kopia lustrzana https://github.com/pimoroni/pimoroni-pico
Merge pull request #206 from pimoroni/driver/pwm3901
C++ and MP drivers and examples for Optical Flow sensorspull/214/head
Philip Howard
GitHub
commit
1a9e2802fe
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@ -3,6 +3,7 @@ add_subdirectory(esp32spi)
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add_subdirectory(ioexpander)
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add_subdirectory(ltp305)
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add_subdirectory(ltr559)
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add_subdirectory(pmw3901)
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add_subdirectory(sgp30)
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add_subdirectory(st7735)
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add_subdirectory(st7789)
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@ -0,0 +1 @@
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include(pmw3901.cmake)
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@ -0,0 +1,10 @@
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set(DRIVER_NAME pmw3901)
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add_library(${DRIVER_NAME} INTERFACE)
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target_sources(${DRIVER_NAME} INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/${DRIVER_NAME}.cpp)
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target_include_directories(${DRIVER_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
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# Pull in pico libraries that we need
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target_link_libraries(${DRIVER_NAME} INTERFACE pico_stdlib hardware_spi hardware_pwm hardware_dma)
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@ -0,0 +1,587 @@
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#include "pmw3901.hpp"
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#include <cstdlib>
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#include <math.h>
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#include <cstdio>
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#include <algorithm>
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#include <cstring>
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namespace pimoroni {
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enum reg : uint8_t {
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ID = 0x00,
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REVISION = 0x01,
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DATA_READY = 0x02,
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MOTION_BURST = 0x16,
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POWER_UP_RESET = 0x3a,
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ORIENTATION = 0x5b,
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RESOLUTION = 0x4e, // PAA5100 only
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RAWDATA_GRAB = 0x58,
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RAWDATA_GRAB_STATUS = 0x59,
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};
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bool PMW3901::init() {
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// configure spi interface and pins
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spi_init(spi, spi_baud);
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gpio_set_function(cs, GPIO_FUNC_SIO);
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gpio_set_dir(cs, GPIO_OUT);
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gpio_set_function(sck, GPIO_FUNC_SPI);
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gpio_set_function(mosi, GPIO_FUNC_SPI);
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gpio_set_function(miso, GPIO_FUNC_SPI);
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if(interrupt != PIN_UNUSED) {
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gpio_set_function(interrupt, GPIO_FUNC_SIO);
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gpio_set_dir(interrupt, GPIO_IN);
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gpio_pull_up(interrupt);
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}
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cs_select();
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sleep_ms(50);
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cs_deselect();
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write_register(reg::POWER_UP_RESET, 0x5a);
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sleep_ms(20);
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for(uint8_t offset = 0; offset < 5; offset++) {
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uint8_t data = 0;
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read_registers(reg::DATA_READY + offset, &data, 1);
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}
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secret_sauce();
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uint8_t product_id = get_id();
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uint8_t revision = get_revision();
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printf("Product ID and Revision for PMW3901: %d, %d\n", product_id, revision);
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if(product_id != 0x49 || revision != 0x00) {
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return false;
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}
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return true;
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}
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spi_inst_t* PMW3901::get_spi() const {
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return spi;
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}
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int PMW3901::get_cs() const {
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return cs;
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}
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int PMW3901::get_sck() const {
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return sck;
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}
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int PMW3901::get_mosi() const {
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return mosi;
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}
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int PMW3901::get_miso() const {
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return miso;
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}
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int PMW3901::get_int() const {
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return interrupt;
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}
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uint8_t PMW3901::get_id() {
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uint8_t data = 0;
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read_registers(reg::ID, &data, 1);
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return data;
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}
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uint8_t PMW3901::get_revision() {
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uint8_t data = 0;
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read_registers(reg::REVISION, &data, 1);
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return data;
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}
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void PMW3901::set_rotation(Degrees degrees) {
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switch(degrees) {
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default:
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case DEGREES_0:
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set_orientation(true, true, true);
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break;
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case DEGREES_90:
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set_orientation(false, true, false);
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break;
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case DEGREES_180:
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set_orientation(false, false, true);
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break;
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case DEGREES_270:
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set_orientation(true, false, false);
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break;
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}
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}
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void PMW3901::set_orientation(bool invert_x, bool invert_y, bool swap_xy) {
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uint8_t value = 0;
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if(swap_xy)
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value |= 0b10000000;
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if(invert_y)
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value |= 0b01000000;
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if(invert_x)
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value |= 0b00100000;
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write_register(reg::ORIENTATION, value);
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}
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bool PMW3901::get_motion(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms) {
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uint32_t start_time = millis();
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while(millis() - start_time < timeout_ms) {
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uint8_t buf[12];
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read_registers(reg::MOTION_BURST, buf, 12);
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uint8_t dr = buf[0];
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//uint8_t obs = buf[1];
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x_out = (int16_t)((int32_t)buf[3] << 8 | buf[2]);
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y_out = (int16_t)((int32_t)buf[5] << 8 | buf[4]);
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uint8_t quality = buf[6];
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//uint8_t raw_sum = buf[7];
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//uint8_t raw_max = buf[8];
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//uint8_t raw_min = buf[9];
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uint8_t shutter_upper = buf[10];
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//uint8_t shutter_lower = buf[11];
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if((dr & 0b10000000) && !((quality < 0x19) && (shutter_upper == 0x1f)))
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return true;
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sleep_ms(1);
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}
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return false;
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}
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bool PMW3901::get_motion_slow(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms) {
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uint32_t start_time = millis();
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while(millis() - start_time < timeout_ms) {
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uint8_t buf[5];
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read_registers(reg::DATA_READY, buf, 5);
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uint8_t dr = buf[0];
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x_out = (int16_t)((int32_t)buf[2] << 8 | buf[1]);
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y_out = (int16_t)((int32_t)buf[4] << 8 | buf[3]);
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if(dr & 0b10000000)
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return true;
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sleep_ms(1);
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}
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return false;
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}
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bool PMW3901::frame_capture(uint8_t (&data_out)[FRAME_BYTES], uint16_t& data_size_out, uint16_t timeout_ms) {
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bool success = false;
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data_size_out = 0;
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uint8_t buf[] = {
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0x7f, 0x07,
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0x4c, 0x00,
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0x7f, 0x08,
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0x6a, 0x38,
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0x7f, 0x00,
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0x55, 0x04,
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0x40, 0x80,
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0x4d, 0x11,
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WAIT, 0x0a,
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0x7f, 0x00,
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0x58, 0xff
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};
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write_buffer(buf, sizeof(buf));
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uint8_t status = 0;
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uint32_t start_time = millis();
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while(millis() - start_time < timeout_ms) {
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status = read_register(reg::RAWDATA_GRAB_STATUS);
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if(status & 0b11000000) {
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success = true;
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break;
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}
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}
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if(success) {
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write_register(reg::RAWDATA_GRAB, 0x00);
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memset(data_out, 0, FRAME_BYTES * sizeof(uint8_t));
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uint8_t data = 0;
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uint16_t x = 0;
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success = false;
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start_time = millis();
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while(millis() - start_time < timeout_ms) {
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data = read_register(reg::RAWDATA_GRAB);
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if((data & 0b11000000) == 0b01000000) { // Upper 6-bits
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data_out[x] &= ~0b11111100;
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data_out[x] |= (data & 0b00111111) << 2; // Held in 5:0
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}
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if((data & 0b11000000) == 0b10000000) { // Lower 2-bits
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data_out[x] &= ~0b00000011;
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data_out[x] |= (data & 0b00001100) >> 2; // Held in 3:2
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x++;
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}
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if(x == FRAME_BYTES) {
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success = true;
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break;
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}
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}
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data_size_out = x;
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}
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return success;
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}
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void PMW3901::cs_select() {
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gpio_put(cs, false); // Active low
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}
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void PMW3901::cs_deselect() {
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sleep_us(1);
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gpio_put(cs, true);
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sleep_us(1);
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}
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void PMW3901::write_register(uint8_t reg, uint8_t data) {
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uint8_t buf[2];
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buf[0] = reg | 0x80;
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buf[1] = data;
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cs_select();
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spi_write_blocking(spi, buf, 2);
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cs_deselect();
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}
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void PMW3901::write_buffer(uint8_t *buf, uint16_t len) {
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for(uint8_t i = 0; i < len; i += 2) {
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if(buf[i] == WAIT)
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sleep_ms(buf[i + 1]);
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else
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write_register(buf[i], buf[i + 1]);
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}
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}
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void PMW3901::read_registers(uint8_t reg, uint8_t *buf, uint16_t len) {
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cs_select();
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spi_write_blocking(spi, ®, 1);
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spi_read_blocking(spi, 0, buf, len);
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cs_deselect();
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}
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uint8_t PMW3901::read_register(uint8_t reg) {
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uint8_t data = 0;
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cs_select();
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spi_write_blocking(spi, ®, 1);
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spi_read_blocking(spi, 0, &data, 1);
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cs_deselect();
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return data;
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}
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void PMW3901::secret_sauce() {
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uint8_t buf[] = {
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0x7f, 0x00,
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0x55, 0x01,
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0x50, 0x07,
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0x7f, 0x0e,
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0x43, 0x10
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};
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write_buffer(buf, sizeof(buf));
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if(read_register(0x67) & 0b10000000)
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write_register(0x48, 0x04);
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else
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write_register(0x48, 0x02);
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uint8_t buf2[] = {
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0x7f, 0x00,
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0x51, 0x7b,
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0x50, 0x00,
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0x55, 0x00,
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0x7f, 0x0E
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};
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write_buffer(buf2, sizeof(buf2));
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if(read_register(0x73) == 0x00) {
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uint8_t c1 = read_register(0x70);
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uint8_t c2 = read_register(0x71);
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if(c1 <= 28)
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c1 += 14;
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if(c1 > 28)
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c1 += 11;
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c1 = std::max((uint8_t)0, std::min((uint8_t)0x3F, c1));
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c2 = (c2 * 45) / 100;
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uint8_t buf3[] = {
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0x7f, 0x00,
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0x61, 0xad,
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0x51, 0x70,
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0x7f, 0x0e
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};
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write_buffer(buf3, sizeof(buf3));
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write_register(0x70, c1);
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write_register(0x71, c2);
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}
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uint8_t buf4[] = {
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0x7f, 0x00,
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0x61, 0xad,
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0x7f, 0x03,
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0x40, 0x00,
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0x7f, 0x05,
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0x41, 0xb3,
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0x43, 0xf1,
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0x45, 0x14,
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0x5b, 0x32,
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0x5f, 0x34,
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0x7b, 0x08,
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0x7f, 0x06,
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0x44, 0x1b,
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0x40, 0xbf,
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0x4e, 0x3f,
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0x7f, 0x08,
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0x65, 0x20,
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0x6a, 0x18,
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0x7f, 0x09,
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0x4f, 0xaf,
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0x5f, 0x40,
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0x48, 0x80,
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0x49, 0x80,
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0x57, 0x77,
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0x60, 0x78,
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0x61, 0x78,
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0x62, 0x08,
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0x63, 0x50,
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0x7f, 0x0a,
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0x45, 0x60,
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0x7f, 0x00,
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0x4d, 0x11,
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0x55, 0x80,
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0x74, 0x21,
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0x75, 0x1f,
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0x4a, 0x78,
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0x4b, 0x78,
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0x44, 0x08,
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0x45, 0x50,
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0x64, 0xff,
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0x65, 0x1f,
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0x7f, 0x14,
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0x65, 0x67,
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0x66, 0x08,
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0x63, 0x70,
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0x7f, 0x15,
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0x48, 0x48,
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0x7f, 0x07,
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0x41, 0x0d,
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0x43, 0x14,
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0x4b, 0x0e,
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0x45, 0x0f,
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0x44, 0x42,
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0x4c, 0x80,
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0x7f, 0x10,
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0x5b, 0x02,
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0x7f, 0x07,
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0x40, 0x41,
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0x70, 0x00,
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WAIT, 0x0A, // Sleep for 10ms
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0x32, 0x44,
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0x7f, 0x07,
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0x40, 0x40,
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0x7f, 0x06,
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0x62, 0xf0,
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0x63, 0x00,
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0x7f, 0x0d,
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0x48, 0xc0,
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0x6f, 0xd5,
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0x7f, 0x00,
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0x5b, 0xa0,
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0x4e, 0xa8,
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0x5a, 0x50,
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0x40, 0x80,
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WAIT, 0xF0,
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0x7f, 0x14, // Enable LED_N pulsing
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0x6f, 0x1c,
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0x7f, 0x00
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};
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write_buffer(buf4, sizeof(buf4));
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}
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uint32_t PMW3901::millis() {
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return to_ms_since_boot(get_absolute_time());
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}
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void PAA5100::secret_sauce() {
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uint8_t buf[] = {
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0x7f, 0x00,
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0x55, 0x01,
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0x50, 0x07,
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0x7f, 0x0e,
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0x43, 0x10
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};
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write_buffer(buf, sizeof(buf));
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if(read_register(0x67) & 0b10000000)
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write_register(0x48, 0x04);
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else
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write_register(0x48, 0x02);
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uint8_t buf2[] = {
|
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0x7f, 0x00,
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0x51, 0x7b,
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0x50, 0x00,
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0x55, 0x00,
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0x7f, 0x0E
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};
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write_buffer(buf2, sizeof(buf2));
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if(read_register(0x73) == 0x00) {
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uint8_t c1 = read_register(0x70);
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uint8_t c2 = read_register(0x71);
|
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if(c1 <= 28)
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c1 += 14;
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if(c1 > 28)
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c1 += 11;
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c1 = std::max((uint8_t)0, std::min((uint8_t)0x3F, c1));
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c2 = (c2 * 45) / 100;
|
||||
|
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uint8_t buf3[] = {
|
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0x7f, 0x00,
|
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0x61, 0xad,
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0x51, 0x70,
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0x7f, 0x0e
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};
|
||||
write_buffer(buf3, sizeof(buf3));
|
||||
|
||||
write_register(0x70, c1);
|
||||
write_register(0x71, c2);
|
||||
}
|
||||
|
||||
uint8_t buf4[] = {
|
||||
0x7f, 0x00,
|
||||
0x61, 0xad,
|
||||
|
||||
0x7f, 0x03,
|
||||
0x40, 0x00,
|
||||
|
||||
0x7f, 0x05,
|
||||
0x41, 0xb3,
|
||||
0x43, 0xf1,
|
||||
0x45, 0x14,
|
||||
|
||||
0x5f, 0x34,
|
||||
0x7b, 0x08,
|
||||
0x5e, 0x34,
|
||||
0x5b, 0x11,
|
||||
0x6d, 0x11,
|
||||
0x45, 0x17,
|
||||
0x70, 0xe5,
|
||||
0x71, 0xe5,
|
||||
|
||||
0x7f, 0x06,
|
||||
0x44, 0x1b,
|
||||
0x40, 0xbf,
|
||||
0x4e, 0x3f,
|
||||
|
||||
0x7f, 0x08,
|
||||
0x66, 0x44,
|
||||
0x65, 0x20,
|
||||
0x6a, 0x3a,
|
||||
0x61, 0x05,
|
||||
0x62, 0x05,
|
||||
|
||||
0x7f, 0x09,
|
||||
0x4f, 0xaf,
|
||||
0x5f, 0x40,
|
||||
0x48, 0x80,
|
||||
0x49, 0x80,
|
||||
0x57, 0x77,
|
||||
0x60, 0x78,
|
||||
0x61, 0x78,
|
||||
0x62, 0x08,
|
||||
0x63, 0x50,
|
||||
|
||||
0x7f, 0x0a,
|
||||
0x45, 0x60,
|
||||
|
||||
0x7f, 0x00,
|
||||
0x4d, 0x11,
|
||||
0x55, 0x80,
|
||||
0x74, 0x21,
|
||||
0x75, 0x1f,
|
||||
0x4a, 0x78,
|
||||
0x4b, 0x78,
|
||||
0x44, 0x08,
|
||||
|
||||
0x45, 0x50,
|
||||
0x64, 0xff,
|
||||
0x65, 0x1f,
|
||||
|
||||
0x7f, 0x14,
|
||||
0x65, 0x67,
|
||||
0x66, 0x08,
|
||||
0x63, 0x70,
|
||||
0x6f, 0x1c,
|
||||
|
||||
0x7f, 0x15,
|
||||
0x48, 0x48,
|
||||
|
||||
0x7f, 0x07,
|
||||
0x41, 0x0d,
|
||||
0x43, 0x14,
|
||||
0x4b, 0x0e,
|
||||
0x45, 0x0f,
|
||||
0x44, 0x42,
|
||||
0x4c, 0x80,
|
||||
|
||||
0x7f, 0x10,
|
||||
0x5b, 0x02,
|
||||
|
||||
0x7f, 0x07,
|
||||
0x40, 0x41,
|
||||
|
||||
WAIT, 0x0a, // Sleep for 10ms
|
||||
|
||||
0x7f, 0x00,
|
||||
0x32, 0x00,
|
||||
|
||||
0x7f, 0x07,
|
||||
0x40, 0x40,
|
||||
|
||||
0x7f, 0x06,
|
||||
0x68, 0xf0,
|
||||
0x69, 0x00,
|
||||
|
||||
0x7f, 0x0d,
|
||||
0x48, 0xc0,
|
||||
0x6f, 0xd5,
|
||||
|
||||
0x7f, 0x00,
|
||||
0x5b, 0xa0,
|
||||
0x4e, 0xa8,
|
||||
0x5a, 0x90,
|
||||
0x40, 0x80,
|
||||
0x73, 0x1f,
|
||||
|
||||
WAIT, 0x0a, // Sleep for 10ms
|
||||
|
||||
0x73, 0x00
|
||||
};
|
||||
write_buffer(buf4, sizeof(buf4));
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,119 @@
|
|||
#pragma once
|
||||
|
||||
#include "hardware/spi.h"
|
||||
#include "hardware/gpio.h"
|
||||
#include "../../common/pimoroni_common.hpp"
|
||||
|
||||
namespace pimoroni {
|
||||
|
||||
class PMW3901 {
|
||||
spi_inst_t *spi = PIMORONI_SPI_DEFAULT_INSTANCE;
|
||||
|
||||
//--------------------------------------------------
|
||||
// Constants
|
||||
//--------------------------------------------------
|
||||
public:
|
||||
static const uint8_t FRAME_SIZE = 35;
|
||||
static const uint16_t FRAME_BYTES = 1225;
|
||||
static const uint16_t DEFAULT_MOTION_TIMEOUT_MS = 5000;
|
||||
static const uint16_t DEFAULT_FRAME_CAPTURE_TIMEOUT_MS = 10000;
|
||||
protected:
|
||||
static const uint8_t WAIT = -1;
|
||||
|
||||
//--------------------------------------------------
|
||||
// Enums
|
||||
//--------------------------------------------------
|
||||
public:
|
||||
enum Degrees {
|
||||
DEGREES_0 = 0,
|
||||
DEGREES_90,
|
||||
DEGREES_180,
|
||||
DEGREES_270,
|
||||
};
|
||||
|
||||
|
||||
//--------------------------------------------------
|
||||
// Variables
|
||||
//--------------------------------------------------
|
||||
private:
|
||||
// interface pins with our standard defaults where appropriate
|
||||
uint cs = SPI_BG_FRONT_CS;
|
||||
uint sck = SPI_DEFAULT_SCK;
|
||||
uint mosi = SPI_DEFAULT_MOSI;
|
||||
uint miso = SPI_DEFAULT_MISO;
|
||||
uint interrupt = SPI_BG_FRONT_PWM;
|
||||
|
||||
uint32_t spi_baud = 400000;
|
||||
|
||||
|
||||
//--------------------------------------------------
|
||||
// Constructors/Destructor
|
||||
//--------------------------------------------------
|
||||
public:
|
||||
PMW3901() {}
|
||||
|
||||
PMW3901(BG_SPI_SLOT slot) {
|
||||
switch(slot) {
|
||||
case PICO_EXPLORER_ONBOARD: // Don't read too much into this, the case is just here to avoid a compile error
|
||||
cs = SPI_BG_FRONT_CS;
|
||||
interrupt = PIN_UNUSED;
|
||||
break;
|
||||
case BG_SPI_FRONT:
|
||||
cs = SPI_BG_FRONT_CS;
|
||||
interrupt = SPI_BG_FRONT_PWM;
|
||||
break;
|
||||
case BG_SPI_BACK:
|
||||
cs = SPI_BG_BACK_CS;
|
||||
interrupt = SPI_BG_BACK_PWM;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
PMW3901(spi_inst_t *spi,
|
||||
uint cs, uint sck, uint mosi, uint miso, uint interrupt) :
|
||||
spi(spi),
|
||||
cs(cs), sck(sck), mosi(mosi), miso(miso), interrupt(interrupt) {}
|
||||
|
||||
virtual ~PMW3901() {}
|
||||
|
||||
|
||||
//--------------------------------------------------
|
||||
// Methods
|
||||
//--------------------------------------------------
|
||||
public:
|
||||
bool init();
|
||||
|
||||
spi_inst_t* get_spi() const;
|
||||
int get_cs() const;
|
||||
int get_sck() const;
|
||||
int get_mosi() const;
|
||||
int get_miso() const;
|
||||
int get_int() const;
|
||||
|
||||
uint8_t get_id();
|
||||
uint8_t get_revision();
|
||||
void set_rotation(Degrees degrees = DEGREES_0);
|
||||
void set_orientation(bool invert_x = true, bool invert_y = true, bool swap_xy = true);
|
||||
bool get_motion(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = DEFAULT_MOTION_TIMEOUT_MS);
|
||||
bool get_motion_slow(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = DEFAULT_MOTION_TIMEOUT_MS);
|
||||
bool frame_capture(uint8_t (&data_out)[FRAME_BYTES], uint16_t& data_size_out, uint16_t timeout_ms = DEFAULT_FRAME_CAPTURE_TIMEOUT_MS);
|
||||
|
||||
protected:
|
||||
virtual void secret_sauce();
|
||||
|
||||
void cs_select();
|
||||
void cs_deselect();
|
||||
void write_register(uint8_t reg, uint8_t data);
|
||||
void write_buffer(uint8_t *buf, uint16_t len);
|
||||
void read_registers(uint8_t reg, uint8_t *buf, uint16_t len);
|
||||
uint8_t read_register(uint8_t reg);
|
||||
uint32_t millis();
|
||||
};
|
||||
|
||||
class PAA5100 : public PMW3901 {
|
||||
public:
|
||||
virtual ~PAA5100() {}
|
||||
protected:
|
||||
virtual void secret_sauce();
|
||||
};
|
||||
}
|
||||
|
|
@ -7,6 +7,7 @@ add_subdirectory(breakout_roundlcd)
|
|||
add_subdirectory(breakout_rgbmatrix5x5)
|
||||
add_subdirectory(breakout_matrix11x7)
|
||||
add_subdirectory(breakout_mics6814)
|
||||
add_subdirectory(breakout_pmw3901)
|
||||
add_subdirectory(breakout_potentiometer)
|
||||
add_subdirectory(breakout_rtc)
|
||||
add_subdirectory(breakout_trackball)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,2 @@
|
|||
add_subdirectory(motion)
|
||||
add_subdirectory(frame_capture)
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
set(OUTPUT_NAME pmw3901_framecapture)
|
||||
|
||||
add_executable(
|
||||
${OUTPUT_NAME}
|
||||
frame_capture.cpp
|
||||
)
|
||||
|
||||
# enable usb output, disable uart output
|
||||
pico_enable_stdio_usb(${OUTPUT_NAME} 1)
|
||||
pico_enable_stdio_uart(${OUTPUT_NAME} 1)
|
||||
|
||||
# Pull in pico libraries that we need
|
||||
target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_pmw3901 breakout_paa5100)
|
||||
|
||||
# create map/bin/hex file etc.
|
||||
pico_add_extra_outputs(${OUTPUT_NAME})
|
||||
|
|
@ -0,0 +1,84 @@
|
|||
#include <stdio.h>
|
||||
#include "pico/stdlib.h"
|
||||
#include <string>
|
||||
|
||||
// Uncomment the below line to switch from the PMW3901 to the PAA5100
|
||||
//#define USE_PAA5100
|
||||
|
||||
#ifndef USE_PAA5100
|
||||
#include "breakout_pmw3901.hpp"
|
||||
#else
|
||||
#include "breakout_paa5100.hpp"
|
||||
#endif
|
||||
|
||||
using namespace pimoroni;
|
||||
|
||||
#ifndef USE_PAA5100
|
||||
typedef BreakoutPMW3901 FlowSensor;
|
||||
#else
|
||||
typedef BreakoutPAA5100 FlowSensor;
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
FlowSensor flo(BG_SPI_FRONT);
|
||||
FlowSensor::Degrees rotation = FlowSensor::DEGREES_0;
|
||||
const uint8_t SIZE = FlowSensor::FRAME_SIZE;
|
||||
uint8_t data[FlowSensor::FRAME_BYTES];
|
||||
|
||||
std::string value_to_char(uint8_t value) {
|
||||
const std::string charmap = " .:-=+*#%@";
|
||||
float val = (float)value / 255.0f;
|
||||
val *= charmap.length() - 1;
|
||||
std::string chosen_char = charmap.substr((uint8_t)val, 1);
|
||||
return chosen_char.append(chosen_char); // Double chars to - sort of - correct aspect ratio
|
||||
}
|
||||
|
||||
int main() {
|
||||
stdio_init_all();
|
||||
|
||||
flo.init();
|
||||
flo.set_rotation(rotation);
|
||||
|
||||
uint8_t offset = 0;
|
||||
uint8_t value = 0;
|
||||
|
||||
while(true) {
|
||||
printf("Capturing...\n");
|
||||
uint16_t data_size = 0;
|
||||
if(flo.frame_capture(data, data_size)) {
|
||||
for(uint8_t y = 0; y < SIZE; y++) {
|
||||
if(rotation == FlowSensor::DEGREES_180 || rotation == FlowSensor::DEGREES_270)
|
||||
y = SIZE - y - 1;
|
||||
|
||||
for(uint8_t x = 0; x < SIZE; x++) {
|
||||
if(rotation == FlowSensor::DEGREES_180 || rotation == FlowSensor::DEGREES_90)
|
||||
x = SIZE - x - 1;
|
||||
|
||||
if(rotation == FlowSensor::DEGREES_90 || rotation == FlowSensor::DEGREES_270)
|
||||
offset = (x * 35) + y;
|
||||
else
|
||||
offset = (y * 35) + x;
|
||||
|
||||
value = data[offset];
|
||||
printf("%s", value_to_char(value).c_str());
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
else {
|
||||
printf("Capture failed. %d bytes received, of %d. Recapturing in ", data_size, FlowSensor::FRAME_BYTES);
|
||||
}
|
||||
printf("5...\n");
|
||||
sleep_ms(1000);
|
||||
printf("4...\n");
|
||||
sleep_ms(1000);
|
||||
printf("3...\n");
|
||||
sleep_ms(1000);
|
||||
printf("2...\n");
|
||||
sleep_ms(1000);
|
||||
printf("Get Ready!\n");
|
||||
sleep_ms(1000);
|
||||
};
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
set(OUTPUT_NAME pmw3901_motion)
|
||||
|
||||
add_executable(
|
||||
${OUTPUT_NAME}
|
||||
motion.cpp
|
||||
)
|
||||
|
||||
# enable usb output, disable uart output
|
||||
pico_enable_stdio_usb(${OUTPUT_NAME} 1)
|
||||
pico_enable_stdio_uart(${OUTPUT_NAME} 1)
|
||||
|
||||
# Pull in pico libraries that we need
|
||||
target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_pmw3901 breakout_paa5100)
|
||||
|
||||
# create map/bin/hex file etc.
|
||||
pico_add_extra_outputs(${OUTPUT_NAME})
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
#include <stdio.h>
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
// Uncomment the below line to switch from the PMW3901 to the PAA5100
|
||||
//#define USE_PAA5100
|
||||
|
||||
#ifndef USE_PAA5100
|
||||
#include "breakout_pmw3901.hpp"
|
||||
#else
|
||||
#include "breakout_paa5100.hpp"
|
||||
#endif
|
||||
|
||||
using namespace pimoroni;
|
||||
|
||||
#ifndef USE_PAA5100
|
||||
typedef BreakoutPMW3901 FlowSensor;
|
||||
#else
|
||||
typedef BreakoutPAA5100 FlowSensor;
|
||||
#endif
|
||||
|
||||
FlowSensor flo(BG_SPI_FRONT);
|
||||
|
||||
int main() {
|
||||
stdio_init_all();
|
||||
|
||||
flo.init();
|
||||
flo.set_rotation(FlowSensor::DEGREES_0);
|
||||
int16_t tx = 0, ty = 0;
|
||||
int16_t x = 0, y = 0;
|
||||
while(true) {
|
||||
if(flo.get_motion(x, y)) {
|
||||
tx += x;
|
||||
ty += y;
|
||||
printf("Relative: x %6d, y %6d | Absolute: tx %6d, ty %6d\n", x, y, tx, ty);
|
||||
}
|
||||
sleep_ms(10);
|
||||
};
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -8,6 +8,8 @@ add_subdirectory(breakout_roundlcd)
|
|||
add_subdirectory(breakout_rgbmatrix5x5)
|
||||
add_subdirectory(breakout_matrix11x7)
|
||||
add_subdirectory(breakout_mics6814)
|
||||
add_subdirectory(breakout_paa5100)
|
||||
add_subdirectory(breakout_pmw3901)
|
||||
add_subdirectory(breakout_potentiometer)
|
||||
add_subdirectory(breakout_rtc)
|
||||
add_subdirectory(breakout_trackball)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
include(breakout_paa5100.cmake)
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
set(LIB_NAME breakout_paa5100)
|
||||
add_library(${LIB_NAME} INTERFACE)
|
||||
|
||||
target_sources(${LIB_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
|
||||
|
||||
# Pull in pico libraries that we need
|
||||
target_link_libraries(${LIB_NAME} INTERFACE pico_stdlib pmw3901)
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
#include "breakout_paa5100.hpp"
|
||||
|
||||
namespace pimoroni {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
#pragma once
|
||||
|
||||
#include "drivers/pmw3901/pmw3901.hpp"
|
||||
|
||||
namespace pimoroni {
|
||||
|
||||
typedef PMW3901 BreakoutPAA5100;
|
||||
}
|
||||
|
|
@ -0,0 +1 @@
|
|||
include(breakout_pmw3901.cmake)
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
set(LIB_NAME breakout_pmw3901)
|
||||
add_library(${LIB_NAME} INTERFACE)
|
||||
|
||||
target_sources(${LIB_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
|
||||
|
||||
# Pull in pico libraries that we need
|
||||
target_link_libraries(${LIB_NAME} INTERFACE pico_stdlib pmw3901)
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
#include "breakout_pmw3901.hpp"
|
||||
|
||||
namespace pimoroni {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
#pragma once
|
||||
|
||||
#include "drivers/pmw3901/pmw3901.hpp"
|
||||
|
||||
namespace pimoroni {
|
||||
|
||||
typedef PMW3901 BreakoutPMW3901;
|
||||
}
|
||||
|
|
@ -0,0 +1,68 @@
|
|||
import time
|
||||
|
||||
# Pick *one* sensor type by uncommenting the relevant line below:
|
||||
|
||||
# PMW3901
|
||||
from breakout_pmw3901 import BreakoutPMW3901 as FlowSensor
|
||||
|
||||
# PAA5100
|
||||
# from breakout_paa5100 import BreakoutPAA5100 as FlowSensor
|
||||
|
||||
flo = FlowSensor()
|
||||
|
||||
rotation = FlowSensor.DEGREES_0
|
||||
SIZE = FlowSensor.FRAME_SIZE
|
||||
BYTES = FlowSensor.FRAME_BYTES
|
||||
data = bytearray(BYTES)
|
||||
|
||||
flo.set_rotation(rotation)
|
||||
|
||||
offset = 0
|
||||
value = 0
|
||||
|
||||
|
||||
def value_to_char(value):
|
||||
charmap = " .:-=+*#%@"
|
||||
val = float(value) / 255.0
|
||||
val *= len(charmap) - 1
|
||||
chosen_char = charmap[int(val)]
|
||||
return chosen_char * 2 # Double chars to - sort of - correct aspect ratio
|
||||
|
||||
|
||||
while(True):
|
||||
print("Capturing...")
|
||||
time.sleep(0.1)
|
||||
|
||||
# Warning! The frame capture function below can take up to 10 seconds to run! Also, it often fails to capture all bytes.
|
||||
# A shorter timeout (in seconds) can be set with the 'timeout' keyword e.g. frame_capture(data, timeout=6.0)
|
||||
data_size = flo.frame_capture(data)
|
||||
if data_size == BYTES:
|
||||
for y in range(0, SIZE):
|
||||
if rotation == FlowSensor.DEGREES_180 or rotation == FlowSensor.DEGREES_270:
|
||||
y = SIZE - y - 1
|
||||
|
||||
for x in range(0, SIZE):
|
||||
if rotation == FlowSensor.DEGREES_180 or rotation == FlowSensor.DEGREES_90:
|
||||
x = SIZE - x - 1
|
||||
|
||||
if rotation == FlowSensor.DEGREES_90 or rotation == FlowSensor.DEGREES_270:
|
||||
offset = (x * 35) + y
|
||||
else:
|
||||
offset = (y * 35) + x
|
||||
|
||||
value = data[offset]
|
||||
print(value_to_char(value), end="")
|
||||
print()
|
||||
else:
|
||||
print("Capture failed. {} bytes received, of {}. Recapturing in ".format(data_size, BYTES))
|
||||
|
||||
print("5...")
|
||||
time.sleep(1.0)
|
||||
print("4...")
|
||||
time.sleep(1.0)
|
||||
print("3...")
|
||||
time.sleep(1.0)
|
||||
print("2...")
|
||||
time.sleep(1.0)
|
||||
print("Get Ready!")
|
||||
time.sleep(1.0)
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
import time
|
||||
|
||||
# Pick *one* sensor type by uncommenting the relevant line below:
|
||||
|
||||
# PMW3901
|
||||
from breakout_pmw3901 import BreakoutPMW3901 as FlowSensor
|
||||
|
||||
# PAA5100
|
||||
# from breakout_paa5100 import BreakoutPAA5100 as FlowSensor
|
||||
|
||||
flo = FlowSensor()
|
||||
flo.set_rotation(FlowSensor.DEGREES_0)
|
||||
|
||||
tx = 0
|
||||
ty = 0
|
||||
x = 0
|
||||
y = 0
|
||||
|
||||
while(True):
|
||||
delta = flo.get_motion()
|
||||
if delta is not None:
|
||||
x = delta[0]
|
||||
y = delta[1]
|
||||
tx += x
|
||||
ty += y
|
||||
print("Relative: x {}, y {} | Absolute: tx {}, ty {}".format(x, y, tx, ty))
|
||||
time.sleep(0.1)
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
#include "breakout_paa5100.h"
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
// BreakoutPAA5100 Class
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/***** Methods *****/
|
||||
MP_DEFINE_CONST_FUN_OBJ_1(BreakoutPAA5100_get_id_obj, BreakoutPAA5100_get_id);
|
||||
MP_DEFINE_CONST_FUN_OBJ_1(BreakoutPAA5100_get_revision_obj, BreakoutPAA5100_get_revision);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPAA5100_set_rotation_obj, 1, BreakoutPAA5100_set_rotation);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPAA5100_set_orientation_obj, 1, BreakoutPAA5100_set_orientation);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPAA5100_get_motion_obj, 1, BreakoutPAA5100_get_motion);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPAA5100_get_motion_slow_obj, 1, BreakoutPAA5100_get_motion_slow);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPAA5100_frame_capture_obj, 2, BreakoutPAA5100_frame_capture);
|
||||
|
||||
/***** Binding of Methods *****/
|
||||
STATIC const mp_rom_map_elem_t BreakoutPAA5100_locals_dict_table[] = {
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_id), MP_ROM_PTR(&BreakoutPAA5100_get_id_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_revision), MP_ROM_PTR(&BreakoutPAA5100_get_revision_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_set_rotation), MP_ROM_PTR(&BreakoutPAA5100_set_rotation_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_set_orientation), MP_ROM_PTR(&BreakoutPAA5100_set_orientation_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_motion), MP_ROM_PTR(&BreakoutPAA5100_get_motion_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_motion_slow), MP_ROM_PTR(&BreakoutPAA5100_get_motion_slow_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_frame_capture), MP_ROM_PTR(&BreakoutPAA5100_frame_capture_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_0), MP_ROM_INT(0x00) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_90), MP_ROM_INT(0x01) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_180), MP_ROM_INT(0x02) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_270), MP_ROM_INT(0x03) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_FRAME_SIZE), MP_ROM_INT(35) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_FRAME_BYTES), MP_ROM_INT(1225) },
|
||||
};
|
||||
STATIC MP_DEFINE_CONST_DICT(BreakoutPAA5100_locals_dict, BreakoutPAA5100_locals_dict_table);
|
||||
|
||||
/***** Class Definition *****/
|
||||
const mp_obj_type_t breakout_paa5100_BreakoutPAA5100_type = {
|
||||
{ &mp_type_type },
|
||||
.name = MP_QSTR_breakout_paa5100,
|
||||
.print = BreakoutPAA5100_print,
|
||||
.make_new = BreakoutPAA5100_make_new,
|
||||
.locals_dict = (mp_obj_dict_t*)&BreakoutPAA5100_locals_dict,
|
||||
};
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
// breakout_paa5100 Module
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/***** Globals Table *****/
|
||||
STATIC const mp_map_elem_t breakout_paa5100_globals_table[] = {
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_breakout_paa5100) },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_BreakoutPAA5100), (mp_obj_t)&breakout_paa5100_BreakoutPAA5100_type },
|
||||
};
|
||||
STATIC MP_DEFINE_CONST_DICT(mp_module_breakout_paa5100_globals, breakout_paa5100_globals_table);
|
||||
|
||||
/***** Module Definition *****/
|
||||
const mp_obj_module_t breakout_paa5100_user_cmodule = {
|
||||
.base = { &mp_type_module },
|
||||
.globals = (mp_obj_dict_t*)&mp_module_breakout_paa5100_globals,
|
||||
};
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
MP_REGISTER_MODULE(MP_QSTR_breakout_paa5100, breakout_paa5100_user_cmodule, MODULE_BREAKOUT_PAA5100_ENABLED);
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -0,0 +1,269 @@
|
|||
#include "libraries/breakout_paa5100/breakout_paa5100.hpp"
|
||||
|
||||
#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))
|
||||
|
||||
#define IS_VALID_PERIPH(spi, pin) ((((pin) & 8) >> 3) == (spi))
|
||||
#define IS_VALID_SCK(spi, pin) (((pin) & 3) == 2 && IS_VALID_PERIPH(spi, pin))
|
||||
#define IS_VALID_MOSI(spi, pin) (((pin) & 3) == 3 && IS_VALID_PERIPH(spi, pin))
|
||||
#define IS_VALID_MISO(spi, pin) (((pin) & 3) == 0 && IS_VALID_PERIPH(spi, pin))
|
||||
|
||||
|
||||
using namespace pimoroni;
|
||||
|
||||
extern "C" {
|
||||
#include "breakout_paa5100.h"
|
||||
#include <cstring>
|
||||
|
||||
/***** Variables Struct *****/
|
||||
typedef struct _breakout_paa5100_BreakoutPAA5100_obj_t {
|
||||
mp_obj_base_t base;
|
||||
BreakoutPAA5100 *breakout;
|
||||
} breakout_paa5100_BreakoutPAA5100_obj_t;
|
||||
|
||||
/***** Print *****/
|
||||
void BreakoutPAA5100_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
|
||||
(void)kind; //Unused input parameter
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
BreakoutPAA5100* breakout = self->breakout;
|
||||
mp_print_str(print, "BreakoutPAA5100(");
|
||||
|
||||
mp_print_str(print, "spi = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int((breakout->get_spi() == spi0) ? 0 : 1), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", cs = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_cs()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", sck = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_sck()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", mosi = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_mosi()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", miso = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_miso()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", int = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_int()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ")");
|
||||
}
|
||||
|
||||
/***** Constructor *****/
|
||||
mp_obj_t BreakoutPAA5100_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = nullptr;
|
||||
|
||||
if(n_args + n_kw == 1) {
|
||||
enum { ARG_slot };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_slot, MP_ARG_REQUIRED | MP_ARG_INT },
|
||||
};
|
||||
|
||||
// Parse args.
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
int slot = args[ARG_slot].u_int;
|
||||
if(slot == BG_SPI_FRONT || slot == BG_SPI_BACK) {
|
||||
self = m_new_obj_with_finaliser(breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
self->base.type = &breakout_paa5100_BreakoutPAA5100_type;
|
||||
|
||||
self->breakout = new BreakoutPAA5100((BG_SPI_SLOT)slot);
|
||||
}
|
||||
else {
|
||||
mp_raise_ValueError("slot not a valid value. Expected 0 to 1");
|
||||
}
|
||||
}
|
||||
else {
|
||||
enum { ARG_spi, ARG_cs, ARG_sck, ARG_mosi, ARG_miso, ARG_interrupt };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_spi, MP_ARG_INT, {.u_int = -1} },
|
||||
{ MP_QSTR_cs, MP_ARG_INT, {.u_int = pimoroni::SPI_BG_FRONT_CS} },
|
||||
{ MP_QSTR_sck, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_SCK} },
|
||||
{ MP_QSTR_mosi, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_MOSI} },
|
||||
{ MP_QSTR_miso, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_MISO} },
|
||||
{ MP_QSTR_interrupt, MP_ARG_INT, {.u_int = pimoroni::SPI_BG_FRONT_PWM} },
|
||||
};
|
||||
|
||||
// Parse args.
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
// Get SPI bus.
|
||||
int spi_id = args[ARG_spi].u_int;
|
||||
int sck = args[ARG_sck].u_int;
|
||||
int mosi = args[ARG_mosi].u_int;
|
||||
int miso = args[ARG_miso].u_int;
|
||||
|
||||
if(spi_id == -1) {
|
||||
spi_id = (sck >> 3) & 0b1; // If no spi specified, choose the one for the given SCK pin
|
||||
}
|
||||
if(spi_id < 0 || spi_id > 1) {
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("SPI(%d) doesn't exist"), spi_id);
|
||||
}
|
||||
|
||||
if(!IS_VALID_SCK(spi_id, sck)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("bad SCK pin"));
|
||||
}
|
||||
|
||||
if(!IS_VALID_MOSI(spi_id, mosi)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("bad MOSI pin"));
|
||||
}
|
||||
|
||||
if(!IS_VALID_MISO(spi_id, miso)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("bad MISO pin"));
|
||||
}
|
||||
|
||||
self = m_new_obj_with_finaliser(breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
self->base.type = &breakout_paa5100_BreakoutPAA5100_type;
|
||||
|
||||
spi_inst_t *spi = (spi_id == 0) ? spi0 : spi1;
|
||||
self->breakout = new BreakoutPAA5100(spi, args[ARG_cs].u_int, sck, mosi, miso, args[ARG_interrupt].u_int);
|
||||
}
|
||||
|
||||
self->breakout->init();
|
||||
|
||||
return MP_OBJ_FROM_PTR(self);
|
||||
}
|
||||
|
||||
/***** Destructor ******/
|
||||
mp_obj_t BreakoutPAA5100___del__(mp_obj_t self_in) {
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
delete self->breakout;
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
/***** Methods *****/
|
||||
mp_obj_t BreakoutPAA5100_get_id(mp_obj_t self_in) {
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
return mp_obj_new_int(self->breakout->get_id());
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPAA5100_get_revision(mp_obj_t self_in) {
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
return mp_obj_new_int(self->breakout->get_revision());
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPAA5100_set_rotation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_degrees };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_degrees, MP_ARG_INT, {.u_int = (uint8_t)BreakoutPAA5100::DEGREES_0} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
|
||||
int degrees = args[ARG_degrees].u_int;
|
||||
if(degrees < 0 || degrees > 3)
|
||||
mp_raise_ValueError("degrees out of range. Expected 0 (0), 1 (90), 2 (180) or 3 (270)");
|
||||
else
|
||||
self->breakout->set_rotation((BreakoutPAA5100::Degrees)degrees);
|
||||
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPAA5100_set_orientation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_invert_x, ARG_invert_y, ARG_swap_xy };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_invert_x, MP_ARG_BOOL, {.u_bool = true} },
|
||||
{ MP_QSTR_invert_y, MP_ARG_BOOL, {.u_bool = true} },
|
||||
{ MP_QSTR_swap_xy, MP_ARG_BOOL, {.u_bool = true} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
|
||||
bool invert_x = args[ARG_invert_x].u_int;
|
||||
bool invert_y = args[ARG_invert_y].u_int;
|
||||
bool swap_xy = args[ARG_swap_xy].u_int;
|
||||
self->breakout->set_orientation(invert_x, invert_y, swap_xy);
|
||||
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPAA5100_get_motion(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_timeout };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_obj_new_float((float)BreakoutPAA5100::DEFAULT_MOTION_TIMEOUT_MS / 1000)} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
|
||||
float timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
|
||||
uint16_t timeout_ms = (uint16_t)(timeout * 1000.0f);
|
||||
int16_t x = 0;
|
||||
int16_t y = 0;
|
||||
if(self->breakout->get_motion(x, y, timeout_ms)) {
|
||||
mp_obj_t tuple[2];
|
||||
tuple[0] = mp_obj_new_int(x);
|
||||
tuple[1] = mp_obj_new_int(y);
|
||||
return mp_obj_new_tuple(2, tuple);
|
||||
}
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPAA5100_get_motion_slow(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_timeout };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_obj_new_float((float)BreakoutPAA5100::DEFAULT_MOTION_TIMEOUT_MS / 1000)} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
|
||||
float timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
|
||||
uint16_t timeout_ms = (uint16_t)(timeout * 1000.0f);
|
||||
int16_t x = 0;
|
||||
int16_t y = 0;
|
||||
if(self->breakout->get_motion_slow(x, y, timeout_ms)) {
|
||||
mp_obj_t tuple[2];
|
||||
tuple[0] = mp_obj_new_int(x);
|
||||
tuple[1] = mp_obj_new_int(y);
|
||||
return mp_obj_new_tuple(2, tuple);
|
||||
}
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPAA5100_frame_capture(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_buffer, ARG_timeout };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_buffer, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_obj_new_float((float)BreakoutPAA5100::DEFAULT_MOTION_TIMEOUT_MS / 1000)} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_paa5100_BreakoutPAA5100_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_paa5100_BreakoutPAA5100_obj_t);
|
||||
|
||||
mp_buffer_info_t bufinfo;
|
||||
mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_RW);
|
||||
uint8_t *buffer = (uint8_t *)bufinfo.buf;
|
||||
if(bufinfo.len != (size_t)(BreakoutPAA5100::FRAME_BYTES)) {
|
||||
mp_raise_ValueError("Supplied buffer is the wrong size for frame capture. Needs to be 1225.");
|
||||
}
|
||||
|
||||
float timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
|
||||
uint16_t timeout_ms = (uint16_t)(timeout * 1000.0f);
|
||||
|
||||
uint16_t data_size = 0;
|
||||
uint8_t data[BreakoutPAA5100::FRAME_BYTES];
|
||||
if(self->breakout->frame_capture(data, data_size, timeout_ms)) {
|
||||
memcpy(buffer, data, BreakoutPAA5100::FRAME_BYTES);
|
||||
}
|
||||
return mp_obj_new_int(data_size);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
// Include MicroPython API.
|
||||
#include "py/runtime.h"
|
||||
#include "py/objstr.h"
|
||||
|
||||
/***** Extern of Class Definition *****/
|
||||
extern const mp_obj_type_t breakout_paa5100_BreakoutPAA5100_type;
|
||||
|
||||
/***** Extern of Class Methods *****/
|
||||
extern void BreakoutPAA5100_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind);
|
||||
extern mp_obj_t BreakoutPAA5100_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args);
|
||||
extern mp_obj_t BreakoutPAA5100___del__(mp_obj_t self_in);
|
||||
extern mp_obj_t BreakoutPAA5100_get_id(mp_obj_t self_in);
|
||||
extern mp_obj_t BreakoutPAA5100_get_revision(mp_obj_t self_in);
|
||||
extern mp_obj_t BreakoutPAA5100_set_rotation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPAA5100_set_orientation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPAA5100_get_motion(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPAA5100_get_motion_slow(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPAA5100_frame_capture(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
set(MOD_NAME breakout_paa5100)
|
||||
string(TOUPPER ${MOD_NAME} MOD_NAME_UPPER)
|
||||
add_library(usermod_${MOD_NAME} INTERFACE)
|
||||
|
||||
target_sources(usermod_${MOD_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_LIST_DIR}/${MOD_NAME}.c
|
||||
${CMAKE_CURRENT_LIST_DIR}/${MOD_NAME}.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../../libraries/${MOD_NAME}/${MOD_NAME}.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/pmw3901/pmw3901.cpp
|
||||
)
|
||||
|
||||
target_include_directories(usermod_${MOD_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_LIST_DIR}
|
||||
)
|
||||
|
||||
target_compile_definitions(usermod_${MOD_NAME} INTERFACE
|
||||
-DMODULE_${MOD_NAME_UPPER}_ENABLED=1
|
||||
)
|
||||
|
||||
target_link_libraries(usermod INTERFACE usermod_${MOD_NAME})
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
#include "breakout_pmw3901.h"
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
// BreakoutPMW3901 Class
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/***** Methods *****/
|
||||
MP_DEFINE_CONST_FUN_OBJ_1(BreakoutPMW3901_get_id_obj, BreakoutPMW3901_get_id);
|
||||
MP_DEFINE_CONST_FUN_OBJ_1(BreakoutPMW3901_get_revision_obj, BreakoutPMW3901_get_revision);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPMW3901_set_rotation_obj, 1, BreakoutPMW3901_set_rotation);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPMW3901_set_orientation_obj, 1, BreakoutPMW3901_set_orientation);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPMW3901_get_motion_obj, 1, BreakoutPMW3901_get_motion);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPMW3901_get_motion_slow_obj, 1, BreakoutPMW3901_get_motion_slow);
|
||||
MP_DEFINE_CONST_FUN_OBJ_KW(BreakoutPMW3901_frame_capture_obj, 2, BreakoutPMW3901_frame_capture);
|
||||
|
||||
/***** Binding of Methods *****/
|
||||
STATIC const mp_rom_map_elem_t BreakoutPMW3901_locals_dict_table[] = {
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_id), MP_ROM_PTR(&BreakoutPMW3901_get_id_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_revision), MP_ROM_PTR(&BreakoutPMW3901_get_revision_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_set_rotation), MP_ROM_PTR(&BreakoutPMW3901_set_rotation_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_set_orientation), MP_ROM_PTR(&BreakoutPMW3901_set_orientation_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_motion), MP_ROM_PTR(&BreakoutPMW3901_get_motion_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_get_motion_slow), MP_ROM_PTR(&BreakoutPMW3901_get_motion_slow_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_frame_capture), MP_ROM_PTR(&BreakoutPMW3901_frame_capture_obj) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_0), MP_ROM_INT(0x00) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_90), MP_ROM_INT(0x01) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_180), MP_ROM_INT(0x02) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_DEGREES_270), MP_ROM_INT(0x03) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_FRAME_SIZE), MP_ROM_INT(35) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_FRAME_BYTES), MP_ROM_INT(1225) },
|
||||
};
|
||||
STATIC MP_DEFINE_CONST_DICT(BreakoutPMW3901_locals_dict, BreakoutPMW3901_locals_dict_table);
|
||||
|
||||
/***** Class Definition *****/
|
||||
const mp_obj_type_t breakout_pmw3901_BreakoutPMW3901_type = {
|
||||
{ &mp_type_type },
|
||||
.name = MP_QSTR_breakout_pmw3901,
|
||||
.print = BreakoutPMW3901_print,
|
||||
.make_new = BreakoutPMW3901_make_new,
|
||||
.locals_dict = (mp_obj_dict_t*)&BreakoutPMW3901_locals_dict,
|
||||
};
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
// breakout_pmw3901 Module
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/***** Globals Table *****/
|
||||
STATIC const mp_map_elem_t breakout_pmw3901_globals_table[] = {
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_breakout_pmw3901) },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_BreakoutPMW3901), (mp_obj_t)&breakout_pmw3901_BreakoutPMW3901_type },
|
||||
};
|
||||
STATIC MP_DEFINE_CONST_DICT(mp_module_breakout_pmw3901_globals, breakout_pmw3901_globals_table);
|
||||
|
||||
/***** Module Definition *****/
|
||||
const mp_obj_module_t breakout_pmw3901_user_cmodule = {
|
||||
.base = { &mp_type_module },
|
||||
.globals = (mp_obj_dict_t*)&mp_module_breakout_pmw3901_globals,
|
||||
};
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
MP_REGISTER_MODULE(MP_QSTR_breakout_pmw3901, breakout_pmw3901_user_cmodule, MODULE_BREAKOUT_PMW3901_ENABLED);
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -0,0 +1,269 @@
|
|||
#include "libraries/breakout_pmw3901/breakout_pmw3901.hpp"
|
||||
|
||||
#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))
|
||||
|
||||
#define IS_VALID_PERIPH(spi, pin) ((((pin) & 8) >> 3) == (spi))
|
||||
#define IS_VALID_SCK(spi, pin) (((pin) & 3) == 2 && IS_VALID_PERIPH(spi, pin))
|
||||
#define IS_VALID_MOSI(spi, pin) (((pin) & 3) == 3 && IS_VALID_PERIPH(spi, pin))
|
||||
#define IS_VALID_MISO(spi, pin) (((pin) & 3) == 0 && IS_VALID_PERIPH(spi, pin))
|
||||
|
||||
|
||||
using namespace pimoroni;
|
||||
|
||||
extern "C" {
|
||||
#include "breakout_pmw3901.h"
|
||||
#include <cstring>
|
||||
|
||||
/***** Variables Struct *****/
|
||||
typedef struct _breakout_pmw3901_BreakoutPMW3901_obj_t {
|
||||
mp_obj_base_t base;
|
||||
BreakoutPMW3901 *breakout;
|
||||
} breakout_pmw3901_BreakoutPMW3901_obj_t;
|
||||
|
||||
/***** Print *****/
|
||||
void BreakoutPMW3901_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
|
||||
(void)kind; //Unused input parameter
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
BreakoutPMW3901* breakout = self->breakout;
|
||||
mp_print_str(print, "BreakoutPMW3901(");
|
||||
|
||||
mp_print_str(print, "spi = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int((breakout->get_spi() == spi0) ? 0 : 1), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", cs = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_cs()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", sck = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_sck()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", mosi = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_mosi()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", miso = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_miso()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ", int = ");
|
||||
mp_obj_print_helper(print, mp_obj_new_int(breakout->get_int()), PRINT_REPR);
|
||||
|
||||
mp_print_str(print, ")");
|
||||
}
|
||||
|
||||
/***** Constructor *****/
|
||||
mp_obj_t BreakoutPMW3901_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = nullptr;
|
||||
|
||||
if(n_args + n_kw == 1) {
|
||||
enum { ARG_slot };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_slot, MP_ARG_REQUIRED | MP_ARG_INT },
|
||||
};
|
||||
|
||||
// Parse args.
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
int slot = args[ARG_slot].u_int;
|
||||
if(slot == BG_SPI_FRONT || slot == BG_SPI_BACK) {
|
||||
self = m_new_obj_with_finaliser(breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
self->base.type = &breakout_pmw3901_BreakoutPMW3901_type;
|
||||
|
||||
self->breakout = new BreakoutPMW3901((BG_SPI_SLOT)slot);
|
||||
}
|
||||
else {
|
||||
mp_raise_ValueError("slot not a valid value. Expected 0 to 1");
|
||||
}
|
||||
}
|
||||
else {
|
||||
enum { ARG_spi, ARG_cs, ARG_sck, ARG_mosi, ARG_miso, ARG_interrupt };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_spi, MP_ARG_INT, {.u_int = -1} },
|
||||
{ MP_QSTR_cs, MP_ARG_INT, {.u_int = pimoroni::SPI_BG_FRONT_CS} },
|
||||
{ MP_QSTR_sck, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_SCK} },
|
||||
{ MP_QSTR_mosi, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_MOSI} },
|
||||
{ MP_QSTR_miso, MP_ARG_INT, {.u_int = pimoroni::SPI_DEFAULT_MISO} },
|
||||
{ MP_QSTR_interrupt, MP_ARG_INT, {.u_int = pimoroni::SPI_BG_FRONT_PWM} },
|
||||
};
|
||||
|
||||
// Parse args.
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
// Get SPI bus.
|
||||
int spi_id = args[ARG_spi].u_int;
|
||||
int sck = args[ARG_sck].u_int;
|
||||
int mosi = args[ARG_mosi].u_int;
|
||||
int miso = args[ARG_miso].u_int;
|
||||
|
||||
if(spi_id == -1) {
|
||||
spi_id = (sck >> 3) & 0b1; // If no spi specified, choose the one for the given SCK pin
|
||||
}
|
||||
if(spi_id < 0 || spi_id > 1) {
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("SPI(%d) doesn't exist"), spi_id);
|
||||
}
|
||||
|
||||
if(!IS_VALID_SCK(spi_id, sck)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("bad SCK pin"));
|
||||
}
|
||||
|
||||
if(!IS_VALID_MOSI(spi_id, mosi)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("bad MOSI pin"));
|
||||
}
|
||||
|
||||
if(!IS_VALID_MISO(spi_id, miso)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("bad MISO pin"));
|
||||
}
|
||||
|
||||
self = m_new_obj_with_finaliser(breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
self->base.type = &breakout_pmw3901_BreakoutPMW3901_type;
|
||||
|
||||
spi_inst_t *spi = (spi_id == 0) ? spi0 : spi1;
|
||||
self->breakout = new BreakoutPMW3901(spi, args[ARG_cs].u_int, sck, mosi, miso, args[ARG_interrupt].u_int);
|
||||
}
|
||||
|
||||
self->breakout->init();
|
||||
|
||||
return MP_OBJ_FROM_PTR(self);
|
||||
}
|
||||
|
||||
/***** Destructor ******/
|
||||
mp_obj_t BreakoutPMW3901___del__(mp_obj_t self_in) {
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
delete self->breakout;
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
/***** Methods *****/
|
||||
mp_obj_t BreakoutPMW3901_get_id(mp_obj_t self_in) {
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
return mp_obj_new_int(self->breakout->get_id());
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPMW3901_get_revision(mp_obj_t self_in) {
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
return mp_obj_new_int(self->breakout->get_revision());
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPMW3901_set_rotation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_degrees };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_degrees, MP_ARG_INT, {.u_int = (uint8_t)BreakoutPMW3901::DEGREES_0} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
|
||||
int degrees = args[ARG_degrees].u_int;
|
||||
if(degrees < 0 || degrees > 3)
|
||||
mp_raise_ValueError("degrees out of range. Expected 0 (0), 1 (90), 2 (180) or 3 (270)");
|
||||
else
|
||||
self->breakout->set_rotation((BreakoutPMW3901::Degrees)degrees);
|
||||
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPMW3901_set_orientation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_invert_x, ARG_invert_y, ARG_swap_xy };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_invert_x, MP_ARG_BOOL, {.u_bool = true} },
|
||||
{ MP_QSTR_invert_y, MP_ARG_BOOL, {.u_bool = true} },
|
||||
{ MP_QSTR_swap_xy, MP_ARG_BOOL, {.u_bool = true} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
|
||||
bool invert_x = args[ARG_invert_x].u_int;
|
||||
bool invert_y = args[ARG_invert_y].u_int;
|
||||
bool swap_xy = args[ARG_swap_xy].u_int;
|
||||
self->breakout->set_orientation(invert_x, invert_y, swap_xy);
|
||||
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPMW3901_get_motion(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_timeout };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_obj_new_float((float)BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS / 1000)} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
|
||||
float timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
|
||||
uint16_t timeout_ms = (uint16_t)(timeout * 1000.0f);
|
||||
int16_t x = 0;
|
||||
int16_t y = 0;
|
||||
if(self->breakout->get_motion(x, y, timeout_ms)) {
|
||||
mp_obj_t tuple[2];
|
||||
tuple[0] = mp_obj_new_int(x);
|
||||
tuple[1] = mp_obj_new_int(y);
|
||||
return mp_obj_new_tuple(2, tuple);
|
||||
}
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPMW3901_get_motion_slow(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_timeout };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_obj_new_float((float)BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS / 1000)} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
|
||||
float timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
|
||||
uint16_t timeout_ms = (uint16_t)(timeout * 1000.0f);
|
||||
int16_t x = 0;
|
||||
int16_t y = 0;
|
||||
if(self->breakout->get_motion_slow(x, y, timeout_ms)) {
|
||||
mp_obj_t tuple[2];
|
||||
tuple[0] = mp_obj_new_int(x);
|
||||
tuple[1] = mp_obj_new_int(y);
|
||||
return mp_obj_new_tuple(2, tuple);
|
||||
}
|
||||
return mp_const_none;
|
||||
}
|
||||
|
||||
mp_obj_t BreakoutPMW3901_frame_capture(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_self, ARG_buffer, ARG_timeout };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_buffer, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
||||
{ MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = mp_obj_new_float((float)BreakoutPMW3901::DEFAULT_MOTION_TIMEOUT_MS / 1000)} },
|
||||
};
|
||||
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
||||
|
||||
breakout_pmw3901_BreakoutPMW3901_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_pmw3901_BreakoutPMW3901_obj_t);
|
||||
|
||||
mp_buffer_info_t bufinfo;
|
||||
mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_RW);
|
||||
uint8_t *buffer = (uint8_t *)bufinfo.buf;
|
||||
if(bufinfo.len != (size_t)(BreakoutPMW3901::FRAME_BYTES)) {
|
||||
mp_raise_ValueError("Supplied buffer is the wrong size for frame capture. Needs to be 1225.");
|
||||
}
|
||||
|
||||
float timeout = mp_obj_get_float(args[ARG_timeout].u_obj);
|
||||
uint16_t timeout_ms = (uint16_t)(timeout * 1000.0f);
|
||||
|
||||
uint16_t data_size = 0;
|
||||
uint8_t data[BreakoutPMW3901::FRAME_BYTES];
|
||||
if(self->breakout->frame_capture(data, data_size, timeout_ms)) {
|
||||
memcpy(buffer, data, BreakoutPMW3901::FRAME_BYTES);
|
||||
}
|
||||
return mp_obj_new_int(data_size);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
// Include MicroPython API.
|
||||
#include "py/runtime.h"
|
||||
#include "py/objstr.h"
|
||||
|
||||
/***** Extern of Class Definition *****/
|
||||
extern const mp_obj_type_t breakout_pmw3901_BreakoutPMW3901_type;
|
||||
|
||||
/***** Extern of Class Methods *****/
|
||||
extern void BreakoutPMW3901_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind);
|
||||
extern mp_obj_t BreakoutPMW3901_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args);
|
||||
extern mp_obj_t BreakoutPMW3901___del__(mp_obj_t self_in);
|
||||
extern mp_obj_t BreakoutPMW3901_get_id(mp_obj_t self_in);
|
||||
extern mp_obj_t BreakoutPMW3901_get_revision(mp_obj_t self_in);
|
||||
extern mp_obj_t BreakoutPMW3901_set_rotation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPMW3901_set_orientation(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPMW3901_get_motion(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPMW3901_get_motion_slow(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
extern mp_obj_t BreakoutPMW3901_frame_capture(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
set(MOD_NAME breakout_pmw3901)
|
||||
string(TOUPPER ${MOD_NAME} MOD_NAME_UPPER)
|
||||
add_library(usermod_${MOD_NAME} INTERFACE)
|
||||
|
||||
target_sources(usermod_${MOD_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_LIST_DIR}/${MOD_NAME}.c
|
||||
${CMAKE_CURRENT_LIST_DIR}/${MOD_NAME}.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../../libraries/${MOD_NAME}/${MOD_NAME}.cpp
|
||||
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/pmw3901/pmw3901.cpp
|
||||
)
|
||||
|
||||
target_include_directories(usermod_${MOD_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_LIST_DIR}
|
||||
)
|
||||
|
||||
target_compile_definitions(usermod_${MOD_NAME} INTERFACE
|
||||
-DMODULE_${MOD_NAME_UPPER}_ENABLED=1
|
||||
)
|
||||
|
||||
target_link_libraries(usermod INTERFACE usermod_${MOD_NAME})
|
||||
|
|
@ -15,6 +15,8 @@ include(breakout_roundlcd/micropython)
|
|||
include(breakout_rgbmatrix5x5/micropython)
|
||||
include(breakout_matrix11x7/micropython)
|
||||
include(breakout_msa301/micropython)
|
||||
include(breakout_paa5100/micropython)
|
||||
include(breakout_pmw3901/micropython)
|
||||
include(breakout_mics6814/micropython)
|
||||
include(breakout_potentiometer/micropython)
|
||||
include(breakout_rtc/micropython)
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue