class ADXL362_MotionSensor(ADXL362):
def __init__(self,
csPIN,
ISRPin,
ActivityThreshold=70,
ActivityTime=5,
InactivityThreshold=1000,
InactivityTime=5):
self.steps = 0
ADXL362.__init__(self, csPIN)
self.isrpin = Pin(ISRPin, mode=Pin.IN)
self.isrpin.callback(trigger=Pin.IRQ_RISING, handler=self._isr_handler)
self.setupDCActivityInterrupt(ActivityThreshold, ActivityTime)
self.setupDCInactivityInterrupt(InactivityThreshold, InactivityTime)
#ACTIVITY/INACTIVITY CONTROL REGISTER
self.SPIwriteOneRegister(
0x27, 0B111111
) #B111111 Link/Loop:11 (Loop Mode), Inactive Ref Mode:1,Inactive Enable (under threshold):1,Active Ref Mode:1, Active Enable (over threshold):1
#MAP INTERRUPT 1 REGISTER.
self.SPIwriteOneRegister(
0x2A, 0B10010000
) #B00010000 0=HIGH on ISR,AWAKE:0,INACT:0,ACT:1,FIFO_OVERRUN:0,FIFO_WATERMARK:0,FIFO_READY:0,DATA_READY:0
#POWER CONTROL REGISTER
self.SPIwriteOneRegister(
0x2D, 0B1110
) #B1011 Wake-up:1,Autosleep:0,measure:11=Reserved (Maybe works better)
self.beginMeasure()
time.sleep_ms(100)
def _isr_handler(self, id):
self.steps += 1
class Encoder(object):
# create encoder for pins pa and pb and attach interrupt handlers
def __init__(self, pin_x, pin_y):
self._count = 0
self.x = Pin(pin_x, mode=Pin.IN)
self.y = Pin(pin_y, mode=Pin.IN)
self.x.callback(Pin.IRQ_RISING | Pin.IRQ_FALLING,
handler=self.x_callback)
self.y.callback(Pin.IRQ_RISING | Pin.IRQ_FALLING,
handler=self.y_callback)
def x_callback(self, _):
self._count += 1 if self.x() ^ self.y() else -1
def y_callback(self, _):
self._count += 1 if self.x() ^ self.y() ^ 1 else -1
@property
def count(self):
return self._count
@property
def count_and_reset(self):
c = self._count
self._count = 0
return c
def reset(self):
self._count = 0
class ResetButton:
def __init__(self, pin):
self._pin = Pin(pin, mode=Pin.IN, pull=Pin.PULL_UP)
self._pin.callback(Pin.IRQ_FALLING, self._pin_handler)
self._alarm = None
self._alarm_step = .2
self._alarm_thres = 3
self._pressed = 0
def _press_handler(self, alarm):
# if button is still pressed
if not self._pin():
self._pressed += self._alarm_step
print('pressed for {} seconds already'.format(self._pressed))
if self._pressed >= self._alarm_thres:
self._pressed = 0
alarm.cancel()
enter_provisioning_mode()
else:
self._pressed = 0
alarm.cancel()
reset()
def _pin_handler(self, pin):
# print('got an interrupt on pin {}, value {}'.format(pin.id(), pin.value()))
if not pin.value():
self._pressed = 0
if self._alarm:
self._alarm.cancel()
self._alarm = Timer.Alarm(self._press_handler,
self._alarm_step,
periodic=True)
def hardwareInit(switch):
#init
gc.disable()
gc.enable()
power_fail = Pin(POWER_FAIL_PIN, mode=Pin.IN, pull=Pin.PULL_UP)
power_fail.callback(Pin.IRQ_RISING, _powerFail_cb)
pf_state = debouncedPFSignal(power_fail)
display = Pin('P8', mode=Pin.OUT)
if pf_state == False:
display.value(1)
LED_OUT = Pin(LED_OUT_PIN, mode=Pin.OUT)
LED_OUT.value(0)
SWITCH_VDD = Pin('P20', mode=Pin.OUT) # old H/W version
SWITCH_VCTL = Pin('P19', mode=Pin.OUT)
SWITCH_VDD.value(1)
SWITCH_VCTL.value(switch)
power_fail_semaphore.acquire(0) # locked the sem
return pf_state
class ButtonSensor(EventSensor):
def __init__(self, queue, pinstr=BUTTON_PIN):
self.pin = Pin(pinstr, mode=Pin.IN, pull=Pin.PULL_UP)
self.pin.callback(Pin.IRQ_FALLING, self._event_handler)
EventSensor.__init__(self, queue)
pass
def _event_handler(self, pin):
self.printout('Button pressed')
EventSensor._event_handler(self)
class ENCODEUR:
def __init__(self, Enc_voieA_pin, Enc_voieB_pin, Pont_H_moteur):
# Affectation des broches des encodeurs
self.Enc_voieA_pin = Enc_voieA_pin
self.Enc_voieB_pin = Enc_voieB_pin
self.Pont_H_moteur = Pont_H_moteur
self.EncodeurA = Pin(self.Enc_voieA_pin, mode=Pin.IN, pull=Pin.PULL_UP)
self.EncodeurB = Pin(self.Enc_voieB_pin, mode=Pin.IN, pull=Pin.PULL_UP)
# Définition des modalités d'IT et d'appel des routines d'IT associées aux encodeurs
self.EncodeurA.callback(
Pin.IRQ_RISING | Pin.IRQ_FALLING,
self.IT_EncodeurA) # Interruption sur fronts montant et descendant
self.EncodeurB.callback(
Pin.IRQ_RISING | Pin.IRQ_FALLING,
self.IT_EncodeurB) # Interruption sur fronts montant et descendant
self.ticks_voieA = 0
self.ticks_voieB = 0
self.ticks_voieA_pid = 0
self.ticks_voieB_pid = 0
self.ticks_voieA_odometrie = 0
self.ticks_voieB_odometrie = 0
#---------------------------------------------------------------------------
# Fonction de gestion des encodeurs moteurs : gestion par IT
def IT_EncodeurA(self, arg):
self.ticks_voieA += 1
self.ticks_voieA_pid += 1
if (self.Pont_H_moteur.sens == SENS_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_DROIT_Flag) or (
self.Pont_H_moteur.sens == SENS_ANTI_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_GAUCHE_Flag):
self.ticks_voieA_odometrie += 1
elif (self.Pont_H_moteur.sens == SENS_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_GAUCHE_Flag) or (
self.Pont_H_moteur.sens == SENS_ANTI_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_DROIT_Flag):
self.ticks_voieA_odometrie -= 1
def IT_EncodeurB(self, arg):
self.ticks_voieB += 1
self.ticks_voieB_pid += 1
if (self.Pont_H_moteur.sens == SENS_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_DROIT_Flag) or (
self.Pont_H_moteur.sens == SENS_ANTI_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_GAUCHE_Flag):
self.ticks_voieB_odometrie += 1
elif (self.Pont_H_moteur.sens == SENS_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_GAUCHE_Flag) or (
self.Pont_H_moteur.sens == SENS_ANTI_HORAIRE
and self.Pont_H_moteur.moteur_dg == MOTEUR_DROIT_Flag):
self.ticks_voieB_odometrie -= 1
class TRIG:
def __init__(self, pin1, pin2):
self.result_p10 = None
self.result_p25 = None
self.start_p10 = 0
self.start_p25 = 0
if pin1 is not None:
self.pin_p10 = Pin(pin1, Pin.IN, pull = Pin.PULL_UP)
self.pin_p10.callback(Pin.IRQ_RISING | Pin.IRQ_FALLING, self.trig_p10)
if pin2 is not None:
self.pin_p25 = Pin(pin2, Pin.IN, pull = Pin.PULL_UP)
self.pin_p25.callback(Pin.IRQ_RISING | Pin.IRQ_FALLING, self.trig_p25)
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 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 getDust_pm10(self):
if self.result_p10 is None:
return None
else:
result = self.result_p10
self.result_p10 = None
return result
def getDust_pm25(self):
if self.result_p25 is None:
return None
else:
result = self.result_p25
self.result_p25 = None
return result
class encoder:
def __init__(self, hallsensorApin, hallsensorBpin):
self.count = 0
self.hallsensorA = Pin(hallsensorApin, mode=Pin.IN, pull=Pin.PULL_UP)
self.hallsensorB = Pin('P21', mode=Pin.IN, pull=Pin.PULL_UP)
self.count_max = 450 #This is the amount of pulses per revolution
self.count_min = 0
def rencoder(self, direction):
if direction == 'CW':
self.count += 1
# if self.count==self.count_max:
# self.count=0
elif direction == 'CCW':
self.count -= 1
# if self.count==self.count_min:
# self.count=1800
def reset_count(self):
self.count = 0
def get_count(self):
encoder.count
def trigger(self, direction):
# self.direction = direction
# if self.direction =='CW':
# self.hallsensorA.callback(Pin.IRQ_RISING, self.rencoder(direction), arg=None)
# elif self.direction =='CCW':
# self.hallsensorB.callback(Pin.IRQ_FALLING, self.rencoder(direction), arg=None)
self.direction = direction
if self.direction == 'CW':
self.hallsensorA.callback(Pin.IRQ_RISING,
self.rencoder(direction),
arg=None)
elif self.direction == 'CCW':
self.hallsensorB.callback(Pin.IRQ_FALLING,
self.rencoder(direction),
arg=None)
class Button:
def __init__(self, id):
self.pressed = False
self.btn = Pin(id, mode=Pin.IN, pull=Pin.PULL_UP)
def on(self):
self.btn.callback(Pin.IRQ_FALLING | Pin.IRQ_RISING,
self._handler)
def off(self):
self.btn.callback(Pin.IRQ_FALLING | Pin.IRQ_RISING,
None)
def _handler(self, pin):
value = pin.value()
if not value and not self.pressed:
print('Button pushed')
self.pressed = True
elif value and self.pressed:
print('Button released')
self.pressed = False
else:
pass
class BUTTON:
def __init__(self,pid='P12',longms=1000):
self.longms = longms
self.butms = utime.ticks_ms()
self.ticks_sign = utime.ticks_diff(1, 2) # get the sign of ticks_diff, e.g. in init code.
self.pin = Pin(pid, mode=Pin.IN, pull=Pin.PULL_UP)
self.pin.callback(Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=self.press)
def long(self):
pass
def short(self):
print("short")
pass
def press(self,pin):
#print("press :{}".format(pin))
#print("time :{}".format((utime.ticks_diff(self.butms, utime.ticks_ms()) * self.ticks_sign)))
if (utime.ticks_diff(self.butms, utime.ticks_ms()) * self.ticks_sign) > 300 :
self.short()
self.butms = utime.ticks_ms()
gc.collect()
class LIS2HH12:
ACC_I2CADDR = const(30)
PRODUCTID_REG = const(0x0F)
ACT_THS = const(0x1E)
ACT_DUR = const(0x1F)
CTRL1_REG = const(0x20)
CTRL2_REG = const(0x21)
CTRL3_REG = const(0x22)
CTRL4_REG = const(0x23)
CTRL5_REG = const(0x24)
CTRL6_REG = const(0x25)
CTRL7_REG = const(0x26)
STATUS_REG = const(0x27)
ACC_X_L_REG = const(0x28)
ACC_X_H_REG = const(0x29)
ACC_Y_L_REG = const(0x2A)
ACC_Y_H_REG = const(0x2B)
ACC_Z_L_REG = const(0x2C)
ACC_Z_H_REG = const(0x2D)
FIFO_CTRL_REG = const(0x2E)
FIFO_SRC_REG = const(0x2F)
SCALES = {FULL_SCALE_2G: 4000, FULL_SCALE_4G: 8000, FULL_SCALE_8G: 16000}
ODRS = [0, 10, 50, 100, 200, 400, 800]
def __init__(self, pysense=None, sda='P22', scl='P21'):
if pysense is not None:
self.i2c = pysense.i2c
else:
from machine import I2C
self.i2c = I2C(0, mode=I2C.MASTER, pins=(sda, scl))
self.odr = 0
self.full_scale = 0
self.x = 0
self.y = 0
self.z = 0
self.int_pin = None
self.act_dur = 0
self.debounced = False
self._user_handler = None
# reboot the accelerometer, to be sure it works as expected
self.force_reboot()
whoami = self.i2c.readfrom_mem(ACC_I2CADDR, PRODUCTID_REG, 1)
if (whoami[0] != 0x41):
raise ValueError("LIS2HH12 not found")
# enable acceleration readings at 50Hz
self.set_odr(ODR_50_HZ)
# change the full-scale to 4g
self.set_full_scale(FULL_SCALE_4G)
# set the interrupt pin as active low and open drain
self.set_register(CTRL5_REG, 3, 0, 3)
# make a first read
self.acceleration()
FIFO_EN = const(0x01 << 7) # CTRL3: FIFO enable. Default value 0. (0: disable; 1: enable)
INT1_OVR = const(0x01 << 2) # FIFO overrun signal on INT1
FMODE = const(0x01 << 5) # FIFO_CTRL: FIFO mode selection: FIFO mode. Stops collecting data when FIFO is full
def setup_fifo(self):
# set the register to enable the FIFO
self.set_register(CTRL3_REG, (FIFO_EN | INT1_OVR), 0, (FIFO_EN | INT1_OVR))
# set mode to FIFO mode
self.set_register(FIFO_CTRL_REG, FMODE, 0, FMODE)
def restart_fifo(self):
# set mode to FIFO mode
self.set_register(FIFO_CTRL_REG, 0, 0, FMODE)
self.set_register(FIFO_CTRL_REG, FMODE, 0, FMODE)
def enable_fifo_interrupt(self, handler=None):
# enable the interrupt, which occurs, when fifo is full and set the corresponding handler
self._user_handler = handler
self.int_pin = Pin('P13', mode=Pin.IN)
self.int_pin.callback(trigger=Pin.IRQ_FALLING, handler=self._int_handler)
def acceleration(self):
x = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_X_L_REG, 2)
self.x = struct.unpack('<h', x)
y = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_Y_L_REG, 2)
self.y = struct.unpack('<h', y)
z = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_Z_L_REG, 2)
self.z = struct.unpack('<h', z)
_mult = self.SCALES[self.full_scale] / ACC_G_DIV
return (self.x[0] * _mult), (self.y[0] * _mult), (self.z[0] * _mult)
def roll(self):
x, y, z = self.acceleration()
rad = math.atan2(-x, z)
return (180 / math.pi) * rad
def pitch(self):
x, y, z = self.acceleration()
rad = -math.atan2(y, (math.sqrt(x * x + z * z)))
return (180 / math.pi) * rad
def get_register(self, register):
return self.i2c.readfrom_mem(ACC_I2CADDR, register, 1)
def get_all_register(self):
reg = bytearray(self.i2c.readfrom_mem(ACC_I2CADDR, CTRL1_REG, 8))
print(ubinascii.hexlify(reg))
def set_register(self, register, value, offset, mask):
reg = bytearray(self.i2c.readfrom_mem(ACC_I2CADDR, register, 1))
reg[0] &= ~(mask << offset)
reg[0] |= ((value & mask) << offset)
self.i2c.writeto_mem(ACC_I2CADDR, register, reg)
def set_full_scale(self, scale):
self.set_register(CTRL4_REG, scale, 4, 3)
self.full_scale = scale
def set_odr(self, odr):
self.set_register(CTRL1_REG, odr, 4, 7)
self.odr = odr
def set_high_pass(self, hp):
# set FDS bit 0: internal filter bypassed; 1: data from internal filter sent to output register and FIFO
self.set_register(CTRL2_REG, 1 if hp else 0, 2, 1)
# set DFC[1:0] bits: High-pass filter cutoff frequency
# 00=ODR/50, 01=ODR/100, 10=ODR/9, 11=ODR/400
self.set_register(CTRL2_REG, 3, 5, 2)
def force_reboot(self):
# set the BOOT bit and Force reboot, cleared as soon as the reboot is finished. Active high
wait_loops = 0
self.set_register(CTRL6_REG, 1, 7, 1)
while self.get_register(CTRL6_REG) >= b'\x80':
time.sleep(0.1)
wait_loops += 1
if wait_loops > 100:
raise Exception("Timeout while waiting for read status")
def enable_activity_interrupt(self, threshold, duration, handler=None):
# Threshold is in mg, duration is ms
self.act_dur = duration
if threshold > self.SCALES[self.full_scale]:
error = "threshold %d exceeds full scale %d" % (threshold, self.SCALES[self.full_scale])
print(error)
raise ValueError(error)
if threshold < self.SCALES[self.full_scale] / 128:
error = "threshold %d below resolution %d" % (threshold, self.SCALES[self.full_scale] / 128)
print(error)
raise ValueError(error)
if duration > 255 * 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d exceeds max possible value %d" % (duration, 255 * 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
if duration < 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d below resolution %d" % (duration, 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
_ths = int(127 * threshold / self.SCALES[self.full_scale]) & 0x7F
_dur = int((duration * self.ODRS[self.odr]) / 1000 / 8)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_THS, _ths)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_DUR, _dur)
# enable the activity/inactivity interrupt
self.set_register(CTRL3_REG, 1, 5, 1)
self._user_handler = handler
self.int_pin = Pin('P13', mode=Pin.IN)
self.int_pin.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=self._int_handler)
# return actual used threshold and duration
return (_ths * self.SCALES[self.full_scale] / 128, _dur * 8 * 1000 / self.ODRS[self.odr])
def activity(self):
if not self.debounced:
time.sleep_ms(self.act_dur)
self.debounced = True
if self.int_pin():
return True
return False
def _int_handler(self, pin_o):
if self._user_handler is not None:
self._user_handler(pin_o)
else:
if pin_o():
print('Activity interrupt')
else:
print('Inactivity interrupt')
class BUTTON:
def __init__(self,
sensor,
node,
manager,
status_alert=0,
pid='P10',
longms=1000):
self.manager = manager
self.pressms = 0
self.longms = longms
self.pin = Pin(pid, mode=Pin.IN, pull=Pin.PULL_DOWN)
self.pin.callback(Pin.IRQ_RISING, self.press)
self.sensor = sensor
self.node = node
self.status_alert = status_alert
self.args = (self.sensor, self.node, self.status_alert)
print("Button setup!")
def check_delay(self):
return self.manager.can_press()
def long(self):
pass
def short(self):
pass
def press(self, pin):
print("{} pressed!".format(pin))
# state = disable_irq()
# If never pressed, store press time
if self.pressms == 0:
self.pressms = ticks_ms()
else:
# If pressed within 500 ms of first press, discard (button bounce)
if ticks_diff(self.pressms, ticks_ms()) < 500:
return
# Wait for value to stabilize for 10 ms
i = 0
while i < 10:
sleep_ms(1)
if self.pin() == 0:
i = 0
else:
i += 1
if not self.check_delay():
self.manager.button_pressed()
print("CANT PRESS YET! HAHA")
print("button done")
print('-------------------')
print('\n')
# enable_irq(state)
rgb.blink_red(1, 1, 1)
self.manager.button_depressed()
return
self.manager.button_pressed()
# Measure button press duration
while self.pin() == 1:
i += 1
if i > self.longms:
break
sleep_ms(1)
# Trigger short or long press
if i > self.longms:
start_new_thread(self.long, self.args)
else:
start_new_thread(self.short, self.args)
# Wait for button release.
while self.pin() == 1:
pass
self.pressms = 0
# enable_irq(state)
rgb.blink_green(3)
self.manager.button_depressed()
gc.collect()
print("button done!!")
return 0
def create_button():
button = Pin("G17", Pin.IN, pull=Pin.PULL_UP)
button.callback(Pin.IRQ_RISING, button_handler) # Interrupt on raising signal
return button
from machine import Pin
import time
# Pin: P14 for Pysense board
# Pin: G17 for Extension board
is_pressed = False
def handler(pin):
global is_pressed
value = pin.value()
if not value and not is_pressed:
print('Button pressed')
is_pressed = True
elif value and is_pressed:
print('Button released')
is_pressed = False
else:
pass
btn = Pin("G17", mode=Pin.IN, pull=Pin.PULL_UP)
btn.callback(Pin.IRQ_FALLING | Pin.IRQ_RISING, handler)
class LIS2HH12:
ACC_I2CADDR = const(30)
PRODUCTID_REG = const(0x0F)
CTRL1_REG = const(0x20)
CTRL2_REG = const(0x21)
CTRL3_REG = const(0x22)
CTRL4_REG = const(0x23)
CTRL5_REG = const(0x24)
ACC_X_L_REG = const(0x28)
ACC_X_H_REG = const(0x29)
ACC_Y_L_REG = const(0x2A)
ACC_Y_H_REG = const(0x2B)
ACC_Z_L_REG = const(0x2C)
ACC_Z_H_REG = const(0x2D)
ACT_THS = const(0x1E)
ACT_DUR = const(0x1F)
def __init__(self, pysense=None, sda='P22', scl='P21'):
if pysense is not None:
self.i2c = pysense.i2c
else:
from machine import I2C
self.i2c = I2C(0, mode=I2C.MASTER, pins=(sda, scl))
self.reg = bytearray(1)
self.odr = 0
self.full_scale = 0
self.x = 0
self.y = 0
self.z = 0
self.int_pin = None
self.act_dur = 0
self.debounced = False
self.scales = {
FULL_SCALE_2G: 4000,
FULL_SCALE_4G: 8000,
FULL_SCALE_8G: 16000
}
self.odrs = [0, 10, 50, 100, 200, 400, 800]
whoami = self.i2c.readfrom_mem(ACC_I2CADDR, PRODUCTID_REG, 1)
if (whoami[0] != 0x41):
raise ValueError("LIS2HH12 not found")
# enable acceleration readings at 50Hz
self.set_odr(ODR_50_HZ)
# change the full-scale to 4g
self.set_full_scale(FULL_SCALE_4G)
# set the interrupt pin as active low and open drain
self.i2c.readfrom_mem_into(ACC_I2CADDR, CTRL5_REG, self.reg)
self.reg[0] |= 0b00000011
self.i2c.writeto_mem(ACC_I2CADDR, CTRL5_REG, self.reg)
# make a first read
self.acceleration()
def acceleration(self):
x = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_X_L_REG, 2)
self.x = struct.unpack('<h', x)
y = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_Y_L_REG, 2)
self.y = struct.unpack('<h', y)
z = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_Z_L_REG, 2)
self.z = struct.unpack('<h', z)
_mult = self.scales[self.full_scale] / ACC_G_DIV
return (self.x[0] * _mult, self.y[0] * _mult, self.z[0] * _mult)
def roll(self):
x, y, z = self.acceleration()
rad = math.atan2(-x, z)
return (180 / math.pi) * rad
def pitch(self):
x, y, z = self.acceleration()
rad = -math.atan2(y, (math.sqrt(x * x + z * z)))
return (180 / math.pi) * rad
def set_full_scale(self, scale):
self.i2c.readfrom_mem_into(ACC_I2CADDR, CTRL4_REG, self.reg)
self.reg[0] &= ~0b00110000
self.reg[0] |= (scale & 3) << 4
self.i2c.writeto_mem(ACC_I2CADDR, CTRL4_REG, self.reg)
self.full_scale = scale
def set_odr(self, odr):
self.i2c.readfrom_mem_into(ACC_I2CADDR, CTRL1_REG, self.reg)
self.reg[0] &= ~0b01110000
self.reg[0] |= (odr & 7) << 4
self.i2c.writeto_mem(ACC_I2CADDR, CTRL1_REG, self.reg)
self.odr = odr
def enable_activity_interrupt(self, threshold, duration, handler=None):
# Threshold is in mg, duration is ms
self.act_dur = duration
_ths = int(
(threshold * self.scales[self.full_scale]) / 2000 / 128) & 0x7F
_dur = int((duration * self.odrs[self.odr]) / 1000 / 8)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_THS, _ths)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_DUR, _dur)
# enable the activity/inactivity interrupt
self.i2c.readfrom_mem_into(ACC_I2CADDR, CTRL3_REG, self.reg)
self.reg[0] |= 0b00100000
self.i2c.writeto_mem(ACC_I2CADDR, CTRL3_REG, self.reg)
self._user_handler = handler
self.int_pin = Pin('P13', mode=Pin.IN)
self.int_pin.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING,
handler=self._int_handler)
def activity(self):
if not self.debounced:
time.sleep_ms(self.act_dur)
self.debounced = True
if self.int_pin():
return True
return False
def _int_handler(self, pin_o):
if self._user_handler is not None:
self._user_handler(pin_o)
else:
if pin_o():
print('Activity interrupt')
else:
print('Inactivity interrupt')
blue_wire_oe_n = Pin('P11', mode=Pin.OUT, pull=Pin.PULL_UP)
blue_wire_oe_n.value(1)
uart1 = UART(1, 25000)
uart1.init(25000, bits=8, parity=None, stop=1)
ow = OneWire(Pin('P8', mode=Pin.OUT))
up_pin = Pin('P23', mode=Pin.IN, pull=Pin.PULL_DOWN)
down_pin = Pin('P20', mode=Pin.IN, pull=Pin.PULL_DOWN)
left_pin = Pin('P22', mode=Pin.IN, pull=Pin.PULL_DOWN)
right_pin = Pin('P21', mode=Pin.IN, pull=Pin.PULL_DOWN)
middle_pin = Pin('P19', mode=Pin.IN, pull=Pin.PULL_DOWN)
up_pin.callback(Pin.IRQ_RISING, handler=button_handler, arg="up")
down_pin.callback(Pin.IRQ_RISING, handler=button_handler, arg="down")
left_pin.callback(Pin.IRQ_RISING, handler=button_handler, arg="left")
right_pin.callback(Pin.IRQ_RISING, handler=button_handler, arg="right")
middle_pin.callback(Pin.IRQ_RISING, handler=button_handler, arg="middle")
displayType = lcd.kDisplayI2C128x64
lcd.initialize(displayType)
temperature_update_thread = _thread.start_new_thread(
get_update_temperature, (1, 1))
# Check to see if another device is communicating on the UART. If it is
# we assume that there is an OEM controller connnected and we only sniff.
# we only do this for SNIFF_PERIOD
start_time = time.ticks_ms()
class MPU(object):
def __init__(self,
scl=None,
sda=None,
intr=None,
led=None,
rate=None,
address=None):
self.scl = scl if scl is not None else default_pin_scl
self.sda = sda if sda is not None else default_pin_sda
self.intr = intr if intr is not None else default_pin_intr
self.led = led if led is not None else default_pin_led
self.rate = rate if rate is not None else default_sample_rate
self.WOM_handler = None
self.address = address if address else MPU6050_DEFAULT_ADDRESS
self.buffer = bytearray(16)
self.bytebuf = memoryview(self.buffer[0:1])
self.wordbuf = memoryview(self.buffer[0:2])
self.sensors = bytearray(14)
self.calibration = [0] * 7
self.filter = cfilter.ComplementaryFilter()
self.init_pins()
self.init_led()
self.init_i2c()
self.init_device()
def write_byte(self, reg, val):
self.bus.writeto_mem(self.address, reg, bytes([val]))
def read_byte(self, reg):
buf = bytearray(1)
self.bus.readfrom_mem_into(self.address, reg, buf)
return buf[0]
def set_bitfield(self, reg, pos, length, val):
old = self.read_byte(reg)
shift = pos - length + 1
mask = (2**length - 1) << shift
new = (old & ~mask) | (val << shift)
self.write_byte(reg, new)
def read_word(self, reg):
buf = bytearray(2)
self.bus.readfrom_mem_into(self.address, reg, buf)
return unpack('>h', buf)[0]
def init_i2c(self):
l.debug('* initializing i2c')
self.bus = I2C(0, mode=I2C.MASTER, pins=(self.pin_sda, self.pin_scl))
def init_pins(self):
l.debug('* initializing pins')
self.pin_sda = Pin(self.sda)
self.pin_scl = Pin(self.scl)
self.pin_intr = Pin(self.intr, mode=Pin.IN)
#self.pin_led = PWM(Pin(self.led, mode=Pin.OUT))
def set_state_uncalibrated(self):
#self.pin_led.freq(1)
#self.pin_led.duty(500)
pass
def set_state_calibrating(self):
#self.pin_led.freq(10)
#self.pin_led.duty(500)
pass
def set_state_calibrated(self):
#self.pin_led.freq(1000)
#self.pin_led.duty(500)
pass
def set_state_disabled(self):
#self.pin_led.duty(0)
pass
def init_led(self):
#self.set_state_uncalibrated()
pass
def identify(self):
l.debug('* identifying i2c device')
val = self.read_byte(MPU6050_RA_WHO_AM_I)
if val != MPU6050_ADDRESS_AD0_LOW:
raise OSError("No mpu6050 at address {}".format(self.address))
def reset(self):
l.debug('* reset')
'''
self.write_byte(MPU6050_RA_PWR_MGMT_1, (
(1 << MPU6050_PWR1_DEVICE_RESET_BIT)
))
time.sleep_ms(100)
'''
self.write_byte(MPU6050_RA_SIGNAL_PATH_RESET,
((1 << MPU6050_PATHRESET_GYRO_RESET_BIT) |
(1 << MPU6050_PATHRESET_ACCEL_RESET_BIT) |
(1 << MPU6050_PATHRESET_TEMP_RESET_BIT)))
time.sleep_ms(100)
def init_device(self):
l.debug('* initializing mpu')
self.identify()
# disable sleep mode and select clock source
self.write_byte(MPU6050_RA_PWR_MGMT_1, MPU6050_CLOCK_PLL_XGYRO)
# enable all sensors
self.write_byte(MPU6050_RA_PWR_MGMT_2, 0)
# set sampling rate
self.write_byte(MPU6050_RA_SMPLRT_DIV, self.rate)
# enable dlpf
self.write_byte(MPU6050_RA_CONFIG, 1)
# explicitly set accel/gyro range
self.set_accel_range(MPU6050_ACCEL_FS_2)
self.set_gyro_range(MPU6050_GYRO_FS_250)
def set_gyro_range(self, fsr):
self.gyro_range = gyro_range[fsr]
self.set_bitfield(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
MPU6050_GCONFIG_FS_SEL_LENGTH, fsr)
def set_accel_range(self, fsr):
self.accel_range = accel_range[fsr]
self.set_bitfield(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
MPU6050_ACONFIG_AFS_SEL_LENGTH, fsr)
def read_sensors(self):
self.bus.readfrom_mem_into(self.address, MPU6050_RA_ACCEL_XOUT_H,
self.sensors)
data = unpack('>hhhhhhh', self.sensors)
# apply calibration values
return [data[i] + self.calibration[i] for i in range(7)]
def read_sensors_scaled(self):
data = self.read_sensors()
data[0:3] = [x / (65536 // self.accel_range // 2) for x in data[0:3]]
data[4:7] = [x / (65536 // self.gyro_range // 2) for x in data[4:7]]
return data
def read_position(self):
self.filter.input(self.read_sensors_scaled())
return [
self.filter.filter_pos,
self.filter.accel_pos,
self.filter.gyro_pos,
]
def set_dhpf_mode(self, bandwidth):
self.set_bitfield(MPU6050_RA_ACCEL_CONFIG,
MPU6050_ACONFIG_ACCEL_HPF_BIT,
MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth)
def set_motion_detection_threshold(self, threshold):
self.write_byte(MPU6050_RA_MOT_THR, threshold)
def set_motion_detection_duration(self, duration):
self.write_byte(MPU6050_RA_MOT_DUR, duration)
def set_int_motion_enabled(self, enabled):
self.set_bitfield(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, 1,
enabled)
def get_sensor_avg(self, samples, softstart=100):
'''Return the average readings from the sensors over the
given number of samples. Discard the first softstart
samples to give things time to settle.'''
sample = self.read_sensors()
counters = [0] * 7
for i in range(samples + softstart):
# the sleep here is to ensure we read a new sample
# each time
time.sleep_ms(2)
sample = self.read_sensors()
if i < softstart:
continue
for j, val in enumerate(sample):
counters[j] += val
return [x // samples for x in counters]
stable_reading_timeout = 10
max_gyro_variance = 5
def wait_for_stable(self, numsamples=10):
l.debug('* waiting for gyros to stabilize')
gc.collect()
time_start = time.time()
samples = []
while True:
now = time.time()
if now - time_start > self.stable_reading_timeout:
raise CalibrationFailure()
# the sleep here is to ensure we read a new sample
# each time
time.sleep_ms(2)
sample = self.read_sensors()
samples.append(sample[4:7])
if len(samples) < numsamples:
continue
samples = samples[-numsamples:]
totals = [0] * 3
for cola, colb in zip(samples, samples[1:]):
deltas = [abs(a - b) for a, b in zip(cola, colb)]
totals = [a + b for a, b in zip(deltas, totals)]
avg = [a / numsamples for a in totals]
l.debug("* delta = {}".format(avg))
if all(x < self.max_gyro_variance for x in avg):
break
now = time.time()
l.debug('* gyros stable after {:0.2f} seconds'.format(now -
time_start))
def calibrate(self,
numsamples=None,
accel_deadzone=None,
gyro_deadzone=None):
old_calibration = self.calibration
self.calibration = [0] * 7
numsamples = (numsamples if numsamples is not None else
default_calibration_numsamples)
accel_deadzone = (accel_deadzone if accel_deadzone is not None else
default_calibration_accel_deadzone)
gyro_deadzone = (gyro_deadzone if gyro_deadzone is not None else
default_calibration_gyro_deadzone)
l.debug('* start calibration')
self.set_state_calibrating()
try:
self.wait_for_stable()
gc.collect()
# calculate offsets between the expected values and
# the average value for each sensor reading
avg = self.get_sensor_avg(numsamples)
off = [
0 if expected[i] is None else expected[i] - avg[i]
for i in range(7)
]
accel_ready = False
gyro_read = False
for passno in range(20):
self.calibration = off
avg = self.get_sensor_avg(numsamples)
check = [
0 if expected[i] is None else expected[i] - avg[i]
for i in range(7)
]
l.debug('- pass {}: {}'.format(passno, check))
# check if current values are within acceptable offsets
# from the expected values
accel_ready = all(abs(x) < accel_deadzone for x in check[0:3])
gyro_ready = all(abs(x) < gyro_deadzone for x in check[4:7])
if accel_ready and gyro_ready:
break
if not accel_ready:
off[0:3] = [
off[i] + check[i] // accel_deadzone for i in range(3)
]
if not gyro_ready:
off[4:7] = [
off[i] + check[i] // gyro_deadzone
for i in range(4, 7)
]
else:
raise CalibrationFailure()
except CalibrationFailure:
self.calibration = old_calibration
l.info('! calibration failed')
self.set_state_uncalibrated()
return
l.info('* calibrated!')
self.set_state_calibrated()
def _WakeOnMotionINT(self, pin_o):
l.debug("interrupt ok")
l.info("got an interrupt in pin %s" % (pin_o.id()))
a = mpu.read_byte(MPU6050_RA_INT_STATUS) #Reset Interrupts
if self.WOM_handler is not None:
self.WOM_handler(pin_o)
def WakeOnMotion(self, threshold=0x14, duration=0x01, handler=None):
# see doc : http://www.4tronix.co.uk/arduino/specs/mpu6050.pdf pg 33
# The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly
# Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration
# above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a
# threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out
# consideration for these threshold evaluations otherwise, the flags would be set all the time!
self.WOM_handler = handler
#self.pin_intr.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=self._WakeOnMotionINT)
self.pin_intr.callback(trigger=Pin.IRQ_RISING,
handler=self._WakeOnMotionINT)
a = mpu.read_byte(MPU6050_RA_INT_STATUS)
#INT_OPEN When this bit is equal to 0, the INT pin is configured as push-pull.
#LATCH_INT_EN When this bit is equal to 1, the INT pin is held high until the interrupt is cleared.
mpu.write_byte(MPU6050_RA_INT_PIN_CFG,
mpu.read_byte(MPU6050_RA_INT_PIN_CFG) & ~0xF8)
mpu.write_byte(MPU6050_RA_INT_PIN_CFG,
mpu.read_byte(MPU6050_RA_INT_PIN_CFG) | 0x20)
#Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running
mpu.write_byte(MPU6050_RA_PWR_MGMT_1,
mpu.read_byte(MPU6050_RA_PWR_MGMT_1) & ~0x60)
#Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running
mpu.write_byte(MPU6050_RA_PWR_MGMT_2,
mpu.read_byte(MPU6050_RA_PWR_MGMT_2) & ~0x38)
#Set ACCEL_HPF to 0 reset mode disbaling high-pass filter
mpu.write_byte(MPU6050_RA_ACCEL_CONFIG,
mpu.read_byte(MPU6050_RA_ACCEL_CONFIG) & ~0x07)
#Set DLPD_CFG to 0 260 Hz bandwidth, 1 kHz rate
mpu.write_byte(MPU6050_RA_CONFIG,
mpu.read_byte(MPU6050_RA_CONFIG) & ~0x07)
#Enable motion threshold (bits 5) interrupt only
mpu.write_byte(MPU6050_RA_INT_ENABLE, 0x40)
#Set motion detect duration to 1 ms LSB is 1 ms @ 1 kHz rate
mpu.write_byte(
MPU6050_RA_MOT_DUR, duration
) # Set motion detect duration to 1 ms LSB is 1 ms @ 1 kHz rate
# Set motion detection to 20 LSB
mpu.write_byte(MPU6050_RA_MOT_THR, threshold) #
# Add delay for accumulation of samples
time.sleep_ms(100)
#Set ACCEL_HPF to 7 hold the initial accleration value as a referance
mpu.write_byte(MPU6050_RA_ACCEL_CONFIG,
mpu.read_byte(MPU6050_RA_ACCEL_CONFIG) | 0x07)
#Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])
mpu.write_byte(MPU6050_RA_CONFIG,
mpu.read_byte(MPU6050_RA_CONFIG) & ~0xC7)
mpu.write_byte(MPU6050_RA_CONFIG,
mpu.read_byte(MPU6050_RA_CONFIG) | 0x40 | 0x07)
#Set cycle bit 5 to begin low power accelerometer motion interrupts
mpu.write_byte(MPU6050_RA_PWR_MGMT_1,
mpu.read_byte(MPU6050_RA_PWR_MGMT_1) & ~0x48)
mpu.write_byte(MPU6050_RA_PWR_MGMT_1,
mpu.read_byte(MPU6050_RA_PWR_MGMT_1) | 0x20)
def enable_activity_interrupt(self, threshold, duration, handler=None):
# Threshold is in mg, duration is ms
# A faire
mpu.write_byte(
MPU6050_RA_INT_PIN_CFG, 0x20
) #write register 0x37 to select how to use the interrupt pin. For an active high, push-pull signal that stays until register (decimal) 58 is read, write 0x20.
self.set_dhpf_mode(MPU6050_DHPF_5)
self.set_motion_detection_threshold(threshold)
self.set_motion_detection_duration(duration)
#self.set_int_motion_enabled(1)
self.set_bitfield(MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FIFO_OFLOW_BIT, 1, 1)
self._user_handler = handler
self.pin_intr.callback(trigger=Pin.IRQ_RISING,
handler=self._user_handler)
a = mpu.read_byte(MPU6050_RA_INT_STATUS)
@property
def temperature(self):
"""Reads the temperature from the onboard temperature sensor of the MPU-6050.
Returns the temperature in degrees Celcius.
"""
# Get the raw data
raw_temp = self.read_word(MPU6050_RA_TEMP_OUT_H)
# Get the actual temperature using the formule given in the
# MPU-6050 Register Map and Descriptions revision 4.2, page 30
actual_temp = (raw_temp / 340) + 36.53
# Return the temperature
return actual_temp
@property
def gyro(self):
"""Gyroscope X, Y, and Z axis data in º/s"""
raw_data = bytearray(6)
self.bus.readfrom_mem_into(self.address, MPU6050_RA_GYRO_XOUT_H,
raw_data)
raw = unpack('>hhh', raw_data)
# setup range dependant scaling
gyro_x = raw[0] / (65536 // self.gyro_range // 2)
gyro_y = raw[1] / (65536 // self.gyro_range // 2)
gyro_z = raw[2] / (65536 // self.gyro_range // 2)
return (gyro_x, gyro_y, gyro_z)
@property
def acceleration(self):
"""Gyroscope X, Y, and Z axis data in º/s"""
raw_data = bytearray(6)
self.bus.readfrom_mem_into(self.address, MPU6050_RA_ACCEL_XOUT_H,
raw_data)
raw = unpack('>hhh', raw_data)
# setup range dependant scaling
accel_x = raw[0] / (65536 // self.accel_range // 2)
accel_y = raw[1] / (65536 // self.accel_range // 2)
accel_z = raw[2] / (65536 // self.accel_range // 2)
return (accel_x, accel_y, accel_z)
class RFM69(RFM69_CONST_VARS):
def __init__(self, cspin, ISRPin, nodeID, networkID, freqBand=868, isRFM69HW=False):
RFM69_CONST_VARS.__init__(self)
self._isRFM69HW = isRFM69HW
tREG_FRFMSB = self.RF_FRFMSB_868
tREG_FRFMID = self.RF_FRFMID_868
tREG_FRFLSB = self.RF_FRFLSB_868
if freqBand==433:
tREG_FRFMSB = self.RF_FRFMSB_433
tREG_FRFMID = self.RF_FRFMID_433
tREG_FRFLSB = self.RF_FRFLSB_433
if freqBand==315:
tREG_FRFMSB = self.RF_FRFMSB_315
tREG_FRFMID = self.RF_FRFMID_315
tREG_FRFLSB = self.RF_FRFLSB_315
if freqBand==915:
tREG_FRFMSB = self.RF_FRFMSB_915
tREG_FRFMID = self.RF_FRFMID_915
tREG_FRFLSB = self.RF_FRFLSB_915
self.CONFIG = [[self.REG_OPMODE, self.RF_OPMODE_SEQUENCER_ON | self.RF_OPMODE_LISTEN_OFF | self.RF_OPMODE_STANDBY],
[self.REG_DATAMODUL, self.RF_DATAMODUL_DATAMODE_PACKET | self.RF_DATAMODUL_MODULATIONTYPE_FSK | self.RF_DATAMODUL_MODULATIONSHAPING_00],
[self.REG_BITRATEMSB, self.RF_BITRATEMSB_55555],
[self.REG_BITRATELSB, self.RF_BITRATELSB_55555],
[self.REG_FDEVMSB, self.RF_FDEVMSB_50000],
[self.REG_FDEVLSB, self.RF_FDEVLSB_50000],
[self.REG_FRFMSB, tREG_FRFMSB ],
[self.REG_FRFMID, tREG_FRFMID],
[self.REG_FRFLSB, tREG_FRFLSB],
[self.REG_RXBW, self.RF_RXBW_DCCFREQ_010 | self.RF_RXBW_MANT_16 | self.RF_RXBW_EXP_2 ],
[self.REG_DIOMAPPING1, self.RF_DIOMAPPING1_DIO0_01],
[self.REG_DIOMAPPING2, self.RF_DIOMAPPING2_CLKOUT_OFF],
[self.REG_IRQFLAGS2, self.RF_IRQFLAGS2_FIFOOVERRUN],
[self.REG_RSSITHRESH, 220],
[self.REG_SYNCCONFIG, self.RF_SYNC_ON | self.RF_SYNC_FIFOFILL_AUTO | self.RF_SYNC_SIZE_2 | self.RF_SYNC_TOL_0],
[self.REG_SYNCVALUE1, 0x2D],
[self.REG_SYNCVALUE2, networkID ],
[self.REG_PACKETCONFIG1, self.RF_PACKET1_FORMAT_VARIABLE | self.RF_PACKET1_DCFREE_OFF | self.RF_PACKET1_CRC_ON | self.RF_PACKET1_CRCAUTOCLEAR_ON | self.RF_PACKET1_ADRSFILTERING_OFF],
[self.REG_FIFOTHRESH, self.RF_FIFOTHRESH_TXSTART_FIFONOTEMPTY | self.RF_FIFOTHRESH_VALUE],
[self.REG_PACKETCONFIG2, self.RF_PACKET2_RXRESTARTDELAY_2BITS | self.RF_PACKET2_AUTORXRESTART_ON | self.RF_PACKET2_AES_OFF],
[self.REG_TESTDAGC, self.RF_DAGC_IMPROVED_LOWBETA0]]
self.cspin = Pin(cspin, mode=Pin.OUT)
self.cspin.value(1)
self.isrpin = Pin(ISRPin, mode=Pin.IN)
self.isrpin.callback(trigger=Pin.IRQ_RISING, handler=self.isr0)
self.spi = SPI(0, mode=SPI.MASTER, baudrate=1000000, polarity=0, phase=0, firstbit=SPI.MSB)
start = millis()
timeout = 50
while millis()-start < timeout:
self.writeReg(self.REG_SYNCVALUE1, 0xAA)
if self.readReg(self.REG_SYNCVALUE1) == 0xaa:
break
start = utime.ticks_ms()
while utime.ticks_ms()-start < timeout:
self.writeReg(self.REG_SYNCVALUE1, 0x55)
if self.readReg(self.REG_SYNCVALUE1) == 0x55:
break
for item in self.CONFIG:
self.writeReg(item[0], item[1])
self.encrypt(0)
def getFrequency(self):
return self.RF69_FSTEP * (self.readReg(self.REG_FRFMSB) << 16) + self.readReg(self.REG_FRFMID) + self.readReg(self.REG_FRFLSB)
def setFrequency(self, freqHz):
oldMode = self._mode
if oldMode == self.RF69_MODE_TX:
self.setMode(self.RF69_MODE_RX)
freqHz /= self.RF69_FSTEP
self.writeReg(self.REG_FRFMSB, freqHz >> 16)
self.writeReg(self.REG_FRFMID, freqHz >> 8)
self.writeReg(self.REG_FRFLSB, freqHz)
if oldMode == self.RF69_MODE_RX:
self.setMode(self.RF69_MODE_SYNTH)
self.setMode(oldMode)
def setMode(self, new_mode):
if self._mode == new_mode:
return
if new_mode == self.RF69_MODE_TX:
self.writeReg(self.REG_OPMODE, (self.readReg(self.REG_OPMODE) & 0xE3) | self.RF_OPMODE_TRANSMITTER)
if self._isRFM69HW:
self.setHighPowerRegs(True)
if new_mode == self.RF69_MODE_RX:
self.writeReg(self.REG_OPMODE, (self.readReg(self.REG_OPMODE) & 0xE3) | self.RF_OPMODE_RECEIVER)
if self._isRFM69HW:
self.setHighPowerRegs(False)
if new_mode == self.RF69_MODE_SYNTH:
self.writeReg(self.REG_OPMODE, (self.readReg(self.REG_OPMODE) & 0xE3) | self.RF_OPMODE_SYNTHESIZER)
if new_mode == self.RF69_MODE_STANDBY:
self.writeReg(self.REG_OPMODE, (self.readReg(self.REG_OPMODE) & 0xE3) | self.RF_OPMODE_STANDBY)
if new_mode == self.RF69_MODE_SLEEP:
self.writeReg(self.REG_OPMODE, (self.readReg(self.REG_OPMODE) & 0xE3) | self.RF_OPMODE_SLEEP)
while self._mode == self.RF69_MODE_SLEEP and (self.readReg(self.REG_IRQFLAGS1) & self.RF_IRQFLAGS1_MODEREADY) == 0x00:
pass
self._mode = new_mode
def sleep(self):
self.setMode(self.RF69_MODE_SLEEP)
def setAddress(self, addr):
self._address = addr;
self.writeReg(self.REG_NODEADRS, self._address)
def setNetwork(self, networkID):
self.writeReg(self.REG_SYNCVALUE2, networkID)
def setPowerLevel(self, powerLevel):
self._powerLevel = powerLevel
if self._powerLevel > 31:
self._powerLevel = 31
self.writeReg(self.REG_PALEVEL, (self.readReg(self.REG_PALEVEL) & 0xE0) | self._powerLevel);
def canSend(self):
if self._mode == self.RF69_MODE_RX and self.PAYLOADLEN == 0 and self.readRSSI() < self.CSMA_LIMIT:
self.setMode(self.RF69_MODE_STANDBY)
return True
return False
def send(self, toAddress, buffer, bufferSize, requestACK):
self.writeReg(self.REG_PACKETCONFIG2, (self.readReg(self.REG_PACKETCONFIG2) & 0xFB) | self.RF_PACKET2_RXRESTART)
now = millis()
while self.canSend()==False and millis() - now < self.RF69_CSMA_LIMIT_MS:
self.receiveDone()
self.sendFrame(toAddress, buffer, bufferSize, requestACK, False)
def sendWithRetry(self, toAddress, buffer, bufferSize, retries, retryWaitTime):
for i in range(retries+1):
self.send(toAddress, buffer, bufferSize, False)
sentTime = millis()
while millis() - sentTime < retryWaitTime:
if self.ACKReceived(toAddress):
return True
return False
def ACKReceived(self, fromNodeID):
if self.receiveDone():
return (self.SENDERID == fromNodeID or fromNodeID == self.RF69_BROADCAST_ADDR) and self.ACK_RECEIVED
return False
def ACKRequested(self):
return self.ACK_REQUESTED and (self.TARGETID != self.RF69_BROADCAST_ADDR)
def sendACK(self, buffer, bufferSize):
self.ACK_REQUESTED = 0
sender = self.SENDERID
_RSSI = self.RSSI
self.writeReg(self.REG_PACKETCONFIG2, (self.readReg(self.REG_PACKETCONFIG2) & 0xFB) | self.RF_PACKET2_RXRESTART)
now = millis()
while not self.canSend() and millis() - now < self.RF69_CSMA_LIMIT_MS:
self.receiveDone()
self.SENDERID = sender
self.sendFrame(sender, buffer, bufferSize, False, True)
self.RSSI = _RSSI
def sendFrame(self, toAddress, buffer, bufferSize, requestACK, sendACK):
self.setMode(self.RF69_MODE_STANDBY)
while self.readReg(self.REG_IRQFLAGS1) & self.RF_IRQFLAGS1_MODEREADY == 0x00:
pass
self.writeReg(self.REG_DIOMAPPING1, self.RF_DIOMAPPING1_DIO0_00)
if bufferSize > self.RF69_MAX_DATA_LEN:
bufferSize = self.RF69_MAX_DATA_LEN
CTLbyte = 0x00;
if sendACK:
CTLbyte = self.RFM69_CTL_SENDACK
else:
if requestACK:
CTLbyte = self.RFM69_CTL_REQACK
self.select();
self.spi.write(self.REG_FIFO | 0x80)
self.spi.write(bufferSize + 3)
self.spi.write(toAddress)
self.spi.write(self._address)
self.spi.write(CTLbyte)
for i in range(bufferSize):
self.spi.write(buffer[i])
self.unselect()
self.setMode(self.RF69_MODE_TX)
txStart = millis();
while (self.isrpin.value() == 0 and millis() - txStart < self.RF69_TX_LIMIT_MS):
pass
self.setMode(self.RF69_MODE_STANDBY);
def interruptHandler(self, id):
if self._mode == self.RF69_MODE_RX and (self.readReg(self.REG_IRQFLAGS2) & self.RF_IRQFLAGS2_PAYLOADREADY):
self.setMode(self.RF69_MODE_STANDBY)
self.select()
self.spi.write(self.REG_FIFO & 0x7F)
self.PAYLOADLEN = self.spi.read(1)
self.PAYLOADLEN = self.PAYLOADLEN
if self.PAYLOADLEN > 66: self.PAYLOADLEN = 66
self.TARGETID = self.spi.read(1)
if not (self._promiscuousMode or self.TARGETID == self._address or self.TARGETID == self.RF69_BROADCAST_ADDR) or self.PAYLOADLEN < 3:
self.PAYLOADLEN = 0
self.unselect()
self.receiveBegin()
return
self.DATALEN = self.PAYLOADLEN - 3
self.SENDERID = self.spi.read(1)
CTLbyte = self.spi.read(1)
self.ACK_RECEIVED = CTLbyte & self.RFM69_CTL_SENDACK
self.ACK_REQUESTED = CTLbyte & self.RFM69_CTL_REQACK
self.interruptHook(CTLbyte)
for i in range(self.DATALEN):
self.DATA[i] = self.spi.read(1)
if self.DATALEN < self.RF69_MAX_DATA_LEN: self.DATA[self.DATALEN] = 0
self.unselect()
self.setMode(self.RF69_MODE_RX)
self.RSSI = self.readRSSI()
def isr0(self, id):
self._inISR=True
self.interruptHandler(id)
self._inISR=False
def receiveBegin(self):
self.DATALEN = 0
self.SENDERID = 0
self.TARGETID = 0
self.PAYLOADLEN = 0
self.ACK_REQUESTED = 0
self.ACK_RECEIVED = 0
self.RSSI = 0
if self.readReg(self.REG_IRQFLAGS2) & self.RF_IRQFLAGS2_PAYLOADREADY:
self.writeReg(self.REG_PACKETCONFIG2, (self.readReg(self.REG_PACKETCONFIG2) & 0xFB) |self.RF_PACKET2_RXRESTART)
self.writeReg(self.REG_DIOMAPPING1, self.RF_DIOMAPPING1_DIO0_01)
self.setMode(self.RF69_MODE_RX)
def receiveDone(self):
noInterrupts()
if self._mode == self.RF69_MODE_RX and self.PAYLOADLEN > 0:
self.setMode(self.RF69_MODE_STANDBY)
return True
else:
if self._mode==self.RF69_MODE_RX:
interrupts()
return False
self.receiveBegin()
return False
def encrypt(self, key):
self.setMode(self.RF69_MODE_STANDBY)
if key != 0:
self.select()
self.spi.write(self.REG_AESKEY1 | 0x80)
for i in range(16):
self.spi.write(key[i])
self.unselect()
val = 1
if key==None:
val = 0
self.writeReg(self.REG_PACKETCONFIG2, (self.readReg(self.REG_PACKETCONFIG2) & 0xFE) | val)
def readRSSI(self, forceTrigger):
rssi = 0
if forceTrigger:
self.writeReg(self.REG_RSSICONFIG, self.RF_RSSI_START)
while (self.readReg(self.REG_RSSICONFIG) & self.RF_RSSI_DONE) == 0x00:
pass
rssi = -self.readReg(self.REG_RSSIVALUE)
rssi = rssi >> 1
return rssi
def readReg(self, addr):
self.select()
self.spi.write(addr & 0x7F)
regValue = self.spi.read(1)
self.unselect()
return regValue
def writeReg(self, addr, value):
self.select()
self.spi.write(addr | 0x80)
self.spi.write(value)
self.unselect()
def select(self):
self.cspin.value(0)
def unselect(self):
self.cspin.value(1)
def promiscuous(self, onOff):
self._promiscuousMode = onOff
def setHighPower(self, onOff):
self._isRFM69HW = onOff
if self._isRFM69HW:
self.writeReg(self.REG_OCP, self.RF_OCP_OFF)
self.writeReg(self.REG_PALEVEL, (self.readReg(self.REG_PALEVEL) & 0x1F) | self.RF_PALEVEL_PA1_ON | self.RF_PALEVEL_PA2_ON)
else:
self.writeReg(self.REG_OCP, self.RF_OCP_ON)
self.writeReg(self.REG_PALEVEL, self.RF_PALEVEL_PA0_ON | self.RF_PALEVEL_PA1_OFF | self.RF_PALEVEL_PA2_OFF | self._powerLevel)
def setHighPowerRegs(self, onOff):
if onOff:
self.writeReg(self.REG_TESTPA1, 0x5D)
self.writeReg(self.REG_TESTPA2, 0x7C)
else:
self.writeReg(self.REG_TESTPA1, 0x55)
self.writeReg(self.REG_TESTPA2, 0x70)
def setCS(self, newSPISlaveSelect):
self._slaveSelectPin = newSPISlaveSelect
self.cspin = Pin(self._slaveSelectPin, mode=Pin.OUT)
self.cspin.value(1)
def readAllRegs(self):
regVal = 0
print("Address - HEX - BIN")
for regAddr in range(1, 0x4F):
self.select()
self.spi.write(regAddr & 0x7F)
regVal = self.spi.read(1)
self.unselect()
print(regAddr, " - ", regVal)
def readTemperature(self, calFactor):
self.setMode(self.RF69_MODE_STANDBY);
self.writeReg(self.REG_TEMP1, self.RF_TEMP1_MEAS_START)
while self.readReg(self.REG_TEMP1) & self.RF_TEMP1_MEAS_RUNNING:
pass
return ~self.readReg(self.REG_TEMP2) + self.COURSE_TEMP_COEF + calFactor
def rcCalibration(self):
self.writeReg(self.REG_OSC1, self.RF_OSC1_RCCAL_START)
while (self.readReg(self.REG_OSC1) & self.RF_OSC1_RCCAL_DONE) == 0x00: pass
def maybeInterrupts(self):
if not self._inISR:
interrupts()
def initialize(self):
pass
class LIS2HH12:
ACC_I2CADDR = const(30) #1E
PRODUCTID_REG = const(0x0F)
CTRL1_REG = const(0x20)
CTRL2_REG = const(0x21)
CTRL3_REG = const(0x22)
CTRL4_REG = const(0x23)
CTRL5_REG = const(0x24)
ACC_X_L_REG = const(0x28)
ACC_X_H_REG = const(0x29)
ACC_Y_L_REG = const(0x2A)
ACC_Y_H_REG = const(0x2B)
ACC_Z_L_REG = const(0x2C)
ACC_Z_H_REG = const(0x2D)
ACT_THS = const(0x1E)
ACT_DUR = const(0x1F)
FIFO_CTRL = const(0x2E)
FIFO_SRC = const(0x2F)
SCALES = {FULL_SCALE_2G: 4000, FULL_SCALE_4G: 8000, FULL_SCALE_8G: 16000}
ODRS = [0, 10, 50, 100, 200, 400, 800]
def __init__(self, pysense = None, sda = 'P22', scl = 'P21'):
if pysense is not None:
self.i2c = pysense.i2c
else:
from machine import I2C
self.i2c = I2C(0, mode=I2C.MASTER, pins=(sda, scl))
self.odr = 0
self.full_scale = 0
self.x = 0
self.y = 0
self.z = 0
self.int_pin = None
self.act_dur = 0
self.debounced = False
whoami = self.i2c.readfrom_mem(ACC_I2CADDR , PRODUCTID_REG, 1)
if (whoami[0] != 0x41):
raise ValueError("LIS2HH12 not found")
# enable acceleration readings at 800Hz
self.set_odr(ODR_800_HZ)
# change the full-scale to 2g
self.set_full_scale(FULL_SCALE_2G)
# set the interrupt pin as active low and open drain
self.set_register(CTRL5_REG, 3, 0, 3)
# set FIFO control registry (FIFO_MODE) set_register(self, register, value, offset, mask):
self.set_register(FIFO_CTRL, FIFO_STREAM_MODE, 5, 7)
# set FIFO control registry (FIFO_FTH) set_register(self, register, value, offset, mask):
self.set_register(FIFO_CTRL, FTH_10_SAMPLE, 0, 4)
#FIFO Enable:
#config_Reg3 = b'\xc2' #11000010 - Enable FIFO and set FIFO threshold signal on INT1
config_Reg3 = b'\xc1' #11000001 - Enable FIFO and data ready on INT1
self.i2c.writeto_mem(ACC_I2CADDR, CTRL3_REG, config_Reg3)
#control3 = bytearray(0x01010101)
#self.i2c.writeto_mem(ACC_I2CADDR, CTRL3_REG, control3)
#self.set_register(CTRL3_REG, 0, 0, 8)
# Enable activity interrupt:
# make a first read; comment this out, makes the readings go slow.
#self.acceleration()
def acceleration(self):
x = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_X_L_REG, 2)
self.x = struct.unpack('<h', x)
y = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_Y_L_REG, 2)
self.y = struct.unpack('<h', y)
z = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_Z_L_REG, 2)
self.z = struct.unpack('<h', z)
_mult = self.SCALES[self.full_scale] / ACC_G_DIV
return (self.x[0] * _mult, self.y[0] * _mult, self.z[0] * _mult)
#return(self.x, self.y, self.z)
def accelerationOneGoRaw(self):
xyz = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_X_L_REG, 6) #Reading 6byte after 0x28, 2byte for each direction
return (xyz)
def fifoControlRead(self):
fifo_output = self.i2c.readfrom_mem(ACC_I2CADDR , FIFO_CTRL, 1)
return (fifo_output)
def fifoSourceRead(self):
fifo_output = self.i2c.readfrom_mem(ACC_I2CADDR , FIFO_SRC, 1)
return (fifo_output)
def fifoDataRead(self, samples):
fifo_output = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_X_L_REG, 6*samples)
return (fifo_output)
def roll(self):
x,y,z = self.acceleration()
rad = math.atan2(-x, z)
return (180 / math.pi) * rad
def pitch(self):
x,y,z = self.acceleration()
rad = -math.atan2(y, (math.sqrt(x*x + z*z)))
return (180 / math.pi) * rad
def set_register(self, register, value, offset, mask):
reg = bytearray(self.i2c.readfrom_mem(ACC_I2CADDR, register, 1))
reg[0] &= ~(mask << offset)
reg[0] |= ((value & mask) << offset)
self.i2c.writeto_mem(ACC_I2CADDR, register, reg)
def set_full_scale(self, scale):
self.set_register(CTRL4_REG, scale, 4, 3)
self.full_scale = scale
def set_odr(self, odr):
self.set_register(CTRL1_REG, odr, 4, 7)
self.odr = odr
def set_high_pass(self, hp):
self.set_register(CTRL2_REG, 1 if hp else 0, 2, 1)
def enable_activity_interrupt(self, threshold, duration, handler=None):
# Threshold is in mg, duration is ms
self.act_dur = duration
if threshold > self.SCALES[self.full_scale]:
error = "threshold %d exceeds full scale %d" % (threshold, self.SCALES[self.full_scale])
print(error)
raise ValueError(error)
if threshold < self.SCALES[self.full_scale] / 128:
error = "threshold %d below resolution %d" % (threshold, self.SCALES[self.full_scale]/128)
print(error)
raise ValueError(error)
if duration > 255 * 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d exceeds max possible value %d" % (duration, 255 * 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
if duration < 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d below resolution %d" % (duration, 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
_ths = int(127 * threshold / self.SCALES[self.full_scale]) & 0x7F
_dur = int((duration * self.ODRS[self.odr]) / 1000 / 8)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_THS, _ths)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_DUR, _dur)
# enable the activity/inactivity interrupt
# self.set_register(CTRL3_REG, 1, 5, 1)
self._user_handler = handler
self.int_pin = Pin('P13', mode=Pin.IN)
self.int_pin.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=self._int_handler)
# return actual used threshold and duration
return (_ths * self.SCALES[self.full_scale] / 128, _dur * 8 * 1000 / self.ODRS[self.odr])
def activity(self):
if not self.debounced:
time.sleep_ms(self.act_dur)
self.debounced = True
if self.int_pin():
return True
return False
def _int_handler(self, pin_o):
if self._user_handler is not None:
self._user_handler(pin_o)
else:
if pin_o():
print('Activity interrupt')
else:
print('Inactivity interrupt')
global blinking
blinking = False
def bothLights():
global inLaneLed
global outLaneLed
global timeON
inLaneLed.value(1)
outLaneLed.value(1)
time.sleep(timeON)
inLaneLed.value(0)
outLaneLed.value(0)
def bounceCheck(timeStamp):
global bounceTime
if time.ticks_diff(utime.ticks_ms(), timeForLastSwitch) < bounceTime:
print('to soon probably a bounce')
return True
return False
print('after functions')
laneSwitchButton.callback(Pin.IRQ_FALLING, laneSwitch)
startButton.callback(Pin.IRQ_FALLING, startFunction)
def pin_handler(arg):
print("got an interrupt in pin %s" % (arg.id()))
#machine.disable_irq()
#machine.
#time.sleep_ms(200)
#machine.enable_irq()
#def timer_handler(arg):
# print ("i")
#t = Timer.Alarm(timer_handler, 0, 0, 1, None, True)
p_in = Pin('P8', mode=Pin.IN, pull=Pin.PULL_UP)
p_in.callback(Pin.IRQ_FALLING, pin_handler)
#Antenna first!!!!!!!!
#sigfox = Sigfox(mode=Sigfox.SIGFOX, rcz=Sigfox.RCZ1)
#s = socket.socket(socket.AF_SIGFOX, socket.SOCK_RAW)
#s.setblocking(True)
#s.setsockopt(socket.SOL_SIGFOX, socket.SO_RX, False)
#s.send(bytes([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]))
#====================================================================================================
#HX711 & Temp
#====================================================================================================
#DS18B20 data line connected to pin P9
ow = OneWire(Pin('P9'))
temp = DS18X20(ow)
walklight[1].value(1)
utime.sleep_ms(500)
# Stop=green, walk=red
walklight[1].value(0)
walklight[0].value(1)
utime.sleep_ms(500) # Give the pedestrian a chance to see it
stoplight[0].value(0)
stoplight[2].value(1)
# Create callback for the button
def button_pressed(line):
cur_value = button.value()
active = 0
while (active < 50):
if button.value() != cur_value:
active += 1
else:
active = 0
utime.sleep_ms(1)
print("")
if active:
cycle_lights()
else:
print("False press")
# Create an interrupt for the button
button.callback(Pin.IRQ_FALLING, button_pressed)
pycom.heartbeat(False)
client = MQTTClient(id,
"io.adafruit.com",
user="******",
password="******",
port=1883,
keepalive=keepalive)
client.set_last_will(LOG_TOPIC, id + b' is down')
client.set_callback(sub_cb)
client.connect()
client.subscribe(topic=LED_STATE_TOPIC)
button = Pin('P14', mode=Pin.IN, pull=None)
button.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=button_cb)
client.publish(topic=LOG_TOPIC, msg=id + b' is up')
last_message = time.time()
while True:
client.check_msg()
if button_changed == True:
button_changed = False
if button() == 0:
msg = "ON"
else:
msg = "OFF"
class BQ25895:
I2CADDR = const(0x6A)
def __init__(self, sda='P9', scl='P10', intr='P19', handler=None):
from machine import I2C
self.i2c = I2C(0, mode=I2C.MASTER, pins=(sda, scl))
self._user_handler = handler
self.reset()
self.pg_stat_last = self.read_byte(0x0B) & 0b00000100
self.pin_intr = Pin(intr, mode=Pin.IN, pull=Pin.PULL_UP)
self.pin_intr.callback(trigger=Pin.IRQ_FALLING,
handler=self._int_handler)
def _int_handler(self, pin_o):
l.info("BQ>BQ25895 interrupt")
REG0C1 = self.read_byte(
0x0C) #1st read reports the pre-existing fault register
REG0C2 = self.read_byte(
0x0C) #2nd read reports the current fault register status
REG0B = self.read_byte(
0x0B) #2nd read reports the current fault register status
l.debug("0x0C1st:{:08b} 0x0C2nd:{:08b} 0x0B:{:08b}".format(
REG0C1, REG0C2, REG0B))
if self.pg_stat_last != REG0B & 0b00000100:
self.pg_stat_last = REG0B & 0b00000100
if REG0B & 0b00000100 > 1:
print("RAZ pwr_uAH ")
pycom.nvs_set("pwr_uAH", 0)
if self._user_handler is not None:
self._user_handler(REG0C1, REG0C2, REG0B)
def _setBit(self, reg, values):
if len(values) == 8:
values.reverse()
regVal = self.i2c.readfrom_mem(I2CADDR, reg, 1)[0]
regValOld = regVal
for i, value in enumerate(values):
if value == 1:
mask = 1 << i
regVal = (regVal | mask)
elif value == 0:
mask = ~(1 << i)
regVal = (regVal & mask)
if regValOld != regVal:
self.i2c.writeto_mem(I2CADDR, reg, regVal)
l.debug("BQ>write : {} > {} to {:02X}".format(
values, bin(regVal), reg))
def read_byte(self, reg):
regVal = self.i2c.readfrom_mem(I2CADDR, reg, 1)[0]
return regVal
def reset(self):
self._setBit(
0x14, [1, None, None, None, None, None, None, None]) #reset chip
self._setBit(0x02, [
None, 1, None, None, None, None, None, None
]) #ADC Conversion Rate Selection – Start 1s Continuous Conversion
self._setBit(
0x07,
[None, None, 0, 0, None, None, None, None]) #disable watchdog
#self._setBit(0x00,[None,1,1,1,1,1,1,1])
#self._setBit(0x04,[1,None,None,None,None,None,None,None]) #enable current pulse control
#self._setBit(0x04,[None,None,None,None,None,None,1,None]) #enable current pulse control UP & DN
def charge_enable(self, enable):
self._setBit(
0x03,
[None, None, None, 1 if enable == True else 0, None, None, None])
pass
def vbus_type(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x0B, 1)
return ret[0] >> 5
def vbus_type_str(self):
ret = self.vbus_type()
return VBUS_TYPE[ret]
def chrg_stat(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x0B, 1)
return (ret[0] & 0b00011000) >> 3
def chrg_stat_str(self):
ret = self.chrg_stat()
return CHRG_STAT[ret]
def read_battery_percent(self):
if self.chrg_stat():
ret = 100
else:
vbat = self.read_battery_volt()
if vbat >= 4200:
ret = 100
elif vbat <= 2800:
ret = 0
else:
ret = int((vbat - 2800) / 1400 * 100)
return ret
def pg_stat(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x0B, 1)
l.debug("ret:{}".format(ret))
return (ret[0] & 0b00000100) >> 2
def pg_stat_str(self):
ret = self.pg_stat()
l.debug("ret:{}".format(ret))
return PG_STAT[ret]
def vsys_stat(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x0B, 1)
return (ret[0] & 0b00000001)
def vsys_stat_str(self):
ret = self.pg_stat()
return "Regulation" if ret == 1 else "Not Regulation"
def read_battery_volt(self): #in mv
ret = self.i2c.readfrom_mem(I2CADDR, 0x0E, 1)
volt = 2304 + (int(ret[0] & 0b01111111) * 20)
return volt
def read_sys_volt(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x0F, 1)
volt = 2304 + (int(ret[0] & 0b01111111) * 20)
return volt
def read_TS_per(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x10, 1)
volt = 21 + (int(ret[0] & 0b01111111) * 0.465)
return volt
def read_stat(self):
ret1 = self.i2c.readfrom_mem(I2CADDR, 0x0B, 1)
ret2 = self.i2c.readfrom_mem(I2CADDR, 0x0C, 1)
#print("0x0B:{:08b}, 0x0C:{:08b}".format(ord(ret1),ord(ret2)))
return [ret1, ret2]
def read_vbus_volt(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x11, 1)
volt = 2600 + (int(ret[0] & 0b01111111) * 100)
return volt
def read_temperature(self): #???????????
ret = self.i2c.readfrom_mem(I2CADDR, 0x10, 1)
temp = 21 + (int(ret[0] & 0b01111111) * 0.465)
return temp
def read_charge_current(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x12, 1)
amp = 0 + (int(ret[0] & 0b01111111) * 50)
return amp
def set_charge_current(self, m_A):
if m_A > 5056:
m_A = 5056
regVal = int(m_A / 64)
_setBit(0x04, [
None, 1 if (regVal & 0b01000000) > 0 else 0, 1 if
(regVal & 0b00100000) > 0 else 0, 1 if
(regVal & 0b00010000) > 0 else 0, 1 if
(regVal & 0b00001000) > 0 else 0, 1 if
(regVal & 0b00000100) > 0 else 0, 1 if
(regVal & 0b00000010) > 0 else 0, 1 if
(regVal & 0b00000001) > 0 else 0
])
def read_input_current_max(self):
ret = self.i2c.readfrom_mem(I2CADDR, 0x00, 1)
amp = (100 + int(ret[0] & 0b00111111) * 50)
return amp
def set_input_current_max(self, m_A):
if m_A > 3250:
m_A = 3250
elif m_A < 100:
m_A = 100
regVal = int((m_A - 100) / 50)
self._setBit(0x00, [
None, None, 1 if (regVal & 0b00100000) > 0 else 0, 1 if
(regVal & 0b00010000) > 0 else 0, 1 if
(regVal & 0b00001000) > 0 else 0, 1 if
(regVal & 0b00000100) > 0 else 0, 1 if
(regVal & 0b00000010) > 0 else 0, 1 if
(regVal & 0b00000001) > 0 else 0
])
#inner class
#Uniquement avec un ESP32 pour mesurer le courant d'entrée
class POWER:
# voltage taken from ILIM and amplified by an ampli op
def __init__(self, bq25895):
self._bq25895 = bq25895
self.adc = ADC()
self.p_SHDN_ = Pin('P21', mode=Pin.OUT) #shutdown/enable ampli op
self.pwr_ticks = utime.ticks_us()
try:
pycom.nvs_get("pwr_uAH")
except Exception as e:
pycom.nvs_set("pwr_uAH", 0)
self.pwr_nAH = 0
self.__alarm = Timer.Alarm(self.mesure, 1, periodic=True)
def __del__(self):
self.__alarm.cancel()
self.__alarm = None
def reset(self):
l.debug("BQ>reset chip")
self.pwr_nAH = 0
pycom.nvs_set("pwr_uAH", 0)
def getPWR(self): #en
RILIM = 130
KILIM = 365
GAIN = 12.12
self.p_SHDN_.value(1)
utime.sleep_us(10) #Enable Delay Time from Shutdown
#ADC.ATTN_0DB (0-1), ADC.ATTN_2_5DB(0-1.33), ADC.ATTN_6DB(0-2), ADC.ATTN_11DB(0-3.55)
ILIM = VILIM = 0
ADC_GAIN = [0, 1.334, 1.995, 3.548]
for i, e in reversed(list(enumerate(ADC_GAIN))):
adc_ILIM = self.adc.channel(attn=i, pin='P20')
ILIM = adc_ILIM()
if ILIM < 2000 and i > 0:
pass
else:
VILIM = adc_ILIM.voltage()
break
if ILIM > 0:
PWIN_I = (KILIM * (VILIM / GAIN)) / (RILIM * 0.8)
elif self._bq25895.pg_stat(
) > 0: #PYCOM mais prob avec ADC ESP32 pour faible valeur
PWIN_I = 60.0
else:
PWIN_I = 0
#print("ADC : {}, ADC_v = {}, PWIN_I : {}".format(adc_ILIM(), VILIM, PWIN_I) )
self.p_SHDN_.value(0)
l.debug("BQ>ATTN:{}, ILIM:{}, PWIN_I:{}".format(
ADC_GAINstr[i], ILIM, PWIN_I))
return PWIN_I
def mesure(self, alarm):
old = self.pwr_ticks
self.pwr_ticks = utime.ticks_us()
delta = utime.ticks_diff(self.pwr_ticks, old)
self.pwr_nAH = self.pwr_nAH + int(self.getPWR() * delta / 3600)
uAH = self.pwr_nAH // 1000
#print("nAH : {}, uAH : {}".format(self.pwr_nAH, uAH))
if uAH > 0:
self.pwr_nAH = self.pwr_nAH - (uAH * 1000)
uAH = pycom.nvs_get("pwr_uAH") + uAH
#print("pwr_uAH :{}".format(uAH))
pycom.nvs_set("pwr_uAH", uAH)
@property
def pwr_uAH(self):
return pycom.nvs_get("pwr_uAH")
@property
def pwr_mAH(self):
return int(round(pycom.nvs_get("pwr_uAH") / 1000))
led = Pin('G16', mode=Pin.OUT)
# initialize GP17 in gpio mode and make it an input with the
# pull-up enabled
button = Pin('G17', mode=Pin.IN, pull=Pin.PULL_UP)
counter = 0
def callback(p):
global counter
print('pin change. counter', counter)
led.toggle()
counter = counter + 1
button.callback(trigger=Pin.IRQ_FALLING, handler=callback)
pycom.heartbeat(False)
print('stating test 1.3')
print(os.uname())
#while True:
for cycles in range(5): # stop after 5 cycles
# send some data
print('diod: green ', cycles)
pycom.rgbled(0x007f00) # green
time.sleep(2)
print('diod: red ', cycles)
pycom.rgbled(0x7f0000) # red
time.sleep(2)
print('diod: blue ', cycles)
pycom.rgbled(0x00007f) # blue
return(ris)
# initialize display oled
# https://docs.pycom.io/pycom_esp32/library/machine.I2C.html
i2c = I2C(0, I2C.MASTER, baudrate=100000)
# use grove oled display
grove_oled_display = SSD1308_I2C(objI2C=i2c)
display = Writer(grove_oled_display, myfont)
gc.collect() # free ram
Writer.set_clip(True, True)
print("Start measurement:")
alarmTimer = Timer.Alarm(seconds_handler, 1, periodic=True)
# buzTimer = Timer.Alarm(buzzerON_timer, us=1000, periodic=True)
# alarmTimer = Timer.Alarm(minutes_handler, 60, periodic=True)
sigBg51.callback(Pin.IRQ_RISING, riseBg51)
fBuzzer = False
while True:
gc.collect() # free ram
# check if new minute
if utime.ticks_diff(tm_start, tm_end) >= 60000:
# changed minutes
tm_start = tm_end
# ----------------------------------------------------
# here log data or transfer info
# end
# ----------------------------------------------------
# spostato in minutes_handler countsMin = 0
class LIS2HH12:
ACC_I2CADDR = const(30)
PRODUCTID_REG = const(0x0F)
CTRL1_REG = const(0x20)
CTRL2_REG = const(0x21)
CTRL3_REG = const(0x22)
CTRL4_REG = const(0x23)
CTRL5_REG = const(0x24)
ACC_X_L_REG = const(0x28)
ACC_X_H_REG = const(0x29)
ACC_Y_L_REG = const(0x2A)
ACC_Y_H_REG = const(0x2B)
ACC_Z_L_REG = const(0x2C)
ACC_Z_H_REG = const(0x2D)
ACT_THS = const(0x1E)
ACT_DUR = const(0x1F)
SCALES = {FULL_SCALE_2G: 4000, FULL_SCALE_4G: 8000, FULL_SCALE_8G: 16000}
ODRS = [0, 10, 50, 100, 200, 400, 800]
def __init__(self, pysense = None, sda = 'P22', scl = 'P21'):
if pysense is not None:
self.i2c = pysense.i2c
else:
from machine import I2C
self.i2c = I2C(0, mode=I2C.MASTER, pins=(sda, scl))
self.odr = 0
self.full_scale = 0
self.x = 0
self.y = 0
self.z = 0
self.int_pin = None
self.act_dur = 0
self.debounced = False
whoami = self.i2c.readfrom_mem(ACC_I2CADDR , PRODUCTID_REG, 1)
if (whoami[0] != 0x41):
raise ValueError("LIS2HH12 not found")
# enable acceleration readings at 50Hz
self.set_odr(ODR_50_HZ)
# change the full-scale to 4g
self.set_full_scale(FULL_SCALE_4G)
# set the interrupt pin as active low and open drain
self.set_register(CTRL5_REG, 3, 0, 3)
# make a first read
self.acceleration()
def acceleration(self):
x = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_X_L_REG, 2)
self.x = struct.unpack('<h', x)
y = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_Y_L_REG, 2)
self.y = struct.unpack('<h', y)
z = self.i2c.readfrom_mem(ACC_I2CADDR , ACC_Z_L_REG, 2)
self.z = struct.unpack('<h', z)
_mult = self.SCALES[self.full_scale] / ACC_G_DIV
return (self.x[0] * _mult, self.y[0] * _mult, self.z[0] * _mult)
def roll(self):
x,y,z = self.acceleration()
rad = math.atan2(-x, z)
return (180 / math.pi) * rad
def pitch(self):
x,y,z = self.acceleration()
rad = -math.atan2(y, (math.sqrt(x*x + z*z)))
return (180 / math.pi) * rad
def set_register(self, register, value, offset, mask):
reg = bytearray(self.i2c.readfrom_mem(ACC_I2CADDR, register, 1))
reg[0] &= ~(mask << offset)
reg[0] |= ((value & mask) << offset)
self.i2c.writeto_mem(ACC_I2CADDR, register, reg)
def set_full_scale(self, scale):
self.set_register(CTRL4_REG, scale, 4, 3)
self.full_scale = scale
def set_odr(self, odr):
self.set_register(CTRL1_REG, odr, 4, 7)
self.odr = odr
def set_high_pass(self, hp):
self.set_register(CTRL2_REG, 1 if hp else 0, 2, 1)
def enable_activity_interrupt(self, threshold, duration, handler=None):
# Threshold is in mg, duration is ms
self.act_dur = duration
if threshold > self.SCALES[self.full_scale]:
error = "threshold %d exceeds full scale %d" % (thresold, self.SCALES[self.full_scale])
print(error)
raise ValueError(error)
if threshold < self.SCALES[self.full_scale] / 128:
error = "threshold %d below resolution %d" % (thresold, self.SCALES[self.full_scale]/128)
print(error)
raise ValueError(error)
if duration > 255 * 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d exceeds max possible value %d" % (duration, 255 * 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
if duration < 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d below resolution %d" % (duration, 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
_ths = int(127 * threshold / self.SCALES[self.full_scale]) & 0x7F
_dur = int((duration * self.ODRS[self.odr]) / 1000 / 8)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_THS, _ths)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_DUR, _dur)
# enable the activity/inactivity interrupt
self.set_register(CTRL3_REG, 1, 5, 1)
self._user_handler = handler
self.int_pin = Pin('P13', mode=Pin.IN)
self.int_pin.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=self._int_handler)
# return actual used thresold and duration
return (_ths * self.SCALES[self.full_scale] / 128, _dur * 8 * 1000 / self.ODRS[self.odr])
def activity(self):
if not self.debounced:
time.sleep_ms(self.act_dur)
self.debounced = True
if self.int_pin():
return True
return False
def _int_handler(self, pin_o):
if self._user_handler is not None:
self._user_handler(pin_o)
else:
if pin_o():
print('Activity interrupt')
else:
print('Inactivity interrupt')
import network
import time
from config import Config
from wlanmanager import WLanManager
from machine import Pin
def toggle_wlan_mode(arg):
print('Toggle wlan')
getattr(arg, 'toggle')()
if __name__ == '__main__':
# Set up Button on Ext Board to toggle WLan AP
wlan = WLanManager()
button_s1 = Pin('P10', mode=Pin.IN, pull=Pin.PULL_UP)
button_s1.callback(Pin.IRQ_RISING, handler=toggle_wlan_mode, arg=wlan)
from loggingpycom import DEBUG
from LoggerFactory import LoggerFactory
from UserButton import UserButton
# Initialise LoggerFactory and status logger
logger_factory = LoggerFactory()
status_logger = logger_factory.create_status_logger(
'status_logger',
level=DEBUG,
terminal_out=True,
filename='status_log.txt')
# Initialize button interrupt on pin 14 for user interaction
user_button = UserButton(status_logger)
pin_14 = Pin("P14", mode=Pin.IN, pull=Pin.PULL_DOWN)
pin_14.callback(Pin.IRQ_RISING | Pin.IRQ_FALLING,
user_button.button_handler)
# Mount SD card
sd = SD()
os.mount(sd, '/sd')
except Exception as e:
print(str(e))
reboot_counter = 0
while True:
blink_led((0x550000, 0.5, True)) # blink red LED
reboot_counter += 1
if reboot_counter >= 180:
reset()
try:
class LIS2HH12:
ACC_I2CADDR = const(30)
PRODUCTID_REG = const(0x0F)
CTRL1_REG = const(0x20)
CTRL2_REG = const(0x21)
CTRL3_REG = const(0x22)
CTRL4_REG = const(0x23)
CTRL5_REG = const(0x24)
ACC_X_L_REG = const(0x28)
ACC_X_H_REG = const(0x29)
ACC_Y_L_REG = const(0x2A)
ACC_Y_H_REG = const(0x2B)
ACC_Z_L_REG = const(0x2C)
ACC_Z_H_REG = const(0x2D)
ACT_THS = const(0x1E)
ACT_DUR = const(0x1F)
SCALES = {FULL_SCALE_2G: 4000, FULL_SCALE_4G: 8000, FULL_SCALE_8G: 16000}
ODRS = [0, 10, 50, 100, 200, 400, 800]
def __init__(self, pysense=None, sda='P22', scl='P21'):
if pysense is not None:
self.i2c = pysense.i2c
else:
from machine import I2C
self.i2c = I2C(0, mode=I2C.MASTER, pins=(sda, scl))
self.odr = 0
self.full_scale = 0
self.x = 0
self.y = 0
self.z = 0
self.int_pin = None
self.act_dur = 0
self.debounced = False
whoami = self.i2c.readfrom_mem(ACC_I2CADDR, PRODUCTID_REG, 1)
if (whoami[0] != 0x41):
raise ValueError("LIS2HH12 not found")
# enable acceleration readings at 50Hz
self.set_odr(ODR_50_HZ)
# change the full-scale to 4g
self.set_full_scale(FULL_SCALE_4G)
# set the interrupt pin as active low and open drain
self.set_register(CTRL5_REG, 3, 0, 3)
# make a first read
self.acceleration()
def acceleration(self):
x = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_X_L_REG, 2)
self.x = struct.unpack('<h', x)
y = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_Y_L_REG, 2)
self.y = struct.unpack('<h', y)
z = self.i2c.readfrom_mem(ACC_I2CADDR, ACC_Z_L_REG, 2)
self.z = struct.unpack('<h', z)
_mult = self.SCALES[self.full_scale] / ACC_G_DIV
return (self.x[0] * _mult, self.y[0] * _mult, self.z[0] * _mult)
def roll(self):
x, y, z = self.acceleration()
rad = math.atan2(-x, z)
return (180 / math.pi) * rad
def pitch(self):
x, y, z = self.acceleration()
rad = -math.atan2(y, (math.sqrt(x * x + z * z)))
return (180 / math.pi) * rad
def set_register(self, register, value, offset, mask):
reg = bytearray(self.i2c.readfrom_mem(ACC_I2CADDR, register, 1))
reg[0] &= ~(mask << offset)
reg[0] |= ((value & mask) << offset)
self.i2c.writeto_mem(ACC_I2CADDR, register, reg)
def set_full_scale(self, scale):
self.set_register(CTRL4_REG, scale, 4, 3)
self.full_scale = scale
def set_odr(self, odr):
self.set_register(CTRL1_REG, odr, 4, 7)
self.odr = odr
def set_high_pass(self, hp):
self.set_register(CTRL2_REG, 1 if hp else 0, 2, 1)
def enable_activity_interrupt(self, threshold, duration, handler=None):
# Threshold is in mg, duration is ms
self.act_dur = duration
if threshold > self.SCALES[self.full_scale]:
error = "threshold %d exceeds full scale %d" % (
threshold, self.SCALES[self.full_scale])
print(error)
raise ValueError(error)
if threshold < self.SCALES[self.full_scale] / 128:
error = "threshold %d below resolution %d" % (
threshold, self.SCALES[self.full_scale] / 128)
print(error)
raise ValueError(error)
if duration > 255 * 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d exceeds max possible value %d" % (
duration, 255 * 1000 * 8 / self.ODRS[self.odr])
print(error)
raise ValueError(error)
if duration < 1000 * 8 / self.ODRS[self.odr]:
error = "duration %d below resolution %d" % (duration, 1000 * 8 /
self.ODRS[self.odr])
print(error)
raise ValueError(error)
_ths = int(127 * threshold / self.SCALES[self.full_scale]) & 0x7F
_dur = int((duration * self.ODRS[self.odr]) / 1000 / 8)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_THS, _ths)
self.i2c.writeto_mem(ACC_I2CADDR, ACT_DUR, _dur)
# enable the activity/inactivity interrupt
self.set_register(CTRL3_REG, 1, 5, 1)
self._user_handler = handler
self.int_pin = Pin('P13', mode=Pin.IN)
self.int_pin.callback(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING,
handler=self._int_handler)
# return actual used threshold and duration
return (_ths * self.SCALES[self.full_scale] / 128,
_dur * 8 * 1000 / self.ODRS[self.odr])
def activity(self):
if not self.debounced:
time.sleep_ms(self.act_dur)
self.debounced = True
if self.int_pin():
return True
return False
def _int_handler(self, pin_o):
if self._user_handler is not None:
self._user_handler(pin_o)
else:
if pin_o():
print('Activity interrupt')
else:
print('Inactivity interrupt')
class DAVIS7911(object):
'Davis 7911 sensor library for Pycom LoPy'
# Constants
ADC_MAX = 4000
ADC_MIN = 150
PIN_SPEED = 'P11'
PIN_DIR = 'G3'
rotations = 0
timeout = None
adc = None
# Pins
pin_speed = None
pin_dir = None
def __init__(self):
self.timeout = time()
try:
self.pin_speed = Pin(self.PIN_SPEED, mode = Pin.IN, pull = Pin.PULL_UP)
self.pin_speed.callback(Pin.IRQ_RISING, self.rotations_handler)
self.adc = ADC()
self.pin_dir = self.adc.channel(pin = self.PIN_DIR)
except Exception as e:
# Should throw exception to stop execution
pass
def rotations_handler(self, arg):
self.rotations = self.rotations + 1
def mph_to_ms(self, mph):
return mph * 0.447
def dir_to_deg(self, dir):
#pc2 = (dir - self.ADC_MIN) / ((self.ADC_MAX - self.ADC_MIN) / 360)
pc = (dir - self.ADC_MIN) / (self.ADC_MAX - self.ADC_MIN)
return pc * 360
def dir_to_dir(self, dir):
if dir < 333:
return 0
elif dir < 760:
return 45
elif dir < 1190:
return 90
elif dir < 1490:
return 135
elif dir < 1930:
return 180
elif dir < 2330:
return 225
elif dir < 3020:
return 270
elif dir < 3780:
return 315
else:
return 0
def get_windspeed(self):
delta_time = (time() - self.timeout)
try:
mph = self.rotations * (2.25 / delta_time)
except Exception as e:
mph = 0
self.rotations = 0
self.timeout = time()
return round(self.mph_to_ms(mph), 1)
def get_dir(self):
try:
dir = self.pin_dir.value()
except Exception as e:
dir = 0
return self.dir_to_dir(dir)
#button_depressed()
gc.collect()
return 0
node = setup_node()
py = Pytrack()
acc = LIS2HH12()
gps = gps_setup.setup_gps()
manager = Manager(acc, node, 1)
# manager.alarm_func = send_coords_alarm
# manager.alarm = manager.set_alarm()
# manager.alarm.cancel()
p1 = Pin('P8', mode=Pin.IN, pull=Pin.PULL_DOWN)
p1.callback(Pin.IRQ_RISING, press)
# p2 = Pin('P11', mode=Pin.IN, pull=Pin.PULL_DOWN)
# p2.callback(Pin.IRQ_RISING, press)
# p3 = Pin('P9', mode=Pin.IN, pull=Pin.PULL_DOWN)
# p3.callback(Pin.IRQ_RISING, press)
# button_1 = BUTTON(acc, node, manager, pid='P8', status_alert=1)
# print("Button_1 value is " + str(button_1.pin()))
# button_1.short = send_coords_button1
# button_1.long = send_coords_button1
#
# button_2 = BUTTON(acc, node, manager, pid='P11', status_alert=2)
# print("Button_2 value is " + str(button_2.pin()))
# button_2.short = send_coords_button2
# button_2.long = send_coords_button2
#
if wlan.isconnected():
rtc.ntp_sync(NTP_SERVER)
if rtc.synced():
ntp_synced = True
if HAVE_EXTERNAL_SENSORS:
# initialise Ultrasonic Sensor pins
us_trigger_pin = Pin("P4", mode=Pin.OUT)
us_echo_pin = Pin("P10", mode=Pin.IN, pull=Pin.PULL_DOWN)
# Initialise flow sensors
rate_pin = Pin("P11", mode=Pin.IN,
pull=Pin.PULL_UP) # Lopy4 specific: Pin('P20', mode=Pin.IN)
rate_pin_id = rate_pin.id()
# Pin seems to occasionally get 'stuck' on low so we just measure a
# transition and log that, as it doens't matter if it's going 1->0 or 0->1
rate_pin.callback(Pin.IRQ_FALLING, rate_pin_cb)
# Setup SD card
try:
sd = SD()
HAVE_SD = True
except OSError:
print("No disk available")
if HAVE_SD:
uos.mount(sd, MOUNTPOINT)
readings = take_readings(3, have_external_sensors=HAVE_EXTERNAL_SENSORS)
print("Setting up logfile")
logfile = init_logfile(readings, SENSOR_STATION_ID)
rate_count = 0
