)
self._write_u8(0x83, self._read_u8(0x83) & ~0x04)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x01)
self._write_u8(0xFF, 0x00)
self._write_u8(0x80, 0x00)
return (count, is_aperture)
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()
time.sleep_us(10)
#pyb.udelay(10)
self.trigger.low()
# Wait 'till whe pulse starts.
while self.echo.value() == 0:
start = time.ticks_us()
# Wait 'till the pulse is gone.
while self.echo.value() == 1:
end = time.ticks_us()
# Deinit the microseconds counter
# micros.deinit()
# take time different between start and end pulse.
differ = time.ticks_diff(start, end)
# 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 = (differ / 2) / 29
return dist_in_cm
def ping(trigPin, echoPin):
trig = Pin(trigPin, Pin.OUT)
echo = Pin(echoPin, Pin.IN)
trig.value(1)
time.sleep_us(10)
trig.value(0)
count = 0
timeout = False
start = time.ticks_us()
while not echo.value(): #wait for HIGH
time.sleep_us(10)
count += 1
if count > 100000: #over 1s timeout
timeout = True
break
if timeout: #timeout return 0
duration = 0
else: #got HIGH pulse:calculate duration
count = 0
start = time.ticks_us()
while echo.value(): #wait for LOW
time.sleep_us(10)
count += 1
if count > 2320: #over 400cm range:quit
break
duration = time.ticks_diff(time.ticks_us(), start)
return duration
def timer(f, n):
t0 = time.ticks_us()
f(n)
t1 = time.ticks_us()
dt = time.ticks_diff(t1, t0)
fmt = "{:5.3f} s, {:6.3f} uSec/blink : {:8.2f} kHz/s"
print(fmt.format(dt * 1e-6, dt/N, N/dt * 1e3))
def _get_distance(self):
self.dio.write_digital(0)
time.sleep_us(2)
self.dio.write_digital(1)
time.sleep_us(10)
self.dio.write_digital(0)
t0 = time.ticks_us()
count = 0
while count < _TIMEOUT1:
if self.dio.read_digital():
break
count += 1
if count >= _TIMEOUT1:
return None
t1 = time.ticks_us()
count = 0
while count < _TIMEOUT2:
if not self.dio.read_digital():
break
count += 1
if count >= _TIMEOUT2:
return None
t2 = time.ticks_us()
#dt = int((t1 - t0) )
#if dt > 530:
# return None
distance = ((t2 - t1) / 29.0 / 2.0) # cm
return distance
def distance_in_cm(self):
start = 0
end = 0
self._distance_trigger.on()
time.sleep_us(10)
self._distance_trigger.off()
while self._distance_echo.value() == 0:
start = time.ticks_us()
while self._distance_echo.value() == 1:
end = time.ticks_us()
diff = time.ticks_diff(start, end)
# 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 = (diff / 2) / 29
self._distance_cm = -dist_in_cm
print("Distance: %s cm." % self._distance_cm)
if self._distance_cm > self._empty_quantity:
self._distance_cm = self._empty_quantity
return self._distance_cm
def _get_distance(pin):
pin.write_digital(0)
time.sleep_us(2)
pin.write_digital(1)
time.sleep_us(10)
pin.write_digital(0)
t0 = time.ticks_us()
count = 0
while count < _TIMEOUT1:
if pin.read_digital():
break
count += 1
if count >= _TIMEOUT1:
return -1
t1 = time.ticks_us()
count = 0
while count < _TIMEOUT2:
if not pin.read_digital():
break
count += 1
if count >= _TIMEOUT2:
return -1
t2 = time.ticks_us()
dt = int(time.ticks_diff(t1, t0))
if dt > 5300:
return -1
distance = (time.ticks_diff(t2, t1) / 29 / 2) # cm
return distance
def get_distance_cm(self):
# send pulse
self.pin.init(Pin.OUT)
self.pin.value(0)
time.sleep_us(2)
self.pin.value(1)
time.sleep_us(10)
self.pin.value(0)
# listen for response
self.pin.init(Pin.IN)
# wait for on
t0 = time.ticks_us()
count = 0
while count < 10000:
if self.pin.value():
break
count += 1
# wait for off
t1 = time.ticks_us()
count = 0
while count < 10000:
if not self.pin.value():
break
count += 1
t2 = time.ticks_us()
if t1 - t2 < 530:
return (t2 - t1) / 29 / 2
else:
return 0
def distance_in_cm():
start = 0
delta = 0
# Create a microseconds counter.
tPin.off()
time.sleep_us(5)
# Send a 10us pulse.
tPin.on()
time.sleep_us(10)
tPin.off()
# Wait 'till whe pulse starts.
while ePin.value() == 0:
# start = micros.counter()
start = time.ticks_us() # get millisecond counter)
# Wait 'till the pulse is gone.
while ePin.value() == 1:
delta = time.ticks_diff(time.ticks_us(),
start) # compute time difference
dist_in_cm = (delta / 2) / 29
return dist_in_cm
def trig_p25(self, pin):
if self.pin_p25.value() == 1:
self.start_p25 = time.ticks_us()
elif self.start_p25 is not 0:
self.result_p25 = time.ticks_diff(self.start_p25, time.ticks_us())
self.start_p25 = 0
def get_distance(pin):
# send pulse
pin.init(machine.Pin.OUT)
pin.value(0)
time.sleep_us(2)
pin.value(1)
time.sleep_us(10)
pin.value(0)
# listen for response
pin.init(machine.Pin.IN)
# wait for on
t0 = time.ticks_us()
count = 0
while count < 10000:
if pin.value():
break
count += 1
# wait for off
t1 = time.ticks_us()
count = 0
while count < 10000:
if not pin.value():
break
count += 1
t2 = time.ticks_us()
if t1 - t2 > 530:
return None
else:
return (t2 - t1) / 29 / 2
def trig_p10(self, pin):
if self.pin_p10.value() == 1:
self.start_p10 = time.ticks_us()
elif self.start_p10 is not 0:
self.result_p10 = time.ticks_diff(self.start_p10, time.ticks_us())
self.start_p10 = 0
def distance_in_cm(self):
start = 0
end = 0
# Create a microseconds counter.
start=time.ticks_us()
# Send a 10us pulse.
self.trigger.on()
time.sleep_us(20)
self.trigger.off()
# Wait 'till whe pulse starts.
while self.echo.value() == 0:
start = time.ticks_us()
# Wait 'till the pulse is gone.
while self.echo.value() == 1:
end = time.ticks_us()
# 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 distance_in_cm(self):
start = 0
end = 0
# Send a 10us pulse.
self.trigger.on()
time.sleep_us(10)
self.trigger.off()
# Wait 'till whe pulse starts.
while self.echo.value() == 0:
start = time.ticks_us()
# Wait 'till the pulse is gone.
while self.echo.value() == 1:
end = time.ticks_us()
# take time different between start and end pulse.
differ = time.ticks_diff(start, end)
# 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 = (differ / 2) / 29
return -dist_in_cm
def _echoRead(self, pin, index):
if pin.value():
self.echos[index]['start'] = time.ticks_us()
elif self.echos[index]['end'] == 0:
self.timer.deinit()
self.echos[index]['end'] = time.ticks_us()
micropython.schedule(self._measureNextRef, 0)
def ping(trigPin, echoPin):
'''
return: distance (cm)
'''
trig=Pin(trigPin, Pin.OUT)
echo=Pin(echoPin, Pin.IN)
trig.value(1)
time.sleep_us(10)
trig.value(0)
timeout=False
tm_start=time.ticks_us()
while not echo.value(): #wait for HIGH, 3000us timeout
if(time.ticks_diff(time.ticks_us(), tm_start)>3000):
timeout=True
break
if timeout: #timeout return 0
pass
else: #got HIGH pulse:calculate duration
tm_start=time.ticks_us()
tm_delta = 0
while echo.value(): #wait for LOW
tm_delta = time.ticks_diff(time.ticks_us(), tm_start)
if(tm_delta>3000):
timeout=True
break
if timeout:
pass
else:
tm_delta = time.ticks_diff(time.ticks_us(), tm_start)
duration=tm_delta
if timeout:
return 999 #cm, for timeout
return duration/58
def sync():
global lora
global index
global lora_sock
global active_tx
global active_rx
global proc_gw
global sack_rcv
global sack_bytes
lora.init(mode=LoRa.LORA, rx_iq=True, region=LoRa.EU868, frequency=freqs[my_sf-5], power_mode=LoRa.ALWAYS_ON, bandwidth=my_bw, sf=my_sf)
sync_start = time.ticks_us()
sack_rcv = 0
pycom.rgbled(white)
print("Waiting for sync...")
lora_sock.settimeout(None)
while (True):
machine.idle()
recv_pkg = lora_sock.recv(100)
if (len(recv_pkg) > 2):
recv_pkg_len = recv_pkg[1]
recv_pkg_id = recv_pkg[0]
if (int(recv_pkg_id) == (my_sf-5)):
sack_rcv = time.ticks_us()
dev_id, leng, s_msg = struct.unpack(_LORA_RCV_PKG_FORMAT % recv_pkg_len, recv_pkg)
s_msg = str(s_msg)[2:]
s_msg = s_msg[:-1]
sack_bytes = recv_pkg_len
(index, proc_gw, acks) = s_msg.split(":")
(index, proc_gw) = (int(index), int(proc_gw)*1000)
print("ACK!")
lora.power_mode(LoRa.SLEEP)
active_rx += (time.ticks_us() - sync_start)
break
print("sync slot lasted (ms):", (time.ticks_us()-sync_start)/1000)
print("active time during join-sync (rx/tx) (ms):", active_rx/1000, "/", active_tx/1000)
def serve_requests(sock, ip):
"""
The following block of code defines and calls the
serve_requests function, which will be in charge
of serving any requests that are made to the web
server. The function is called, and then the web
server is visited by a browser three separate times.
Each time a request is served, its details are
printed out
"""
print('webserver started on http://%s/' % ip)
print('\t hard-reset device when done')
start = time.ticks_us()
while True:
conn, address = sock.accept()
print('request:', address)
request = conn.makefile()
while True:
line = request.readline()
if not line or line == b'\r\n':
break
uptime = time.ticks_us() - start # time.monotonic() - start
html = TEMPLATE.format(uptime=uptime / 1E06) # microseconds -> seconds
conn.send(html)
conn.close()
def _send_pulse_and_wait(self):
# Send the pulse to trigger and listen on echo pin.
# We use the method `machine.time_pulse_us()` to
# get the microseconds until the echo is received.
self.trigger_pin.value(0) # Stabilize the sensor
sleep_us(5)
self.trigger_pin.on()
# Send a 10us pulse.
sleep_us(10)
self.trigger_pin.off()
# try:
# pulse_time = machine.time_pulse_us(self.echo_pin, 1, self.echo_timeout_us)
# return pulse_time
# except OSError as ex:
# if ex.args[0] == 110: # 110 = ETIMEDOUT
# return -1 # out of range
# raise ex
start = ticks_us()
while not self.echo_pin():
t = ticks_us()
if ticks_diff(t, start) > self.echo_timeout_us:
print("HCR04: timeout")
return -1
start = ticks_us()
while self.echo_pin():
t = ticks_us()
if ticks_diff(t, start) > self.echo_timeout_us:
print("HCR04: timeout")
return -1
delta = ticks_diff(ticks_us(), start)
return delta
def time_it(f, n):
t0 = time.ticks_us()
f(n)
t1 = time.ticks_us()
dt = tme.ticks_diff(t1, t0)
fmt = '{:5.3f} sec, {:6.3f} usec/blink : {:8.2f} kblinks/sec'
print(fmt.format(dt * 1e-6, dt / n, n / dt * 1e3))
def loop():
trigger = Pin(triggerPort, Pin.OUT)
echo = Pin(echoPort, Pin.IN)
print("Ultrasonic Sensor. Trigger Pin=%d and Echo Pin=%d" %
(triggerPort, echoPort))
trigger.value(not trigger.value())
while True:
# short impulse 10 microsec to trigger
trigger.value(not trigger.value())
time.sleep_us(10)
trigger.value(not trigger.value())
count = 0
start = time.ticks_us() # get time in usec
# Now loop until echo goes high
while not echo.value():
time.sleep_us(10)
count += 1
if count > 100:
print("Counter exceeded")
break
duration = time.ticks_diff(start,
time.ticks_us()) # compute time difference
print("Duration: %f" % duration)
# After 38ms is out of range of the sensor
if duration > 38000:
print("Out of range")
continue
# distance is speed of sound [340.29 m/s = 0.034029 cm/us] per half duration
distance = 0.017015 * duration
print("Distance: %f cm" % distance)
time.sleep(2)
def update_nomag(self, accel, gyro,dt): # 3-tuples (x, y, z) for accel, gyro
ax, ay, az = accel # Units G (but later normalised)
gx, gy, gz = (radians(x) for x in gyro) # Units deg/s
if self.start_time is None:
self.start_time = time.ticks_us() # First run
q1, q2, q3, q4 = (self.q[x] for x in range(4)) # short name local variable for readability
# Auxiliary variables to avoid repeated arithmetic
_2q1 = 2 * q1
_2q2 = 2 * q2
_2q3 = 2 * q3
_2q4 = 2 * q4
_4q1 = 4 * q1
_4q2 = 4 * q2
_4q3 = 4 * q3
_8q2 = 8 * q2
_8q3 = 8 * q3
q1q1 = q1 * q1
q2q2 = q2 * q2
q3q3 = q3 * q3
q4q4 = q4 * q4
# Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az)
if (norm == 0):
return # handle NaN
norm = 1 / norm # use reciprocal for division
ax *= norm
ay *= norm
az *= norm
# Gradient decent algorithm corrective step
s1 = _4q1 * q3q3 + _2q3 * ax + _4q1 * q2q2 - _2q2 * ay
s2 = _4q2 * q4q4 - _2q4 * ax + 4 * q1q1 * q2 - _2q1 * ay - _4q2 + _8q2 * q2q2 + _8q2 * q3q3 + _4q2 * az
s3 = 4 * q1q1 * q3 + _2q1 * ax + _4q3 * q4q4 - _2q4 * ay - _4q3 + _8q3 * q2q2 + _8q3 * q3q3 + _4q3 * az
s4 = 4 * q2q2 * q4 - _2q2 * ax + 4 * q3q3 * q4 - _2q3 * ay
norm = 1 / sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4) # normalise step magnitude
s1 *= norm
s2 *= norm
s3 *= norm
s4 *= norm
# Compute rate of change of quaternion
qDot1 = 0.5 * (-q2 * gx - q3 * gy - q4 * gz) - self.beta * s1
qDot2 = 0.5 * (q1 * gx + q3 * gz - q4 * gy) - self.beta * s2
qDot3 = 0.5 * (q1 * gy - q2 * gz + q4 * gx) - self.beta * s3
qDot4 = 0.5 * (q1 * gz + q2 * gy - q3 * gx) - self.beta * s4
# Integrate to yield quaternion
deltat = elapsed_micros(self.start_time) / 1000000
self.start_time = time.ticks_us()
q1 += qDot1 * deltat
q2 += qDot2 * deltat
q3 += qDot3 * deltat
q4 += qDot4 * deltat
norm = 1 / sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4) # normalise quaternion
self.q = q1 * norm, q2 * norm, q3 * norm, q4 * norm
self.heading = 0
self.pitch = degrees(-asin(2.0 * (self.q[1] * self.q[3] - self.q[0] * self.q[2])))
self.roll = degrees(atan2(2.0 * (self.q[0] * self.q[1] + self.q[2] * self.q[3]),
self.q[0] * self.q[0] - self.q[1] * self.q[1] - self.q[2] * self.q[2] + self.q[3] * self.q[3]))
def get_distance(self):
# Delay measurement if measure frequency is too high in order to avoid overlapping echos.
time_to_next_measurement = 3 * Ultrasonic._MAX_ULTRASONIC_TRAVEL_TIME - \
(ticks_us() - Ultrasonic._last_trigger_us)
if time_to_next_measurement > 0:
sleep_us(time_to_next_measurement)
# Reset pins
self.echo_pin.read_digital()
self.trig_pin.write_digital(0)
sleep_us(2)
# Trigger sound
Ultrasonic._last_trigger_us = ticks_us()
self.trig_pin.write_digital(1)
sleep_us(10)
self.trig_pin.write_digital(0)
# Read echo travel time
travel_time = time_pulse_us(self.echo_pin, 1,
Ultrasonic._MAX_ULTRASONIC_TRAVEL_TIME)
if travel_time <= 0:
travel_time = Ultrasonic._MAX_ULTRASONIC_TRAVEL_TIME
# Return distance
return travel_time // self.distance_unit
def checkdist(self): self.trig.value(0) self.echo.value(0) self.trig.value(1) time.sleep_us(10) self.trig.value(0) while(self.echo.value()==0): pass t1=time.ticks_us() while(self.echo.value()==1): pass t2=time.ticks_us() return round(time.ticks_diff(t2,t1)/10000*340/2,2)
def measure():
Trig.low()
sleep_us(15)
Trig.high()
sleep_us(15)
Trig.low()
while(Echo.value() == 0):
start = ticks_us()
while(Echo.value() == 1):
end = ticks_us()
duration = end - start
dist = 0.03435 * 0.5 * duration
print("duration: " + str(duration) + ", " + \
"distance: " + str(dist))
return dist
def step(self, num_steps):
if time.ticks_diff(self.time0, time.ticks_ms()) > self.delay:
steps_left = abs(num_steps)
if num_steps > 0: self.direction = True
if num_steps < 0: self.direction = False
# decrement the number of steps, moving one step each time:
while steps_left > 0:
now = time.ticks_us()
# move only if the appropriate delay has passed:
if time.ticks_diff(self.last_step_time, now) >= self.step_delay:
self.last_step_time = now
if self.direction:
self.step_number += 1
if self.step_number == self.step_num:
self.step_number = 0
else:
if self.step_number == 0:
self.step_number = self.step_num
self.step_number -= 1
steps_left -= 1
self.step_motor(self.step_number % 4)
self.time0 = time.ticks_ms()
def _send_down_link(self, data, tmst, datarate, frequency):
self.lora.init(mode=LoRa.LORA, frequency=frequency, bandwidth=LoRa.BW_125KHZ,
sf=self._dr_to_sf(datarate), preamble=8, coding_rate=LoRa.CODING_4_5,
tx_iq=True)
while time.ticks_us() < tmst:
pass
self.lora_sock.send(data)
def changingEdge(self, pin): global callback # Get the flag which enabled to IRQ flags = callback.flags() # If rising, start count the time if flags & Pin.IRQ_RISING: self.raising_time = time.ticks_us() # If falling edge, then stop counting the time and calculate the distance elif flags & Pin.IRQ_FALLING: self.falling_time = time.ticks_us() # Get the ellapsed time between RISING and FALLING delay = time.ticks_diff(self.raising_time, self.falling_time) # We use 17 instead of 0,017 distance = delay * 17 # We rescale the distance in cm by separating cm and mm self.cm = distance // 1000 self.mm = distance % 1000 #in case we have a distance like 49028 # cm = 49 # mm = 028 but the 0 would be discared so we check it if distance % 100 == distance % 1000: self.mm_decimal = "0"
def _lora_cb(self, lora):
events = lora.events()
if events & LoRa.RX_PACKET_EVENT:
self.rxnb += 1
self.rxok += 1
rx_data = self.lora_sock.recv(256)
stats = lora.stats()
#self._push_data(self._make_node_packet(rx_data, self.rtc.now(), stats.rx_timestamp, stats.sfrx, stats.rssi, stats.snr))
# Fix the "not joined yet" issue: https://forum.pycom.io/topic/1330/lopy-lorawan-gateway-with-an-st-lorawan-device/2
self._push_data(self._make_node_packet(rx_data, self.rtc.now(), time.ticks_us(), stats.sfrx, stats.rssi, stats.snr))
self.rxfw += 1
if events & LoRa.TX_PACKET_EVENT:
self.txnb += 1
lora.init(mode=LoRa.LORA, frequency=self.frequency, bandwidth=LoRa.BW_125KHZ,
sf=self.sf, preamble=8, coding_rate=LoRa.CODING_4_5, tx_iq=True)
def _udp_thread(self):
while True:
try:
data, src = self.sock.recvfrom(1024)
_token = data[1:3]
_type = data[3]
if _type == PUSH_ACK:
print("Push ack")
elif _type == PULL_ACK:
print("Pull ack")
elif _type == PULL_RESP:
self.dwnb += 1
ack_error = TX_ERR_NONE
tx_pk = json.loads(data[4:])
tmst = tx_pk["txpk"]["tmst"]
t_us = tmst - time.ticks_us() - 5000
if t_us < 0:
t_us += 0xFFFFFFFF
if t_us < 20000000:
self.uplink_alarm = Timer.Alarm(handler=lambda x: self._send_down_link(binascii.a2b_base64(tx_pk["txpk"]["data"]),
tx_pk["txpk"]["tmst"] - 10, tx_pk["txpk"]["datr"],
int(tx_pk["txpk"]["freq"] * 1000000)), us=t_us)
else:
ack_error = TX_ERR_TOO_LATE
print("Downlink timestamp error!, t_us:", t_us)
self._ack_pull_rsp(_token, ack_error)
print("Pull rsp")
except socket.timeout:
pass
except OSError as e:
if e.errno == errno.EAGAIN:
pass
else:
print("UDP recv OSError Exception")
except Exception:
print("UDP recv Exception")
# Wait before trying to receive again
time.sleep(0.025)
def main():
#-----------------------------------------------
#RUN PARAMETERS ... edit;
#
#agent to poll
agent_ip = "192.168.1.1"
agent_port = 161
agent_community = "public"
#wifes (not my wifes) smartphone MAC Address
mac = b"f437b76dbc64"
#pin number that neopixel data-in is connected to
np_pin = 4
#number of neopixels in string
np_count = 8
#inter-poll delay, in seconds
delay = 1
#-----------------------------------------------
#the oids in the PAT table
oids_pat = ("1.3.6.1.2.1.3.1.1.1","1.3.6.1.2.1.3.1.1.2","1.3.6.1.2.1.3.1.1.3")
#the oid in the table that contains the mac
oid_mac = "1.3.6.1.2.1.3.1.1.2"
#the oid of the next entry after the end of the table
oid_next = "1.3.6.1.2.1.4.1.0"
np = neopixel.NeoPixel(machine.Pin(np_pin), np_count)
s = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
s.settimeout(1)
gc.collect()
#build a getnextrequest packet
greq = usnmp.SnmpPacket(type=usnmp.SNMP_GETNEXTREQUEST, community=agent_community, id=time.ticks_us())
for oid in oids_pat:
greq.varbinds[oid] = None
while True:
gc.collect()
#send getnextrequest
s.sendto(greq.tobytes(), (agent_ip, agent_port))
d = s.recvfrom(1024)
#decode the response
gresp = usnmp.SnmpPacket(d[0])
ishome = False
endpat = False
while endpat == False:
gc.collect()
#walk the returned oid/values
for oid in gresp.varbinds:
#if this one contains a mac
if oid.startswith(oid_mac):
#compare it to the mac were looking for
if ubinascii.hexlify(gresp.varbinds[oid][1]) == mac:
ishome = True
#check for the end of the table
if oid.startswith(oid_next):
endpat = True
#turn the response into a request ...
gresp.type = usnmp.SNMP_GETNEXTREQUEST
gresp.id = time.ticks_us()
for oid in gresp.varbinds:
gresp.varbinds[oid] = None
s.sendto(gresp.tobytes(), (agent_ip, agent_port))
d = s.recvfrom(1024)
gresp = usnmp.SnmpPacket(d[0])
print(ishome)
#light the led according to whether she is home
for i in range(np_count):
np[i] = (255,0,0) if ishome else (0,255,0)
np.write()
time.sleep(delay)
spot_test( 1, (2000, 1, 1, 0, 0, 1, 5, 1)) spot_test( 59, (2000, 1, 1, 0, 0, 59, 5, 1)) spot_test( 60, (2000, 1, 1, 0, 1, 0, 5, 1)) spot_test( 3599, (2000, 1, 1, 0, 59, 59, 5, 1)) spot_test( 3600, (2000, 1, 1, 1, 0, 0, 5, 1)) spot_test( -1, (1999, 12, 31, 23, 59, 59, 4, 365)) spot_test( 447549467, (2014, 3, 7, 23, 17, 47, 4, 66)) spot_test( -940984933, (1970, 3, 7, 23, 17, 47, 5, 66)) spot_test(-1072915199, (1966, 1, 1, 0, 0, 1, 5, 1)) spot_test(-1072915200, (1966, 1, 1, 0, 0, 0, 5, 1)) spot_test(-1072915201, (1965, 12, 31, 23, 59, 59, 4, 365)) t1 = time.time() time.sleep(2) t2 = time.time() print(time.ticks_diff(t1, t2) == 2) t1 = time.ticks_ms() time.sleep_ms(50) t2 = time.ticks_ms() print(time.ticks_diff(t1, t2) == 50) t1 = time.ticks_us() time.sleep_us(1000) t2 = time.ticks_us() print(time.ticks_diff(t1, t2) < 2000) t1 = time.ticks_cpu() t2 = time.ticks_cpu() print(time.ticks_diff(t1, t2) < 16384)
def main():
#-----------------------------------------------
#RUN PARAMETERS ... edit;
#
#agent to poll
agent_ip = "192.168.1.1"
agent_port = 161
agent_community = "public"
#oid of interface in/out octet to monitor
# "1.3.6.1.2.1.2.2.1.10.6" == ifInOctets::6
# (my home routers wan interface, vlan1)
oid_if_inoct = "1.3.6.1.2.1.2.2.1.10.6"
#expected interface peak throughput in bps
# 16Mbps;
bandwidth=16*1024*1024
#pin number that neopixel data-in is connected to
np_pin = 4
#number of neopixels in string
np_count = 8
#inter-poll delay, in seconds
delay = 0.1
#-----------------------------------------------
#oid of agent uptime
# used to calculate throughput as bits per 1/100s
# use agent, rather than mcu (manager), time to
# negate impact of nw latency
oid_uptime = "1.3.6.1.2.1.1.3.0"
np = neopixel.NeoPixel(machine.Pin(np_pin), np_count)
s = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
s.settimeout(1)
vu = []
for i in range(np_count):
if i < np_count*60//100:
vu.append((0,100,0)) #green
elif i < np_count*80//100:
vu.append((100,15,0)) #orange
else:
vu.append((100,0,0)) #red
gc.collect()
greq = usnmp.SnmpPacket(type=usnmp.SNMP_GETREQUEST, community=agent_community, id=time.ticks_us())
for i in (oid_uptime, oid_if_inoct):
greq.varbinds[i] = None
s.sendto(greq.tobytes(), (agent_ip, agent_port))
d = s.recvfrom(1024)
gresp = usnmp.SnmpPacket(d[0])
while True:
last_ut = gresp.varbinds[oid_uptime][1]
last_in8 = gresp.varbinds[oid_if_inoct][1]
gc.collect()
time.sleep(delay)
greq.id=time.ticks_us()
s.sendto(greq.tobytes(), (agent_ip, agent_port))
d = s.recvfrom(1024)
gresp = usnmp.SnmpPacket(d[0])
if greq.id == gresp.id:
ut = gresp.varbinds[oid_uptime][1]
in8 = gresp.varbinds[oid_if_inoct][1]
bps = (in8-last_in8)//(ut-last_ut)*100*8
level = bps*np_count//bandwidth
print(bps, "bps")
for i in range(np_count):
np[i] = vu[i] if level>i else (0,0,0)
np.write()
def test_features(lcd, orient=lcd160cr.PORTRAIT):
# if we run on pyboard then use ADC and RTC features
try:
import pyb
adc = pyb.ADCAll(12, 0xf0000)
rtc = pyb.RTC()
except:
adc = None
rtc = None
# set orientation and clear screen
lcd = get_lcd(lcd)
lcd.set_orient(orient)
lcd.set_pen(0, 0)
lcd.erase()
# create M-logo
mlogo = framebuf.FrameBuffer(bytearray(17 * 17 * 2), 17, 17, framebuf.RGB565)
mlogo.fill(0)
mlogo.fill_rect(1, 1, 15, 15, 0xffffff)
mlogo.vline(4, 4, 12, 0)
mlogo.vline(8, 1, 12, 0)
mlogo.vline(12, 4, 12, 0)
mlogo.vline(14, 13, 2, 0)
# create inline framebuf
offx = 14
offy = 19
w = 100
h = 75
fbuf = framebuf.FrameBuffer(bytearray(w * h * 2), w, h, framebuf.RGB565)
lcd.set_spi_win(offx, offy, w, h)
# initialise loop parameters
tx = ty = 0
t0 = time.ticks_us()
for i in range(300):
# update position of cross-hair
t, tx2, ty2 = lcd.get_touch()
if t:
tx2 -= offx
ty2 -= offy
if tx2 >= 0 and ty2 >= 0 and tx2 < w and ty2 < h:
tx, ty = tx2, ty2
else:
tx = (tx + 1) % w
ty = (ty + 1) % h
# create and show the inline framebuf
fbuf.fill(lcd.rgb(128 + int(64 * math.cos(0.1 * i)), 128, 192))
fbuf.line(w // 2, h // 2,
w // 2 + int(40 * math.cos(0.2 * i)),
h // 2 + int(40 * math.sin(0.2 * i)),
lcd.rgb(128, 255, 64))
fbuf.hline(0, ty, w, lcd.rgb(64, 64, 64))
fbuf.vline(tx, 0, h, lcd.rgb(64, 64, 64))
fbuf.rect(tx - 3, ty - 3, 7, 7, lcd.rgb(64, 64, 64))
for phase in (-0.2, 0, 0.2):
x = w // 2 - 8 + int(50 * math.cos(0.05 * i + phase))
y = h // 2 - 8 + int(32 * math.sin(0.05 * i + phase))
fbuf.blit(mlogo, x, y)
for j in range(-3, 3):
fbuf.text('MicroPython',
5, h // 2 + 9 * j + int(20 * math.sin(0.1 * (i + j))),
lcd.rgb(128 + 10 * j, 0, 128 - 10 * j))
lcd.show_framebuf(fbuf)
# show results from the ADC
if adc:
show_adc(lcd, adc)
# show the time
if rtc:
lcd.set_pos(2, 0)
lcd.set_font(1)
t = rtc.datetime()
lcd.write('%4d-%02d-%02d %2d:%02d:%02d.%01d' % (t[0], t[1], t[2], t[4], t[5], t[6], t[7] // 100000))
# compute the frame rate
t1 = time.ticks_us()
dt = time.ticks_diff(t1, t0)
t0 = t1
# show the frame rate
lcd.set_pos(2, 9)
lcd.write('%.2f fps' % (1000000 / dt))
def timeUS(x):
global atime
# print(time.ticks_us() - atime)
if((time.ticks_us() - atime) > 8000):
actTriac(1)
atime = time.ticks_us()
