kopia lustrzana https://github.com/pimoroni/pimoroni-pico
Finished drivers bindings and examples for flow sensors.
ZodiusInfuser
rodzic
53643a72d2
commit
27b74e140b
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@ -171,7 +171,7 @@ namespace pimoroni {
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return false;
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}
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bool PMW3901::frame_capture(uint8_t (&raw_data_out)[RAW_DATA_LEN], uint16_t& data_size_out, uint16_t timeout_ms) {
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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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@ -205,7 +205,7 @@ namespace pimoroni {
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if(success) {
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write_register(reg::RAWDATA_GRAB, 0x00);
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memset(raw_data_out, 0, RAW_DATA_LEN * sizeof(uint8_t));
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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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@ -214,16 +214,16 @@ namespace pimoroni {
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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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raw_data_out[x] &= ~0b11111100;
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raw_data_out[x] |= (data & 0b00111111) << 2; // Held in 5:0
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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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raw_data_out[x] &= ~0b00000011;
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raw_data_out[x] |= (data & 0b00001100) >> 2; // Held in 3:2
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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 == RAW_DATA_LEN) {
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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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@ -13,8 +13,10 @@ namespace pimoroni {
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// Constants
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//--------------------------------------------------
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public:
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static const uint8_t FRAME_SIZE = 35;
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static const uint16_t RAW_DATA_LEN = 1225;
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static const uint8_t FRAME_SIZE = 35;
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static const uint16_t FRAME_BYTES = 1225;
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static const uint16_t DEFAULT_MOTION_TIMEOUT_MS = 5000;
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static const uint16_t DEFAULT_FRAME_CAPTURE_TIMEOUT_MS = 10000;
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protected:
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static const uint8_t WAIT = -1;
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@ -52,6 +54,10 @@ namespace pimoroni {
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PMW3901(BG_SPI_SLOT slot) {
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switch(slot) {
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case PICO_EXPLORER_ONBOARD: // Don't read too much into this, the case is just here to avoid a compile error
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cs = SPI_BG_FRONT_CS;
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interrupt = PIN_UNUSED;
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break;
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case BG_SPI_FRONT:
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cs = SPI_BG_FRONT_CS;
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interrupt = SPI_BG_FRONT_PWM;
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@ -68,6 +74,8 @@ namespace pimoroni {
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spi(spi),
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cs(cs), sck(sck), mosi(mosi), miso(miso), interrupt(interrupt) {}
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virtual ~PMW3901() {}
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//--------------------------------------------------
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// Methods
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@ -86,9 +94,9 @@ namespace pimoroni {
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uint8_t get_revision();
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void set_rotation(Degrees degrees = DEGREES_0);
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void set_orientation(bool invert_x = true, bool invert_y = true, bool swap_xy = true);
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bool get_motion(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = 5000);
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bool get_motion_slow(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = 5000);
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bool frame_capture(uint8_t (&raw_data_out)[RAW_DATA_LEN], uint16_t& data_size_out, uint16_t timeout_ms = 10000);
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bool get_motion(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = DEFAULT_MOTION_TIMEOUT_MS);
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bool get_motion_slow(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = DEFAULT_MOTION_TIMEOUT_MS);
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bool frame_capture(uint8_t (&data_out)[FRAME_BYTES], uint16_t& data_size_out, uint16_t timeout_ms = DEFAULT_FRAME_CAPTURE_TIMEOUT_MS);
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protected:
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virtual void secret_sauce();
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@ -103,6 +111,8 @@ namespace pimoroni {
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};
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class PAA5100 : public PMW3901 {
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public:
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virtual ~PAA5100() {}
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protected:
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virtual void secret_sauce();
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};
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@ -7,7 +7,6 @@ add_subdirectory(breakout_roundlcd)
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add_subdirectory(breakout_rgbmatrix5x5)
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add_subdirectory(breakout_matrix11x7)
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add_subdirectory(breakout_mics6814)
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add_subdirectory(breakout_paa5100)
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add_subdirectory(breakout_pmw3901)
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add_subdirectory(breakout_potentiometer)
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add_subdirectory(breakout_rtc)
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@ -1,2 +0,0 @@
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add_subdirectory(motion)
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add_subdirectory(frame_capture)
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@ -1,16 +0,0 @@
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set(OUTPUT_NAME paa5100_framecapture)
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add_executable(
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${OUTPUT_NAME}
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frame_capture.cpp
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)
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# enable usb output, disable uart output
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pico_enable_stdio_usb(${OUTPUT_NAME} 1)
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pico_enable_stdio_uart(${OUTPUT_NAME} 1)
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# Pull in pico libraries that we need
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target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_paa5100)
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# create map/bin/hex file etc.
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pico_add_extra_outputs(${OUTPUT_NAME})
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@ -1,70 +0,0 @@
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include <string>
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#include "breakout_paa5100.hpp"
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using namespace pimoroni;
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BreakoutPAA5100 flo(BG_SPI_FRONT);
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BreakoutPAA5100::Degrees rotation = BreakoutPAA5100::DEGREES_0;
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const uint8_t SIZE = BreakoutPAA5100::FRAME_SIZE;
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uint8_t data[BreakoutPAA5100::RAW_DATA_LEN];
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std::string value_to_char(uint8_t value) {
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const std::string charmap = " .:-=+*#%@";
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float val = (float)value / 255.0f;
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val *= charmap.length() - 1;
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value = (uint8_t)val;
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std::string chosen_char = charmap.substr(val, 1);
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return chosen_char.append(chosen_char); // Double chars to - sort of - correct aspect ratio
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}
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int main() {
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stdio_init_all();
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flo.init();
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flo.set_rotation(rotation);
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uint8_t offset = 0;
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uint8_t value = 0;
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while(true) {
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printf("Capturing...\n");
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uint16_t data_size = 0;
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if(flo.frame_capture(data, data_size)) {
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for(uint8_t y = 0; y < SIZE; y++) {
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if(rotation == BreakoutPAA5100::DEGREES_180 || rotation == BreakoutPAA5100::DEGREES_270)
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y = SIZE - y - 1;
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for(uint8_t x = 0; x < SIZE; x++) {
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if(rotation == BreakoutPAA5100::DEGREES_180 || rotation == BreakoutPAA5100::DEGREES_90)
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x = SIZE - x - 1;
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if(rotation == BreakoutPAA5100::DEGREES_90 || rotation == BreakoutPAA5100::DEGREES_270)
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offset = (x * 35) + y;
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else
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offset = (y * 35) + x;
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value = data[offset];
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printf("%s", value_to_char(value).c_str());
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}
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printf("\n");
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}
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}
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else {
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printf("Capture failed. %d bytes received, of %d. Recapturing in ", data_size, BreakoutPAA5100::RAW_DATA_LEN);
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}
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printf("5...\n");
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sleep_ms(1000);
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printf("4...\n");
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sleep_ms(1000);
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printf("3...\n");
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sleep_ms(1000);
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printf("2...\n");
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sleep_ms(1000);
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printf("Get Ready!\n");
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sleep_ms(1000);
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};
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return 0;
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}
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@ -1,16 +0,0 @@
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set(OUTPUT_NAME paa5100_motion)
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add_executable(
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${OUTPUT_NAME}
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motion.cpp
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)
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# enable usb output, disable uart output
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pico_enable_stdio_usb(${OUTPUT_NAME} 1)
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pico_enable_stdio_uart(${OUTPUT_NAME} 1)
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# Pull in pico libraries that we need
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target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_paa5100)
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# create map/bin/hex file etc.
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pico_add_extra_outputs(${OUTPUT_NAME})
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@ -1,26 +0,0 @@
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include "breakout_paa5100.hpp"
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using namespace pimoroni;
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BreakoutPAA5100 flo(BG_SPI_FRONT);
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int main() {
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stdio_init_all();
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flo.init();
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flo.set_rotation(BreakoutPAA5100::DEGREES_0);
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int16_t tx = 0, ty = 0;
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int16_t x = 0, y = 0;
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while(true) {
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if(flo.get_motion(x, y)) {
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tx += x;
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ty += y;
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printf("Relative: x %6d, y %6d | Absolute: tx %6d, ty %6d\n", x, y, tx, ty);
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}
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sleep_ms(10);
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};
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return 0;
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}
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@ -10,7 +10,7 @@ pico_enable_stdio_usb(${OUTPUT_NAME} 1)
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pico_enable_stdio_uart(${OUTPUT_NAME} 1)
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# Pull in pico libraries that we need
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target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_pmw3901)
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target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_pmw3901 breakout_paa5100)
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# create map/bin/hex file etc.
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pico_add_extra_outputs(${OUTPUT_NAME})
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@ -2,21 +2,30 @@
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#include "pico/stdlib.h"
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#include <string>
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#include "breakout_pmw3901.hpp"
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using namespace pimoroni;
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BreakoutPMW3901 flo(BG_SPI_FRONT);
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BreakoutPMW3901::Degrees rotation = BreakoutPMW3901::DEGREES_0;
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const uint8_t SIZE = BreakoutPMW3901::FRAME_SIZE;
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uint8_t data[BreakoutPMW3901::RAW_DATA_LEN];
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// Pick *one* sensor type by uncommenting the relevant lines below:
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// PMW3901
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#include "breakout_pmw3901.hpp"
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typedef BreakoutPMW3901 FlowSensor;
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// PAA5100
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//include "breakout_paa5100.hpp"
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//typedef BreakoutPAA5100 FlowSensor;
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FlowSensor flo(BG_SPI_FRONT);
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FlowSensor::Degrees rotation = FlowSensor::DEGREES_0;
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const uint8_t SIZE = FlowSensor::FRAME_SIZE;
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uint8_t data[FlowSensor::FRAME_BYTES];
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std::string value_to_char(uint8_t value) {
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const std::string charmap = " .:-=+*#%@";
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float val = (float)value / 255.0f;
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val *= charmap.length() - 1;
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value = (uint8_t)val;
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std::string chosen_char = charmap.substr(val, 1);
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std::string chosen_char = charmap.substr((uint8_t)val, 1);
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return chosen_char.append(chosen_char); // Double chars to - sort of - correct aspect ratio
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}
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@ -34,14 +43,14 @@ int main() {
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uint16_t data_size = 0;
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if(flo.frame_capture(data, data_size)) {
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for(uint8_t y = 0; y < SIZE; y++) {
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if(rotation == BreakoutPMW3901::DEGREES_180 || rotation == BreakoutPMW3901::DEGREES_270)
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if(rotation == FlowSensor::DEGREES_180 || rotation == FlowSensor::DEGREES_270)
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y = SIZE - y - 1;
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for(uint8_t x = 0; x < SIZE; x++) {
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if(rotation == BreakoutPMW3901::DEGREES_180 || rotation == BreakoutPMW3901::DEGREES_90)
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if(rotation == FlowSensor::DEGREES_180 || rotation == FlowSensor::DEGREES_90)
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x = SIZE - x - 1;
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if(rotation == BreakoutPMW3901::DEGREES_90 || rotation == BreakoutPMW3901::DEGREES_270)
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if(rotation == FlowSensor::DEGREES_90 || rotation == FlowSensor::DEGREES_270)
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offset = (x * 35) + y;
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else
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offset = (y * 35) + x;
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@ -53,7 +62,7 @@ int main() {
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}
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}
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else {
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printf("Capture failed. %d bytes received, of %d. Recapturing in ", data_size, BreakoutPMW3901::RAW_DATA_LEN);
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printf("Capture failed. %d bytes received, of %d. Recapturing in ", data_size, FlowSensor::FRAME_BYTES);
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}
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printf("5...\n");
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sleep_ms(1000);
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@ -10,7 +10,7 @@ pico_enable_stdio_usb(${OUTPUT_NAME} 1)
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pico_enable_stdio_uart(${OUTPUT_NAME} 1)
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# Pull in pico libraries that we need
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target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_pmw3901)
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target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_pmw3901 breakout_paa5100)
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# create map/bin/hex file etc.
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pico_add_extra_outputs(${OUTPUT_NAME})
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@ -1,17 +1,25 @@
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include "breakout_pmw3901.hpp"
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using namespace pimoroni;
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BreakoutPMW3901 flo(BG_SPI_FRONT);
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// Pick *one* sensor type by uncommenting the relevant lines below:
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// PMW3901
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#include "breakout_pmw3901.hpp"
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typedef BreakoutPMW3901 FlowSensor;
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// PAA5100
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//include "breakout_paa5100.hpp"
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//typedef BreakoutPAA5100 FlowSensor;
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FlowSensor flo(BG_SPI_FRONT);
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int main() {
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stdio_init_all();
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flo.init();
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flo.set_rotation(BreakoutPMW3901::DEGREES_0);
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flo.set_rotation(FlowSensor::DEGREES_0);
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int16_t tx = 0, ty = 0;
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int16_t x = 0, y = 0;
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while(true) {
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@ -0,0 +1,68 @@
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import time
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# Pick *one* sensor type by uncommenting the relevant line below:
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# PMW3901
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from breakout_pmw3901 import BreakoutPMW3901 as FlowSensor
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# PAA5100
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# from breakout_paa5100 import BreakoutPAA5100 as FlowSensor
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flo = FlowSensor()
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rotation = FlowSensor.DEGREES_0
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SIZE = FlowSensor.FRAME_SIZE
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BYTES = FlowSensor.FRAME_BYTES
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data = bytearray(BYTES)
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flo.set_rotation(rotation)
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offset = 0
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value = 0
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def value_to_char(value):
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charmap = " .:-=+*#%@"
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val = float(value) / 255.0
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val *= len(charmap) - 1
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chosen_char = charmap[int(val)]
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return chosen_char * 2 # Double chars to - sort of - correct aspect ratio
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while(True):
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print("Capturing...")
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time.sleep(0.1)
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# Warning! The frame capture function below can take up to 10 seconds to run! Also, it often fails to capture all bytes.
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# A shorter timeout (in seconds) can be set with the 'timeout' keyword e.g. frame_capture(data, timeout=6.0)
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data_size = flo.frame_capture(data)
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if data_size == BYTES:
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for y in range(0, SIZE):
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if rotation == FlowSensor.DEGREES_180 or rotation == FlowSensor.DEGREES_270:
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y = SIZE - y - 1
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for x in range(0, SIZE):
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if rotation == FlowSensor.DEGREES_180 or rotation == FlowSensor.DEGREES_90:
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x = SIZE - x - 1
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if rotation == FlowSensor.DEGREES_90 or rotation == FlowSensor.DEGREES_270:
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offset = (x * 35) + y
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else:
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offset = (y * 35) + x
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value = data[offset]
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print(value_to_char(value), end="")
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print()
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else:
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print("Capture failed. {} bytes received, of {}. Recapturing in ".format(data_size, BYTES))
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print("5...")
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time.sleep(1.0)
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print("4...")
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time.sleep(1.0)
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print("3...")
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time.sleep(1.0)
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print("2...")
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time.sleep(1.0)
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print("Get Ready!")
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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