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boards/default/micropython_esp32s3/build/lib/nova_g1.py

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+"""
+NOVA_G1
+
+Micropython	library for the NOVA_G1(PWM*6, IO*2, ADC*1)
+=======================================================
+
+#Preliminary composition				20240222
+
+@dahanzimin From the Mixly Team
+"""
+from micropython import const
+from mixgo_nova import onboard_i2c
+
+_NOVA_G1_ADDRESS	= const(0x25)
+_NOVA_G1_ID			= const(0x00)
+_NOVA_G1_ADC		= const(0x01)
+_NOVA_G1_IO			= const(0x03)
+_NOVA_G1_PWM		= const(0x04)
+
+class NOVA_G1:
+	def __init__(self, i2c_bus, addr=_NOVA_G1_ADDRESS):
+		self._i2c=i2c_bus
+		self._addr = addr
+		if self._rreg(_NOVA_G1_ID)!= 0x25:
+			raise AttributeError("Cannot find a NOVA_G1")
+		self.reset()
+
+	def _wreg(self, reg, val):
+		'''Write memory address'''
+		try:
+			self._i2c.writeto_mem(self._addr, reg, val.to_bytes(1, 'little'))
+		except:
+			return 0 
+
+	def _rreg(self, reg, nbytes=1):
+		'''Read memory address'''
+		try:
+			self._i2c.writeto(self._addr, reg.to_bytes(1, 'little'))
+			return  self._i2c.readfrom(self._addr, nbytes)[0] if nbytes<=1 else self._i2c.readfrom(self._addr, nbytes)[0:nbytes]
+		except:
+			return 0
+
+	def reset(self):
+		"""Reset all registers to default state"""
+		for reg in range(_NOVA_G1_PWM,_NOVA_G1_PWM + 6):
+			self._wreg(reg,0x00)
+
+	def varistor(self, ratio=100/1023):
+		'''Read battery power'''
+		_adc= self._rreg(_NOVA_G1_ADC) << 2 | self._rreg(_NOVA_G1_ADC+1) >> 6
+		return round(_adc * ratio)
+	
+	def pwm(self, index, duty=None):
+		"""Motor*2*2 & USB*2 PWM duty cycle data register"""
+		if duty is None:
+			return self._rreg(_NOVA_G1_PWM + index)
+		else:
+			duty = min(255, max(0, duty))
+			self._wreg(_NOVA_G1_PWM + index, duty)
+
+	def motor(self, index, action, speed=0):
+		if not 0 <= index <= 1:
+			raise ValueError("Motor port must be a number in the range: 0~1")
+		speed = min(100, max(speed, -100))
+		if action=="N":
+			self.pwm(index * 2, 0)
+			self.pwm(index * 2 + 1, 0)
+		elif action=="P":
+			self.pwm(index * 2, 255)
+			self.pwm(index * 2 + 1, 255)
+		elif action=="CW":
+			if speed >= 0:
+				self.pwm(index * 2, 0)
+				self.pwm(index * 2 + 1, speed * 255 // 100)
+			else:
+				self.pwm(index * 2, 0)
+				self.pwm(index * 2 + 1, - speed * 255 // 100)
+		elif action=="CCW":
+			if speed >= 0:
+				self.pwm(index * 2, speed * 255 // 100)
+				self.pwm(index * 2 + 1, 0)
+			else:
+				self.pwm(index * 2, - speed * 255 // 100)
+				self.pwm(index * 2 + 1, 0)
+		elif action=="NC":
+			return round(self.pwm(index * 2) * 100 / 255), round(self.pwm(index * 2 + 1) * 100 / 255)
+		else:
+			raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
+
+	def usb_pwm(self, index, duty=None):
+		if not 0 <= index <= 1:
+			raise ValueError("USB-2.0 port must be a number in the range: 0~1")
+		if duty is None:
+			return  round((self.pwm(index + 4) * 100 / 255))
+		else:
+			self.pwm(index + 4, duty * 255 // 100)
+
+	def spk_en(self, onoff=True):
+		if onoff: 
+			self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) | 0x02)
+		else:
+			self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) & 0xFD)
+
+	def ldo_en(self, onoff=True):
+		if onoff: 
+			self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) | 0x01)
+		else:
+			self._wreg(_NOVA_G1_IO, (self._rreg(_NOVA_G1_IO)) & 0xFE)
+
+#Constructor
+ext_g1 = NOVA_G1(onboard_i2c)