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1250 | # labplus mPython library
# MIT license; Copyright (c) 2018 labplus
# V1.0 Zhang KaiHua(apple_eat@126.com)
# mpython buildin periphers drivers
# history:
# V1.1 add oled draw function,add buzz.freq(). by tangliufeng
# V1.2 add servo/ui class,by tangliufeng
from machine import I2C, PWM, Pin, ADC, TouchPad
from ssd1106 import SSD1106_I2C
import esp, math, time, network
import ustruct, array
from neopixel import NeoPixel
# from esp import dht_readinto
from time import sleep_ms, sleep_us, sleep
import framebuf
import calibrate_img
from micropython import schedule,const
import NVS
i2c = I2C(0, scl=Pin(Pin.P19), sda=Pin(Pin.P20), freq=400000)
if '_print' not in dir(): _print = print
def print(_t, *args, sep=' ', end='\n'):
_s = str(_t)[0:1]
if u'\u4e00' <= _s <= u'\u9fff':
_print(' ' + str(_t), *args, sep=sep, end=end)
else:
_print(_t, *args, sep=sep, end=end)
class Font(object):
def __init__(self, font_address=0x400000):
self.font_address = font_address
buffer = bytearray(18)
esp.flash_read(self.font_address, buffer)
self.header, \
self.height, \
self.width, \
self.baseline, \
self.x_height, \
self.Y_height, \
self.first_char,\
self.last_char = ustruct.unpack('4sHHHHHHH', buffer)
self.first_char_info_address = self.font_address + 18
def GetCharacterData(self, c):
uni = ord(c)
# if uni not in range(self.first_char, self.last_char):
# return None
if (uni < self.first_char or uni > self.last_char):
return None
char_info_address = self.first_char_info_address + \
(uni - self.first_char) * 6
buffer = bytearray(6)
esp.flash_read(char_info_address, buffer)
ptr_char_data, len = ustruct.unpack('IH', buffer)
if (ptr_char_data) == 0 or (len == 0):
return None
buffer = bytearray(len)
esp.flash_read(ptr_char_data + self.font_address, buffer)
return buffer
class TextMode():
normal = 1
rev = 2
trans = 3
xor = 4
class OLED(SSD1106_I2C):
""" 128x64 oled display """
def __init__(self):
super().__init__(128, 64, i2c)
self.f = Font()
if self.f is None:
raise Exception('font load failed')
def DispChar(self, s, x, y, mode=TextMode.normal, auto_return=False):
row = 0
str_width = 0
if self.f is None:
return
for c in s:
data = self.f.GetCharacterData(c)
if data is None:
if auto_return is True:
x = x + self.f.width
else:
x = x + self.width
continue
width, bytes_per_line = ustruct.unpack('HH', data[:4])
# print('character [%d]: width = %d, bytes_per_line = %d' % (ord(c)
# , width, bytes_per_line))
if auto_return is True:
if x > self.width - width:
str_width += self.width - x
x = 0
row += 1
y += self.f.height
if y > (self.height - self.f.height)+0:
y, row = 0, 0
for h in range(0, self.f.height):
w = 0
i = 0
while w < width:
mask = data[4 + h * bytes_per_line + i]
if (width - w) >= 8:
n = 8
else:
n = width - w
py = y + h
page = py >> 3
bit = 0x80 >> (py % 8)
for p in range(0, n):
px = x + w + p
c = 0
if (mask & 0x80) != 0:
if mode == TextMode.normal or \
mode == TextMode.trans:
c = 1
if mode == TextMode.rev:
c = 0
if mode == TextMode.xor:
c = self.buffer[page * (self.width if auto_return is True else 128) + px] & bit
if c != 0:
c = 0
else:
c = 1
super().pixel(px, py, c)
else:
if mode == TextMode.normal:
c = 0
super().pixel(px, py, c)
if mode == TextMode.rev:
c = 1
super().pixel(px, py, c)
mask = mask << 1
w = w + 8
i = i + 1
x = x + width + 1
str_width += width + 1
return (str_width-1,(x-1, y))
def DispChar_font(self, font, s, x, y, invert=False):
"""
custom font display.Ref by , https://github.com/peterhinch/micropython-font-to-py
:param font: use font_to_py.py script convert to `py` from `ttf` or `otf`.
"""
screen_width = self.width
screen_height = self.height
text_row = x
text_col = y
text_length = 0
if font.hmap():
font_map = framebuf.MONO_HMSB if font.reverse() else framebuf.MONO_HLSB
else:
raise ValueError('Font must be horizontally mapped.')
for c in s:
glyph, char_height, char_width = font.get_ch(c)
buf = bytearray(glyph)
if invert:
for i, v in enumerate(buf):
buf[i] = 0xFF & ~ v
fbc = framebuf.FrameBuffer(buf, char_width, char_height, font_map)
if text_row + char_width > screen_width - 1:
text_length += screen_width-text_row
text_row = 0
text_col += char_height
if text_col + char_height > screen_height + 2:
text_col = 0
super().blit(fbc, text_row, text_col)
text_row = text_row + char_width+1
text_length += char_width+1
return (text_length-1, (text_row-1, text_col))
# display
if 60 in i2c.scan():
oled = OLED()
display = oled
else:
pass
class MOTION(object):
def __init__(self):
self.i2c = i2c
addr = self.i2c.scan()
if 38 in addr:
MOTION.chip = 1 # MSA300
MOTION.IIC_ADDR = 38
elif 107 in addr:
MOTION.chip = 2 # QMI8658
MOTION.IIC_ADDR = 107
else:
raise OSError("MOTION init error")
if(MOTION.chip == 1):
pass
elif(MOTION.chip == 2):
MOTION._writeReg(0x60, 0x01) # soft reset regist value.
sleep_ms(20)
MOTION._writeReg(0x02, 0x60) # Enabe reg address auto increment auto
MOTION._writeReg(0x08, 0x03) # Enable accel and gyro
MOTION._writeReg(0x03, 0x1c) # accel range:4g ODR 128HZ
MOTION._writeReg(0x04, 0x40) # gyro ODR 8000HZ, FS 256dps
MOTION._writeReg(0x06, 0x55) # Enable accel and gyro Low-Pass Filter
# print('Motion init finished!')
# @staticmethod
def _readReg(reg, nbytes=1):
return i2c.readfrom_mem(MOTION.IIC_ADDR, reg, nbytes)
# @staticmethod
def _writeReg(reg, value):
i2c.writeto_mem(MOTION.IIC_ADDR, reg, value.to_bytes(1, 'little'))
def get_fw_version(self):
if(self.chip==1):
pass
elif(self.chip==2):
MOTION._writeReg(0x0a, 0x10) # send ctrl9R read FW cmd
while True:
if (MOTION._readReg(0x2F, 1)[0] & 0X01) == 0X01:
break
buf = MOTION._readReg(0X49, 3)
# print(buf[0])
# print(buf[1])
# print(buf[2])
class Accelerometer():
"""MSA300"""
# Range and resolustion
RANGE_2G = const(0)
RANGE_4G = const(1)
RANGE_8G = const(2)
RANGE_16G = const(3)
RES_14_BIT = const(0)
RES_12_BIT = const(1)
RES_10_BIT = const(2)
# Event
TILT_LEFT = const(0)
TILT_RIGHT = const(1)
TILT_UP = const(2)
TILT_DOWN = const(3)
FACE_UP = const(4)
FACE_DOWN = const(5)
SINGLE_CLICK = const(6)
DOUBLE_CLICK = const(7)
FREEFALL = const(8)
"""QMI8658C"""
# Range and resolustion
# QMI8658C_RANGE_2G = const(0x00)
# QMI8658C_RANGE_4G = const(0x10)
# QMI8658C_RANGE_8G = const(0x20)
# QMI8658C_RANGE_16G = const(0x40)
def __init__(self):
if(MOTION.chip==1):
self.set_resolution(MOTION.Accelerometer.RES_10_BIT)
self.set_range(MOTION.Accelerometer.RANGE_2G)
MOTION._writeReg(0x12, 0x03) # polarity of y,z axis,
MOTION._writeReg(0x11, 0) # set power mode = normal
# interrupt
MOTION._writeReg(0x16, 0x70) # int enabled: Orient | S_TAP | D_TAP
MOTION._writeReg(0x17, 0x08) # int enabled: Freefall
MOTION._writeReg(0x19, 0x71) # int1 map to: Orient, S_TAP, D_TAP, Freefall
MOTION._writeReg(0x20, 0x02) # int1 active level = 0, output = OD
MOTION._writeReg(0x21, 0x0C) # int tempoary latched 25ms
# freefall:
# single mode: |acc_x| < Threshold && |acc_y| < Threshold && |acc_z| < Threshold, at least time > Duration
# sum mode: |acc_x| + |acc_y| + |acc_z| < Threshold, at least time > Duration
MOTION._writeReg(0x22, 20) # Freefall Duration:(n+1)*2ms, range from 2ms to 512ms
MOTION._writeReg(0x23, 48) # Freefall Threshold: n*7.81mg
MOTION._writeReg(0x24, 0x01) # Freefall mode = 0-singlemode;hysteresis = n*125mg
# tap:
MOTION._writeReg(0x2A, 0x06) # Tap duration:quit = 30ms, shock=50ms, time window for secent shock=500ms
MOTION._writeReg(0x2B, 0x0A) # Tap threshold = 10*[62.5mg@2G | 125mg@4G | 250mg@8G | 500mg@16g]
# Orient
MOTION._writeReg(0x2C, 0x18) # Orient hysteresis= 1*62.5mg;
# block mode = 10 z_axis blocking or slope in any axis > 0.2g;
# orient mode = 00-symetrical
MOTION._writeReg(0x2D, 8) # Z-axis block
# int pin irq register
self.int = Pin(37, Pin.IN)
self.int.irq(trigger=Pin.IRQ_FALLING, handler=self.irq)
# event handler
self.event_tilt_up = None
self.event_tilt_down = None
self.event_tilt_left = None
self.event_tilt_right = None
self.event_face_up = None
self.event_face_down = None
self.event_single_click = None
self.event_double_click = None
self.event_freefall = None
elif(MOTION.chip==2):
# 设置偏移值
self.x_offset = 0
self.y_offset = 0
self.z_offset = 0
self.get_nvs_offset()
try:
id = MOTION._readReg(0x0, 2)
except:
pass
self.set_range(MOTION.Accelerometer.RANGE_2G) #设置默认分辨率+-2g
self.int = Pin(37, Pin.IN)
self.int.irq(trigger=Pin.IRQ_FALLING, handler=self.irq)
# event handler
self.wom = None
def irq(self, arg):
if(MOTION.chip==1):
reg_int = MOTION._readReg(0x09)[0]
reg_orent = MOTION._readReg(0x0C)[0]
# orient_int
if (reg_int & 0x40):
if ((reg_orent & 0x30) == 0x00 and self.event_tilt_left is not None):
schedule(self.event_tilt_left, self.TILT_LEFT)
if ((reg_orent & 0x30) == 0x10 and self.event_tilt_right is not None):
schedule(self.event_tilt_right, self.TILT_RIGHT)
if ((reg_orent & 0x30) == 0x20 and self.event_tilt_up is not None):
schedule(self.event_tilt_up, self.TILT_UP)
if ((reg_orent & 0x30) == 0x30 and self.event_tilt_down is not None):
schedule(self.event_tilt_down, self.TILT_DOWN)
if ((reg_orent & 0x40) == 0x00 and self.event_face_up):
schedule(self.event_face_up, self.FACE_UP)
if ((reg_orent & 0x40) == 0x40 and self.event_face_down):
schedule(self.event_face_down, self.FACE_DOWN)
# single tap
if (reg_int & 0x20):
if (self.event_single_click is not None):
schedule(self.event_single_click, self.SINGLE_CLICK)
# double tap
if (reg_int & 0x10):
if (self.event_double_click is not None):
schedule(self.event_double_click, self.DOUBLE_CLICK)
# freefall
if (reg_int & 0x01):
if (self.event_freefall is not None):
schedule(self.event_freefall, self.FREEFALL)
# print("acc sensor interrupt, because 0x%2x, orient = 0x%2x" % (reg_int, reg_orent))
elif(MOTION.chip==2):
flag = MOTION._readReg(0x2F, 1)[0]
if (flag & 0x04) == 0x04:
print('wom int trigged.')
def wom_config(self):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
MOTION._writeReg(0x60, 0x01) # soft reset regist value.
time.sleep_ms(20)
MOTION._writeReg(0x08, 0x0) # disable all sensor
MOTION._writeReg(0x03, 0x1c) # accel range:4g ODR 128HZ
MOTION._writeReg(0x0B, 0xfF) # CAL_L WoM Threshold(1mg/LSB resolution)
MOTION._writeReg(0x0C, 0x8F) # CAL_H WoM (INT1 blank time 0x1f)
MOTION._writeReg(0x0A, 0x08)
while True:
if (MOTION._readReg(0x2F, 1)[0] & 0X01) == 0X01:
break
MOTION._writeReg(0x08, 0x01) # enable accel
def set_resolution(self, resolution):# set data output rate
if(MOTION.chip==1):
format = MOTION._readReg(0x0f, 1)
format = format[0] & ~0xC
format |= (resolution << 2)
MOTION._writeReg(0x0f, format)
elif(MOTION.chip==2):
self.odr = resolution
format = MOTION._readReg(0x03, 1)
format = format[0] & 0xf0
format |= (resolution & 0x0f)
MOTION._writeReg(0x03, format)
def set_range(self, range):
if(MOTION.chip==1):
self.range = range
format = MOTION._readReg(0x0f, 1)
format = format[0] & ~0x3
format |= range
MOTION._writeReg(0x0f, format)
elif(MOTION.chip==2):
if(range==3):
range = 64 #0x40
else:
range = range << 4
self.FS = 2*(2**(range >> 4))
format = MOTION._readReg(0x03, 1)
format = format[0] & 0x8F
format |= range
MOTION._writeReg(0x03, format)
def set_offset(self, x=None, y=None, z=None):
if(MOTION.chip==1):
for i in (x, y, z):
if i is not None:
if i < -1 or i > 1:
raise ValueError("out of range,only offset 1 gravity")
if x is not None:
MOTION._writeReg(0x39, int(round(x/0.0039)))
elif y is not None:
MOTION._writeReg(0x38, int(round(y/0.0039)))
elif z is not None:
MOTION._writeReg(0x3A, int(round(z/0.0039)))
elif(MOTION.chip==2):
for i in (x, y, z):
if i is not None:
if i < -16 or i > 16:
raise ValueError("超出调整范围!!!")
if x is not None:
self.x_offset = x
self.set_nvs_offset("x", x)
if y is not None:
self.y_offset = y
self.set_nvs_offset("y", y)
if z is not None:
self.z_offset = z
self.set_nvs_offset("z", z)
def get_x(self):
if(MOTION.chip==1):
retry = 0
if (retry < 5):
try:
buf = MOTION._readReg(0x02, 2)
x = ustruct.unpack('h', buf)[0]
return x / 4 / 4096 * 2**self.range
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
elif(MOTION.chip==2):
buf = MOTION._readReg(0x35, 2)
x = ustruct.unpack('<h', buf)[0]
return (x * self.FS) / 32768 + self.x_offset
def get_y(self):
if(MOTION.chip==1):
retry = 0
if (retry < 5):
try:
buf = MOTION._readReg(0x04, 2)
y = ustruct.unpack('h', buf)[0]
return y / 4 / 4096 * 2**self.range
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
elif(MOTION.chip==2):
buf = MOTION._readReg(0x37, 2)
y = ustruct.unpack('<h', buf)[0]
return (y * self.FS) / 32768 + self.y_offset
def get_z(self):
if(MOTION.chip==1):
retry = 0
if (retry < 5):
try:
buf = MOTION._readReg(0x06, 2)
z = ustruct.unpack('h', buf)[0]
return z / 4 / 4096 * 2**self.range
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
elif(MOTION.chip==2):
buf = MOTION._readReg(0x39, 2)
z = ustruct.unpack('<h', buf)[0]
return (z * self.FS) / 32768 + self.z_offset
# return -(z * self.FS) / 32768
def roll_pitch_angle(self):
x, y, z = self.get_x(), self.get_y(), -self.get_z()
# vector normalize
mag = math.sqrt(x ** 2 + y ** 2+z ** 2)
x /= mag
y /= mag
z /= mag
roll = math.degrees(-math.asin(y))
pitch = math.degrees(math.atan2(x, z))
return roll, pitch
def get_nvs_offset(self):
try:
tmp = NVS("offset_a")
self.x_offset = round(tmp.get_i32("x")/1e5, 5)
self.y_offset = round(tmp.get_i32("y")/1e5, 5)
self.z_offset = round(tmp.get_i32("z")/1e5, 5)
except OSError as e:
# print('Accelerometer get_nvs_offset:',e)
# self.x_offset = 0
# self.y_offset = 0
# self.z_offset = 0
self.set_offset(0,0,0)
def set_nvs_offset(self, key, value):
try:
nvs = NVS("offset_a")
nvs.set_i32(key, int(value*1e5))
nvs.commit()
except OSError as e:
print('Gyroscope set_nvs_offset error:',e)
class Gyroscope():
# gyro full scale
RANGE_16_DPS = const(0x00)
RANGE_32_DPS = const(0x10)
RANGE_64_DPS = const(0x20)
RANGE_128_DPS = const(0x30)
RANGE_256_DPS = const(0x40)
RANGE_512_DPS = const(0x50)
RANGE_1024_DPS = const(0x60)
RANGE_2048_DPS = const(0x70)
def __init__(self):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
# 设置偏移值
self.x_offset = 0
self.y_offset = 0
self.z_offset = 0
self.get_nvs_offset()
self.set_range(MOTION.Gyroscope.RANGE_256_DPS)
def set_range(self, range):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
self.FS = 16*(2**(range >> 4))
format = MOTION._readReg(0x04, 1)
format = format[0] & 0x8F
format |= range
MOTION._writeReg(0x04, format)
def set_ODR(self, odr): # set data output rate
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
self.odr = odr
format = MOTION._readReg(0x04, 1)
format = format[0] & 0xF0
format |= odr
MOTION._writeReg(0x04, format)
def get_x(self):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
buf = MOTION._readReg(0x3b, 2)
x = ustruct.unpack('<h', buf)[0]
return (x * self.FS) / 32768 + self.x_offset
def get_y(self):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
buf = MOTION._readReg(0x3d, 2)
y = ustruct.unpack('<h', buf)[0]
return (y * self.FS) / 32768 + self.y_offset
def get_z(self):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
buf = MOTION._readReg(0x3f, 2)
z = ustruct.unpack('<h', buf)[0]
return (z * self.FS) / 32768 + self.z_offset
def set_offset(self, x=None, y=None, z=None):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
for i in (x, y, z):
if i is not None:
if i < -4096 or i > 4096:
raise ValueError("超出调整范围!!!")
if x is not None:
self.x_offset = x
self.set_nvs_offset("x", x)
if y is not None:
self.y_offset = y
self.set_nvs_offset("y", y)
if z is not None:
self.z_offset = z
self.set_nvs_offset("z", z)
def get_nvs_offset(self):
if(MOTION.chip==1):
pass
elif(MOTION.chip==2):
try:
tmp = NVS("offset_g")
self.x_offset = round(tmp.get_i32("x")/1e5, 5)
self.y_offset = round(tmp.get_i32("y")/1e5, 5)
self.z_offset = round(tmp.get_i32("z")/1e5, 5)
except OSError as e:
# print('Gyroscope get_nvs_offset:',e)
self.set_offset(0,0,0)
# self.x_offset = 0
# self.y_offset = 0
# self.z_offset = 0
def set_nvs_offset(self, key, value):
try:
nvs = NVS("offset_g")
nvs.set_i32(key, int(value*1e5))
nvs.commit()
except OSError as e:
print('Gyroscope set_nvs_offset error:',e)
motion = MOTION()
accelerometer = motion.Accelerometer()
gyroscope = motion.Gyroscope()
class Magnetic(object):
""" MMC5983MA driver """
def __init__(self):
self.addr = 48
self.i2c = i2c
# 传量器裸数据,乘0.25后转化为mGS
self.raw_x = 0.0
self.raw_y = 0.0
self.raw_z = 0.0
# 校准后的偏移量, 基于裸数据
self.cali_offset_x = 0.0
self.cali_offset_y = 0.0
self.cali_offset_z = 0.0
# 去皮偏移量,类似电子秤去皮功能,基于裸数据。
self.peeling_x = 0.0
self.peeling_y = 0.0
self.peeling_z = 0.0
self.is_peeling = 0
self.i2c.writeto(self.addr, b'\x09\x20\xbd\x00', True)
# self.i2c.writeto(self.addr, b'\x09\x21', True)
def _set_offset(self):
self.i2c.writeto(self.addr, b'\x09\x08', True) #set
self.i2c.writeto(self.addr, b'\x09\x01', True)
while True:
self.i2c.writeto(self.addr, b'\x08', False)
buf = self.i2c.readfrom(self.addr, 1)
status = ustruct.unpack('B', buf)[0]
if(status & 0x01):
break
self.i2c.writeto(self.addr, b'\x00', False)
buf = self.i2c.readfrom(self.addr, 6)
data = ustruct.unpack('>3H', buf)
self.i2c.writeto(self.addr, b'\x09\x10', True) #reset
self.i2c.writeto(self.addr, b'\x09\x01', True)
while True:
self.i2c.writeto(self.addr, b'\x08', False)
buf = self.i2c.readfrom(self.addr, 1)
status = ustruct.unpack('B', buf)[0]
if(status & 0x01):
break
self.i2c.writeto(self.addr, b'\x00', False)
buf = self.i2c.readfrom(self.addr, 6)
data1 = ustruct.unpack('>3H', buf)
self.x_offset = (data[0] + data1[0])/2
self.y_offset = (data[1] + data1[1])/2
self.z_offset = (data[2] + data1[2])/2
# print(self.x_offset)
# print(self.y_offset)
# print(self.z_offset)
def _get_raw(self):
retry = 0
if (retry < 5):
try:
self.i2c.writeto(self.addr, b'\x09\x08', True) #set
self.i2c.writeto(self.addr, b'\x09\x01', True)
while True:
self.i2c.writeto(self.addr, b'\x08', False)
buf = self.i2c.readfrom(self.addr, 1)
status = ustruct.unpack('B', buf)[0]
if(status & 0x01):
break
self.i2c.writeto(self.addr, b'\x00', False)
buf = self.i2c.readfrom(self.addr, 6)
data = ustruct.unpack('>3H', buf)
self.i2c.writeto(self.addr, b'\x09\x10', True) #reset
self.i2c.writeto(self.addr, b'\x09\x01', True)
while True:
self.i2c.writeto(self.addr, b'\x08', False)
buf = self.i2c.readfrom(self.addr, 1)
status = ustruct.unpack('B', buf)[0]
if(status & 0x01):
break
self.i2c.writeto(self.addr, b'\x00', False)
buf = self.i2c.readfrom(self.addr, 6)
data1 = ustruct.unpack('>3H', buf)
self.raw_x = -((data[0] - data1[0])/2)
self.raw_y = -((data[1] - data1[1])/2)
self.raw_z = -((data[2] - data1[2])/2)
# print(str(self.x) + " " + str(self.y) + " " + str(self.z))
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
def peeling(self):
self._get_raw()
self.peeling_x = self.raw_x
self.peeling_y = self.raw_y
self.peeling_z = self.raw_z
self.is_peeling = 1
def clear_peeling(self):
self.peeling_x = 0.0
self.peeling_y = 0.0
self.peeling_z = 0.0
self.is_peeling = 0
def get_x(self):
self._get_raw()
return self.raw_x * 0.25
def get_y(self):
self._get_raw()
return self.raw_y * 0.25
def get_z(self):
self._get_raw()
return self.raw_z * 0.25
def get_field_strength(self):
self._get_raw()
if self.is_peeling == 1:
return (math.sqrt((self.raw_x - self.peeling_x)*(self.raw_x - self.peeling_x) + (self.raw_y - self.peeling_y)*(self.raw_y - self.peeling_y) + (self.raw_z - self.peeling_z)*(self.raw_z - self.peeling_z)))*0.25
return (math.sqrt(self.raw_x * self.raw_x + self.raw_y * self.raw_y + self.raw_z * self.raw_z))*0.25
def calibrate(self):
oled.fill(0)
oled.DispChar("步骤1:", 0,0,1)
oled.DispChar("如图",0,26,1)
oled.DispChar("转几周",0,43,1)
oled.bitmap(64,0,calibrate_img.rotate,64,64,1)
oled.show()
self._get_raw()
min_x = max_x = self.raw_x
min_y = max_y = self.raw_y
min_z = max_z = self.raw_z
ticks_start = time.ticks_ms()
while (time.ticks_diff(time.ticks_ms(), ticks_start) < 15000) :
self._get_raw()
min_x = min(self.raw_x, min_x)
min_y = min(self.raw_y, min_y)
max_x = max(self.raw_x, max_x)
max_y = max(self.raw_y, max_y)
time.sleep_ms(100)
self.cali_offset_x = (max_x + min_x) / 2
self.cali_offset_y = (max_y + min_y) / 2
print('cali_offset_x: ' + str(self.cali_offset_x) + ' cali_offset_y: ' + str(self.cali_offset_y))
oled.fill(0)
oled.DispChar("步骤2:", 85,0,1)
oled.DispChar("如图",85,26,1)
oled.DispChar("转几周",85,43,1)
oled.bitmap(0,0,calibrate_img.rotate1,64,64,1)
oled.show()
ticks_start = time.ticks_ms()
while (time.ticks_diff(time.ticks_ms(), ticks_start) < 15000) :
self._get_raw()
min_z = min(self.raw_z, min_z)
# min_y = min(self.raw_y, min_y)
max_z = max(self.raw_z, max_z)
# max_y = max(self.raw_y, max_y)
time.sleep_ms(100)
self.cali_offset_z = (max_z + min_z) / 2
# self.cali_offset_y = (max_y + min_y) / 2
print('cali_offset_z: ' + str(self.cali_offset_z))
# print('cali_offset_y: ' + str(self.cali_offset_y))
oled.fill(0)
oled.DispChar("校准完成", 40,24,1)
oled.show()
oled.fill(0)
def get_heading(self):
self._get_raw()
# if (accelerometer):
# # use accelerometer get inclination
# x = accelerometer.get_x()
# y = accelerometer.get_y()
# z = accelerometer.get_z()
# phi = math.atan2(x, -z)
# theta = math.atan2(y, (x*math.sin(phi) - z*math.cos(phi)))
# sinPhi = math.sin(phi)
# cosPhi = math.cos(phi)
# sinTheta = math.sin(theta)
# cosTheta = math.cos(theta)
# heading = (math.atan2(x*cosTheta + y*sinTheta*sinPhi + z*sinTheta*cosPhi, z*sinPhi - y*cosPhi)) * (180 / 3.14159265) + 180
# return heading
temp_x = self.raw_x - self.cali_offset_x
temp_y = self.raw_y - self.cali_offset_y
temp_z = self.raw_z - self.cali_offset_z
heading = math.atan2(temp_y, -temp_x) * (180 / 3.14159265) + 180
return heading
def _get_temperature(self):
retry = 0
if (retry < 5):
try:
self.i2c.writeto(self.addr, b'\x09\x02', True)
while True:
self.i2c.writeto(self.addr, b'\x08', False)
buf = self.i2c.readfrom(self.addr, 1)
status = ustruct.unpack('B', buf)[0]
if(status & 0x02):
break
self.i2c.writeto(self.addr, b'\x07', False)
buf = self.i2c.readfrom(self.addr, 1)
temp = (ustruct.unpack('B', buf)[0])*0.8 -75
# print(data)
return temp
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
def _get_id(self):
retry = 0
if (retry < 5):
try:
self.i2c.writeto(self.addr, bytearray([0x2f]), False)
buf = self.i2c.readfrom(self.addr, 1, True)
print(buf)
id = ustruct.unpack('B', buf)[0]
return id
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
# Magnetic
if 48 in i2c.scan():
magnetic = Magnetic()
class BME280(object):
def __init__(self):
self.addr = 119
# The “ctrl_hum” register sets the humidity data acquisition options of the device
# 0x01 = [2:0]oversampling ×1
i2c.writeto(self.addr, b'\xF2\x01')
# The “ctrl_meas” register sets the pressure and temperature data acquisition options of the device.
# The register needs to be written after changing “ctrl_hum” for the changes to become effective.
# 0x27 = [7:5]Pressure oversampling ×1 | [4:2]Temperature oversampling ×4 | [1:0]Normal mode
i2c.writeto(self.addr, b'\xF4\x27')
# The “config” register sets the rate, filter and interface options of the device. Writes to the “config”
# register in normal mode may be ignored. In sleep mode writes are not ignored.
i2c.writeto(self.addr, b'\xF5\x00')
i2c.writeto(self.addr, b'\x88', False)
bytes = i2c.readfrom(self.addr, 6)
self.dig_T = ustruct.unpack('Hhh', bytes)
i2c.writeto(self.addr, b'\x8E', False)
bytes = i2c.readfrom(self.addr, 18)
self.dig_P = ustruct.unpack('Hhhhhhhhh', bytes)
i2c.writeto(self.addr, b'\xA1', False)
self.dig_H = array.array('h', [0, 0, 0, 0, 0, 0])
self.dig_H[0] = i2c.readfrom(self.addr, 1)[0]
i2c.writeto(self.addr, b'\xE1', False)
buff = i2c.readfrom(self.addr, 7)
self.dig_H[1] = ustruct.unpack('h', buff[0:2])[0]
self.dig_H[2] = buff[2]
self.dig_H[3] = (buff[3] << 4) | (buff[4] & 0x0F)
self.dig_H[4] = (buff[5] << 4) | (buff[4] >> 4 & 0x0F)
self.dig_H[5] = buff[6]
def temperature(self):
retry = 0
if (retry < 5):
try:
i2c.writeto(self.addr, b'\xFA', False)
buff = i2c.readfrom(self.addr, 3)
T = (((buff[0] << 8) | buff[1]) << 4) | (buff[2] >> 4 & 0x0F)
c1 = (T / 16384.0 - self.dig_T[0] / 1024.0) * self.dig_T[1]
c2 = ((T / 131072.0 - self.dig_T[0] / 8192.0) * (T / 131072.0 - self.dig_T[0] / 8192.0)) * self.dig_T[2]
self.tFine = c1 + c2
return self.tFine / 5120.0
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
def pressure(self):
retry = 0
if (retry < 5):
try:
self.temperature()
i2c.writeto(self.addr, b'\xF7', False)
buff = i2c.readfrom(self.addr, 3)
P = (((buff[0] << 8) | buff[1]) << 4) | (buff[2] >> 4 & 0x0F)
c1 = self.tFine / 2.0 - 64000.0
c2 = c1 * c1 * self.dig_P[5] / 32768.0
c2 = c2 + c1 * self.dig_P[4] * 2.0
c2 = c2 / 4.0 + self.dig_P[3] * 65536.0
c1 = (self.dig_P[2] * c1 * c1 / 524288.0 + self.dig_P[1] * c1) / 524288.0
c1 = (1.0 + c1 / 32768.0) * self.dig_P[0]
if c1 == 0.0:
return 0
p = 1048576.0 - P
p = (p - c2 / 4096.0) * 6250.0 / c1
c1 = self.dig_P[8] * p * p / 2147483648.0
c2 = p * self.dig_P[7] / 32768.0
p = p + (c1 + c2 + self.dig_P[6]) / 16.0
return p
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
def humidity(self):
retry = 0
if (retry < 5):
try:
self.temperature()
i2c.writeto(self.addr, b'\xFD', False)
buff = i2c.readfrom(self.addr, 2)
H = buff[0] << 8 | buff[1]
h = self.tFine - 76800.0
h = (H - (self.dig_H[3] * 64.0 + self.dig_H[4] / 16384.0 * h)) * \
(self.dig_H[1] / 65536.0 * (1.0 + self.dig_H[5] / 67108864.0 * h * \
(1.0 + self.dig_H[2] / 67108864.0 * h)))
h = h * (1.0 - self.dig_H[0] * h / 524288.0)
if h > 100.0:
return 100.0
elif h < 0.0:
return 0.0
else:
return h
except:
retry = retry + 1
else:
raise Exception("i2c read/write error!")
# bm280
if 119 in i2c.scan():
bme280 = BME280()
class PinMode(object):
IN = 1
OUT = 2
PWM = 3
ANALOG = 4
OUT_DRAIN = 5
pins_remap_esp32 = (33, 32, 35, 34, 39, 0, 16, 17, 26, 25, 36, 2, -1, 18, 19, 21, 5, -1, -1, 22, 23, -1, -1, 27, 14, 12,
13, 15, 4)
class MPythonPin():
def __init__(self, pin, mode=PinMode.IN, pull=None):
if mode not in [PinMode.IN, PinMode.OUT, PinMode.PWM, PinMode.ANALOG, PinMode.OUT_DRAIN]:
raise TypeError("mode must be 'IN, OUT, PWM, ANALOG,OUT_DRAIN'")
if pin == 4:
raise TypeError("P4 is used for light sensor")
if pin == 10:
raise TypeError("P10 is used for sound sensor")
try:
self.id = pins_remap_esp32[pin]
except IndexError:
raise IndexError("Out of Pin range")
if mode == PinMode.IN:
# if pin in [3]:
# raise TypeError('IN not supported on P%d' % pin)
self.Pin = Pin(self.id, Pin.IN, pull)
if mode == PinMode.OUT:
if pin in [2, 3]:
raise TypeError('OUT not supported on P%d' % pin)
self.Pin = Pin(self.id, Pin.OUT, pull)
if mode == PinMode.OUT_DRAIN:
if pin in [2, 3]:
raise TypeError('OUT_DRAIN not supported on P%d' % pin)
self.Pin = Pin(self.id, Pin.OPEN_DRAIN, pull)
if mode == PinMode.PWM:
if pin not in [0, 1, 5, 6, 7, 8, 9, 11, 13, 14, 15, 16, 19, 20, 23, 24, 25, 26, 27, 28]:
raise TypeError('PWM not supported on P%d' % pin)
self.pwm = PWM(Pin(self.id), duty=0)
if mode == PinMode.ANALOG:
if pin not in [0, 1, 2, 3, 4, 10]:
raise TypeError('ANALOG not supported on P%d' % pin)
self.adc = ADC(Pin(self.id))
self.adc.atten(ADC.ATTN_11DB)
self.mode = mode
def irq(self, handler=None, trigger=Pin.IRQ_RISING):
if not self.mode == PinMode.IN:
raise TypeError('the pin is not in IN mode')
return self.Pin.irq(handler, trigger)
def read_digital(self):
if not self.mode == PinMode.IN:
raise TypeError('the pin is not in IN mode')
return self.Pin.value()
def write_digital(self, value):
if self.mode not in [PinMode.OUT, PinMode.OUT_DRAIN]:
raise TypeError('the pin is not in OUT or OUT_DRAIN mode')
self.Pin.value(value)
def read_analog(self):
if not self.mode == PinMode.ANALOG:
raise TypeError('the pin is not in ANALOG mode')
return self.adc.read()
def write_analog(self, duty, freq=1000):
if not self.mode == PinMode.PWM:
raise TypeError('the pin is not in PWM mode')
self.pwm.freq(freq)
self.pwm.duty(duty)
'''
# to be test
class LightSensor(ADC):
def __init__(self):
super().__init__(Pin(pins_remap_esp32[4]))
# super().atten(ADC.ATTN_11DB)
def value(self):
# lux * k * Rc = N * 3.9/ 4096
# k = 0.0011mA/Lux
# lux = N * 3.9/ 4096 / Rc / k
return super().read() * 1.1 / 4095 / 6.81 / 0.011
'''
class wifi:
def __init__(self):
self.sta = network.WLAN(network.STA_IF)
self.ap = network.WLAN(network.AP_IF)
def connectWiFi(self, ssid, passwd, timeout=10):
if self.sta.isconnected():
self.sta.disconnect()
self.sta.active(True)
list = self.sta.scan()
for i, wifi_info in enumerate(list):
try:
if wifi_info[0].decode() == ssid:
self.sta.connect(ssid, passwd)
wifi_dbm = wifi_info[3]
break
except UnicodeError:
self.sta.connect(ssid, passwd)
wifi_dbm = '?'
break
if i == len(list) - 1:
raise OSError("SSID invalid / failed to scan this wifi")
start = time.time()
print("Connection WiFi", end="")
while (self.sta.ifconfig()[0] == '0.0.0.0'):
if time.ticks_diff(time.time(), start) > timeout:
print("")
raise OSError("Timeout!,check your wifi password and keep your network unblocked")
print(".", end="")
time.sleep_ms(500)
print("")
print('WiFi(%s,%sdBm) Connection Successful, Config:%s' % (ssid, str(wifi_dbm), str(self.sta.ifconfig())))
def disconnectWiFi(self):
if self.sta.isconnected():
self.sta.disconnect()
self.sta.active(False)
print('disconnect WiFi...')
def enable_APWiFi(self, essid, password=b'',channel=10):
self.ap.active(True)
if password:
authmode=4
else:
authmode=0
self.ap.config(essid=essid,password=password,authmode=authmode, channel=channel)
def disable_APWiFi(self):
self.ap.active(False)
print('disable AP WiFi...')
# 3 rgb leds
rgb = NeoPixel(Pin(17, Pin.OUT), 3, 3, 1, brightness=0.3)
rgb.write()
# light sensor
light = ADC(Pin(39))
light.atten(light.ATTN_11DB)
# sound sensor
sound = ADC(Pin(36))
sound.atten(sound.ATTN_11DB)
# buttons
class Button:
def __init__(self, pin_num, reverse=False):
self.__reverse = reverse
(self.__press_level, self.__release_level) = (0, 1) if not self.__reverse else (1, 0)
self.__pin = Pin(pin_num, Pin.IN, pull=Pin.PULL_UP)
self.__pin.irq(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=self.__irq_handler)
# self.__user_irq = None
self.event_pressed = None
self.event_released = None
self.__pressed_count = 0
self.__was_pressed = False
# print("level: pressed is {}, released is {}." .format(self.__press_level, self.__release_level))
def __irq_handler(self, pin):
irq_falling = True if pin.value() == self.__press_level else False
# debounce
time.sleep_ms(10)
if self.__pin.value() == (self.__press_level if irq_falling else self.__release_level):
# new event handler
# pressed event
if irq_falling:
if self.event_pressed is not None:
schedule(self.event_pressed, self.__pin)
# key status
self.__was_pressed = True
if (self.__pressed_count < 100):
self.__pressed_count = self.__pressed_count + 1
# release event
else:
if self.event_released is not None:
schedule(self.event_released, self.__pin)
def is_pressed(self):
if self.__pin.value() == self.__press_level:
return True
else:
return False
def was_pressed(self):
r = self.__was_pressed
self.__was_pressed = False
return r
def get_presses(self):
r = self.__pressed_count
self.__pressed_count = 0
return r
def value(self):
return self.__pin.value()
def irq(self, *args, **kws):
self.__pin.irq(*args, **kws)
class Touch:
def __init__(self, pin):
self.__touch_pad = TouchPad(pin)
self.__touch_pad.irq(self.__irq_handler)
self.event_pressed = None
self.event_released = None
self.__pressed_count = 0
self.__was_pressed = False
self.__value = 0
def __irq_handler(self, value):
# when pressed
if value == 1:
if self.event_pressed is not None:
self.event_pressed(value)
self.__was_pressed = True
self.__value = 1
if (self.__pressed_count < 100):
self.__pressed_count = self.__pressed_count + 1
# when released
else:
self.__value = 0
if self.event_released is not None:
self.event_released(value)
def config(self, threshold):
self.__touch_pad.config(threshold)
def is_pressed(self):
if self.__value:
return True
else:
return False
def was_pressed(self):
r = self.__was_pressed
self.__was_pressed = False
return r
def get_presses(self):
r = self.__pressed_count
self.__pressed_count = 0
return r
def read(self):
return self.__touch_pad.read()
# button_a = Pin(0, Pin.IN, Pin.PULL_UP)
# button_b = Pin(2, Pin.IN, Pin.PULL_UP)
button_a = Button(0)
button_b = Button(2)
# touchpad
touchpad_p = touchPad_P = Touch(Pin(27))
touchpad_y = touchPad_Y = Touch(Pin(14))
touchpad_t = touchPad_T = Touch(Pin(12))
touchpad_h = touchPad_H = Touch(Pin(13))
touchpad_o = touchPad_O = Touch(Pin(15))
touchpad_n = touchPad_N = Touch(Pin(4))
from gui import *
def numberMap(inputNum, bMin, bMax, cMin, cMax):
outputNum = 0
outputNum = ((cMax - cMin) / (bMax - bMin)) * (inputNum - bMin) + cMin
return outputNum
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