async def expire():
global logging, loggedin
await asyncio.sleep(dfl.SESSION_TIMEOUT)
uart.write('SESSION EXPIRED.\r\n')
pyb.repl_uart(None)
logging = False
loggedin = False
await asyncio.sleep(0)
def init():
if False:
uart = pyb.UART(6,115200)
pyb.repl_uart(uart)
print("REPL is also on UART 6 (Y1=Tx Y2=Rx)")
if True:
bufsize = 100
print("Setting alloc_emergency_exception_buf to", bufsize)
micropython.alloc_emergency_exception_buf(bufsize)
def init():
global uart
# Initialising UART6 (Y1, Y2)
uart = UART(6, baudrate=38400, timeout=10, read_buf_len=200)
pyb.repl_uart(uart)
print('RPi UART setup')
global uart_gps
global gps_device
global gps_planner
uart_gps = UART(4, baudrate=9600, timeout=10, read_buf_len=600)
gps_device = gps.GPS(uart_gps)
gps_planner = planner.PLANNER(gps_device)
print("GPS set up")
global pid_test
pid_test = pid.PID(0.3, 0, 0.1, gps_planner.dist_bearing, 1)
# If True, uart messages are sent back normally,
# if false, only log messages are sent back.
global UART_comms_master
UART_comms_master = False
global imu, fuse, i2c
global imu_acc, imu_gyr, imu_mag
i2c = I2C(scl=Pin('Y9'), sda=Pin('Y10'))
try:
imu = MPU9250(i2c, scaling=(-1, -1, -1))
imu._mag.cal = (20.915039062, 11.880468750, 23.293359375)
imu.gyro_filter_range = 4
imu.accel_filter_range = 4
print(imu.mag.cal)
print(imu.accel.cal)
print(imu.gyro.cal)
mpu_addr = "MPU9250 id: {:X}".format(imu.mpu_addr)
cmd.send_uart(mpu_addr, True)
fuse = Fusion()
except:
cmd.send_uart("No imu detected", True)
sensors.ina_init(i2c)
def task_bluetooth():
''' Function which runs for Task 2, gives the robot commands based on user input. '''
global BLUETOOTH
#BlueTooth Set-up
uart = pyb.UART(2, 9600)
uart.init(9600, bits=8, stop=1, parity=None)
pyb.repl_uart(uart)
state = GATHER
while True:
if state == GATHER:
''' waiting for signal to appear '''
BLUETOOTH = pyb.repl_uart(uart)
yield (state)
async def login(msg, uart):
global logging, loggedin
async def expire():
global logging, loggedin
await asyncio.sleep(dfl.SESSION_TIMEOUT)
uart.write('SESSION EXPIRED.\r\n')
pyb.repl_uart(None)
logging = False
loggedin = False
await asyncio.sleep(0)
for i in range(dfl.LOGIN_ATTEMPTS):
uart.write('ENTER PASSWORD:'******'\r':
if buff.decode() == dfl.PASSWD:
asyncio.create_task(expire())
uart.write('\n\rAUTH OK.\r\n')
pyb.repl_uart(uart)
loggedin = True
msg.clear()
return
elif i < dfl.LOGIN_ATTEMPTS - 1:
uart.write('\r\nTRY AGAIN.\n\r')
msg.clear()
break
else:
uart.write('\r\nAUTH FAILED.\n\r')
logging = False
msg.clear()
return
else:
uart.write(b'*')
buff.extend(msg.value())
msg.clear()
await asyncio.sleep(0)
await asyncio.sleep(0)
def test():
uart = pyb.repl_uart()
if uart is None:
print('This test needs to run with a repl_uart')
return
# With UART using the irq, we shouldn't need to read the uart to detect
# the Control-C
uart.init(115200, read_buf_len=64)
loop2(None, True) # test readchar
loop2(None, False) # test read
# Without using the IRQ, we need to actually perform a read on the uart
# in order to trigger the Control-C
uart.init(115200, read_buf_len=0)
loop2(uart, True) # test readchar
loop2(uart, False) # test read
machine = os.uname().machine
if machine.startswith('Espruino Pico'):
repl_uart_num = 1
device_uart_num = 2
elif machine.startswith('PYB'):
repl_uart_num = 4
device_uart_num = 6
else:
print("Unrecognized board: '{}'".format(machine))
sys.exit(1)
repl_uart = pyb.UART(repl_uart_num, 115200)
log_to_uart(repl_uart)
# By putting the REPL on the logging UART, it means that any tracebacks will
# go to the uart.
pyb.repl_uart(repl_uart)
class LedSequence:
def __init__(self, led, sequence, continuous=True):
self.led = led
self.last_toggle = 0
self.sequence = sequence
self.continuous = continuous
self.seq_idx = -1
self.led.off()
if self.continuous:
self.kick()
def process(self):
if self.seq_idx >= 0 and pyb.elapsed_millis(
'''
from random import randint
for i in range(1000):
fg = lcd.rgb(randint(128, 255), randint(128, 255), randint(128, 255))
bg = lcd.rgb(randint(0, 128), randint(0, 128), randint(0, 128))
lcd.set_pen(fg, bg)
lcd.rect(randint(0, lcd.w), randint(0, lcd.h), randint(10, 40), randint(10, 40))
'''
#**Task:** How would you draw two rectangles on the screen? Try to give them different colours.
#---- Redirecting Micropython output to display (Terminal)----
#create UART object (Universal asynchronous receiver-transmitter)
uart_obj = pyb.UART('XA',
115200) #XA -> position again, 115200 is the COM port
#send REPL output to display
pyb.repl_uart(uart_obj)
#?????
#You can adjust the UART baudrate from the default of 115200 using the
#`set_uart_baudrate` method.
#remove current displayed content
#lcd.erase()
# from here http://docs.micropython.org/en/latest/pyboard/library/lcd160cr.html#module-lcd160cr
#lcd = lcd160cr.LCD160CR('X')
#lcd.set_orient(lcd160cr.PORTRAIT)
#lcd.set_pos(0, 0)
#lcd.set_text_color(lcd.rgb(255, 0, 0), lcd.rgb(0, 0, 0))
#lcd.set_font(1)
#lcd.write('Hello MicroPython!')
# boot.py -- run on boot-up
# can run arbitrary Python, but best to keep it minimal
import machine
import pyb
#pyb.main('main.py') # main script to run after this one
#pyb.usb_mode('CDC+MSC') # act as a serial and a storage device
#pyb.usb_mode('CDC+HID') # act as a serial device and a mouse
# REPL over UART
REPL=pyb.UART(1,115200)
pyb.repl_uart(REPL)
blueled=pyb.LED(4)
blueled.on()
#import pyb
##import os
#from ds3231 import DS3231
#
## REPL over UART
#REPL=pyb.UART(3,115200)
#pyb.repl_uart(REPL)
##os.dupterm(REPL)
#
## USB Mode
#pyb.usb_mode(None) # Kill serial device
##pyb.usb_mode('CDC') # Act as a serial device
##pyb.usb_mode('CDC+MSC') # Act as a serial device and a storage device
##pyb.usb_mode('CDC+HID') # Act as a serial device and a mouse ** SDCARD **
#
def setrepl(self):
repl_uart(self._uart)
import pyb
uart = pyb.UART(6, 115200)
pyb.repl_uart(uart)
print("REPL is also on UART 6 (Y1=Tx Y2=Rx)")
OpenMV @date: 2018.05.10 ''' # Quick reference for the openmvcam ''' 1.1 General board control ''' import pyb pyb.repl_uart(pyb.UART(3, 9600, timeout_char=1000)) # duplicate REPL on UART(3) pyb.wfi() # pause CPU, waiting for interrupt pyb.stop() # stop CPU, waiting for external interrupt ''' 1.2 Delay and timing ''' ''' 图像处理背景知识 ''' # ref: http://book.openmv.cc/
def set_repl(self):
if self.line2uart[self.interrupt] == self.config["Uart"]["Bus"]:
pyb.repl_uart(self.uart)
for freq in range(0, 600, 100):
if freq == 0:
freq = 1
else:
t5.freq(freq * 4) # x 2 for toggle, x2 for 2 pulses_per_rev
pyb.delay(1000)
print("RPM =", tach.rpm(), "Freq =", freq, " as RPM =", freq * 60)
# stop the pulses
print("Stopping pulses")
oc_pin.init(pyb.Pin.OUT_PP)
# wait for 1.5 seconds
pyb.delay(1500)
print("RPM =", tach.rpm())
print("RPM =", tach.rpm())
print("Starting pulses again")
# start the pulses up again
oc = t5.channel(2, pyb.Timer.OC_TOGGLE, pin=oc_pin)
pyb.delay(2000)
print("RPM =", tach.rpm())
print("RPM =", tach.rpm())
u6 = pyb.UART(6, 115200)
pyb.repl_uart(u6)
test()
oc = t5.channel(2, pyb.Timer.OC_TOGGLE, pin=oc_pin)
for freq in range(0, 600, 100):
if freq == 0:
freq = 1
else:
t5.freq(freq * 4) # x 2 for toggle, x2 for 2 pulses_per_rev
pyb.delay(1000)
print("RPM =", tach.rpm(), "Freq =", freq, " as RPM =", freq * 60)
# stop the pulses
print("Stopping pulses")
oc_pin.init(pyb.Pin.OUT_PP)
# wait for 1.5 seconds
pyb.delay(1500)
print("RPM =", tach.rpm())
print("RPM =", tach.rpm())
print("Starting pulses again")
# start the pulses up again
oc = t5.channel(2, pyb.Timer.OC_TOGGLE, pin=oc_pin)
pyb.delay(2000)
print("RPM =", tach.rpm())
print("RPM =", tach.rpm())
u6 = pyb.UART(6, 115200)
pyb.repl_uart(u6)
test()
machine = os.uname().machine
if machine.startswith('Espruino Pico'):
repl_uart_num = 1
device_uart_num = 2
elif machine.startswith('PYB'):
repl_uart_num = 4
device_uart_num = 6
else:
print("Unrecognized board: '{}'".format(machine))
sys.exit(1)
repl_uart = pyb.UART(repl_uart_num, 115200)
log_to_uart(repl_uart)
# By putting the REPL on the logging UART, it means that any tracebacks will
# go to the uart.
pyb.repl_uart(repl_uart)
class LedSequence:
def __init__(self, led, sequence, continuous=True):
self.led = led
self.last_toggle = 0
self.sequence = sequence
self.continuous = continuous
self.seq_idx = -1
self.led.off()
if self.continuous:
self.kick()
def process(self):
if self.seq_idx >= 0 and pyb.elapsed_millis(self.last_toggle) > self.sequence[self.seq_idx]:
def repl_uart():
pyb.repl_uart(pyb.UART(3, 9600))
from pyb import Pin
import os
import pyb
machine = os.uname().machine
if 'LaunchPad' in machine:
uart_id_range = range(0, 2)
uart_pins = [[('GP12', 'GP13'), ('GP12', 'GP13', 'GP7', 'GP6')], [('GP16', 'GP17'), ('GP16', 'GP17', 'GP7', 'GP6')]]
elif 'WiPy' in machine:
uart_id_range = range(0, 2)
uart_pins = [[('GP12', 'GP13'), ('GP12', 'GP13', 'GP7', 'GP6')], [('GP16', 'GP17'), ('GP16', 'GP17', 'GP7', 'GP6')]]
else:
raise Exception('Board not supported!')
# just in case we have stdio duplicated on any of the uarts
pyb.repl_uart(None)
for uart_id in uart_id_range:
uart = UART(uart_id, 38400)
print(uart)
uart.init(57600, 8, None, 1, pins=uart_pins[uart_id][0])
uart.init(baudrate=9600, stop=2, parity=UART.EVEN, pins=uart_pins[uart_id][1])
uart.init(baudrate=115200, parity=UART.ODD, stop=0, pins=uart_pins[uart_id][0])
uart = UART(baudrate=1000000)
uart.sendbreak()
uart = UART(baudrate=1000000)
uart = UART()
print(uart)
uart = UART(baudrate=38400, pins=('GP12', 'GP13'))
print(uart)
from pyb import Pin
import os
import pyb
machine = os.uname().machine
if 'LaunchPad' in machine:
uart_id_range = range(0, 2)
uart_pins = [[('GP12', 'GP13'), ('GP12', 'GP13', 'GP7', 'GP6')], [('GP16', 'GP17'), ('GP16', 'GP17', 'GP7', 'GP6')]]
elif 'WiPy' in machine:
uart_id_range = range(0, 2)
uart_pins = [[('GP12', 'GP13'), ('GP12', 'GP13', 'GP7', 'GP6')], [('GP16', 'GP17'), ('GP16', 'GP17', 'GP7', 'GP6')]]
else:
raise Exception('Board not supported!')
# just in case we have stdio duplicated on any of the uarts
pyb.repl_uart(None)
for uart_id in uart_id_range:
uart = UART(uart_id, 38400)
print(uart)
uart.init(baudrate=57600, stop=1, parity=None, pins=uart_pins[uart_id][0])
uart.init(baudrate=9600, stop=2, parity=0, pins=uart_pins[uart_id][1])
uart.init(baudrate=115200, parity=1, pins=uart_pins[uart_id][0])
uart.sendbreak()
# now it's time for some loopback tests between the uarts
uart0 = UART(0, 1000000, pins=uart_pins[0][0])
print(uart0)
uart1 = UART(1, 1000000, pins=uart_pins[1][0])
print(uart1)
# main.py -- Define pins so they can be set with a pin reference like: pin10.value(1) on the fly. import machine import pyb #rtc=pyb.RTC() #rtc.datetime() #rtc.info() uart = pyb.UART(2, 4800) pyb.repl_uart(uart) pinB8 = machine.Pin(machine.Pin.cpu.B8, machine.Pin.OUT_PP, machine.Pin.PULL_NONE) pinB9 = machine.Pin(machine.Pin.cpu.B9, machine.Pin.OUT_PP, machine.Pin.PULL_NONE) pinA8 = machine.Pin(machine.Pin.cpu.A8, machine.Pin.OUT_PP, machine.Pin.PULL_NONE) pinA5 = machine.Pin(machine.Pin.cpu.A5, machine.Pin.OUT_PP, machine.Pin.PULL_NONE) pinA4 = machine.Pin(machine.Pin.cpu.A4, machine.Pin.OUT_PP, machine.Pin.PULL_NONE) pinB8.value(0) pinB9.value(1) pinA8.value(0) pinA5.value(1) pinA4.value(1) pyb.delay(200) pinB8.value(1) pinB9.value(0) pinA8.value(1) pinA5.value(0) pinA4.value(0) pyb.delay(200) pinB8.value(0) pinB9.value(1) pinA8.value(0) pinA5.value(1) pinA4.value(1) pyb.delay(200)
# https://docs.micropython.org/en/latest/pyboard/quickref.html import utime as time buf = bytes() import pyb pyb.repl_uart(pyb.UART(1, 9600)) # duplicate REPL on UART(1) pyb.wfi() # pause CPU, waiting for interrupt pyb.freq() # get CPU and bus frequencies pyb.freq(60000000) # set CPU freq to 60MHz pyb.stop() # stop CPU, waiting for external interrupt # Internal LEDs¶ # See pyb.LED. from pyb import LED led = LED(1) # 1=red, 2=green, 3=yellow, 4=blue led.toggle() led.on() led.off() # LEDs 3 and 4 support PWM intensity (0-255) LED(4).intensity() # get intensity LED(4).intensity(128) # set intensity to half # Internal switch # See pyb.Switch. from pyb import Switch
''' MicroPython Documentation @date: 2017.11.20 ''' ''' 1.1 General board control ''' import pyb pyb.repl_uart(pyb.UART(1, 9600)) pyb.wfi() pyb.freq() pyb.freq(60000000) pyb.stop() ''' 1.2 Delay and timing ''' import time time.sleep(1) # sleep for 1 second time.sleep_ms(500) time.sleep_us(10) start = time.ticks_ms() delta = time.ticks_diff(time.ticks_ms() - start) ''' 1.3 LED ''' from pyb import LED
def test():
inspect(_write_packet, 64)
pyb.repl_uart(pyb.UART(4, 115200))
uart = pyb.UART(6, 1000000)
buf = bytearray(b'123456')
_write_packet(stm.USART6 | 0x80000000, buf, len(buf))