diff --git a/boards/default_src/micropython/origin/build/lib/qmi8658.py b/boards/default_src/micropython/origin/build/lib/qmi8658.py index 1e8f2efc..6986d7f5 100644 --- a/boards/default_src/micropython/origin/build/lib/qmi8658.py +++ b/boards/default_src/micropython/origin/build/lib/qmi8658.py @@ -3,12 +3,10 @@ QMI8658 Micropython library for the QMI8658(Accelerometer+Gyroscope) ======================================================= - -#Preliminary composition 20220716 - -dahanzimin From the Mixly Team +@dahanzimin From the Mixly Team """ import time +from math import atan, sqrt, degrees from micropython import const QMI8658_REG_DEVICE_ID = const(0x00) @@ -54,7 +52,7 @@ class QMI8658: raise AttributeError("Cannot find a QMI8658") self._wreg(QMI8658_REG_Ctrl9,0xA2) #做selftest，提高精度 - time.sleep(1) + time.sleep(0.1) self._wreg(QMI8658_REG_Ctrl1,0x60) self._wreg(QMI8658_REG_Ctrl7,0x03) #启动 self._wreg(QMI8658_REG_Ctrl2,(AccRange<< 4)|Acc_Gyr_Odr) #ACC-500HZ/8G @@ -78,8 +76,9 @@ class QMI8658: return self._rreg(QMI8658_REG_StatusInt) def u2s(self,n): - return n if n < (1 << 15) else n - (1 << 16) - + return n if n < (1 << 15) else n - (1 << 16) + + @property def getdata(self): while self.status() == 0x81: time.sleep(0.001) @@ -92,12 +91,21 @@ class QMI8658: gyr_y=float(self.u2s(_buffer[11]<<8|_buffer[10]))/self.gyr_lsb_div gyr_z=float(self.u2s(_buffer[13]<<8|_buffer[12]))/self.gyr_lsb_div return (acc_x,acc_y,acc_z),(gyr_x,gyr_y,gyr_z),round(tmp,2) - - def accelerometer(self): - return self.getdata()[0] + + def acceleration(self): + return self.getdata[0] + + def strength(self): + return sqrt(self.getdata[0][0]**2+self.getdata[0][1]**2+self.getdata[0][2]**2) def gyroscope(self): - return self.getdata()[1] + return self.getdata[1] def temperature(self): - return self.getdata()[2] + return self.getdata[2] + + def eulerangles(self,upright=False): + x,y,z = self.acceleration() + pitch = degrees(atan(z / sqrt(x ** 2 + y ** 2))) if upright else degrees(atan(y / sqrt(x ** 2 + z ** 2))) + roll = degrees(atan(x / sqrt(y ** 2 + z ** 2))) + return round(pitch,2),round(roll,2) diff --git a/boards/default_src/micropython_esp32s3/origin/build/lib/mixgo_soar.py b/boards/default_src/micropython_esp32s3/origin/build/lib/mixgo_soar.py new file mode 100644 index 00000000..e6d92c03 --- /dev/null +++ b/boards/default_src/micropython_esp32s3/origin/build/lib/mixgo_soar.py @@ -0,0 +1,218 @@ +""" +mixgo_soar onboard resources + +Micropython library for the mixgo_soar onboard resources +======================================================= +@dahanzimin From the Mixly Team +""" + +from machine import * +import time, gc, math, st7789_bf + +'''RTC''' +rtc_clock = RTC() + +'''I2C-onboard''' +#onboard_i2c = I2C(0) +onboard_i2c = SoftI2C(scl=Pin(47), sda=Pin(48), freq=400000) + +'''SPI-onboard''' +onboard_spi = SPI(1, baudrate=80000000, polarity=0, phase=0) + +'''BOT035-Sensor''' +try : + import soar_bot + onboard_bot = soar_bot.BOT035(onboard_i2c) +except Exception as e: + print("Warning: Failed to communicate with BOT035 (Coprocessor) or",e) + +'''BPS-Sensor''' +try : + import spl06_001 + onboard_bps = spl06_001.SPL06(onboard_i2c) +except Exception as e: + print("Warning: Failed to communicate with SPL06-001 (BPS) or",e) + +'''IMU-Sensor''' +try : + import qmi8658 + onboard_imu = qmi8658.QMI8658(onboard_i2c, 0x6A) +except Exception as e: + print("Warning: Failed to communicate with QMI8658 (IMU) or",e) + +'''ALS_PS-Sensor''' +try : + import ltr553als + onboard_als = ltr553als.LTR_553ALS(onboard_i2c) +except Exception as e: + print("Warning: Failed to communicate with TR_553ALS (ALS&PS) or",e) + +'''MGS-Sensor''' +try : + import mmc5603 + onboard_mgs = mmc5603.MMC5603(onboard_i2c) +except Exception as e: + print("Warning: Failed to communicate with MMC5603 (MGS) or",e) + +'''TFT/240*240''' +onboard_tft = st7789_bf.ST7789(onboard_spi, 240, 240, dc_pin=46, cs_pin=45, bl_pin=onboard_bot.tft_brightness, brightness=0, font_address=0x700000) + +'''2RGB_WS2812''' +from ws2812 import NeoPixel +onboard_rgb = NeoPixel(Pin(40), 4) + +'''5KEY_Sensor''' +class KEYSensor: + def __init__(self, pin, range): + self.pin = pin + self.adc = ADC(Pin(pin), atten=ADC.ATTN_0DB) + self.range = range + self.flag = True + + def _value(self): + values = [] + for _ in range(50): + values.append(self.adc.read()) + time.sleep_us(2) + return (self.range-200) < min(values) < (self.range+200) + + def get_presses(self, delay = 1): + last_time,presses = time.time(), 0 + while time.time() < last_time + delay: + time.sleep_ms(50) + if self.was_pressed(): + presses += 1 + return presses + + def is_pressed(self): + return self._value() + + def was_pressed(self): + if(self._value() != self.flag): + self.flag = self._value() + if self.flag : + return True + else: + return False + + def irq(self, handler, trigger): + Pin(self.pin, Pin.IN).irq(handler = handler, trigger = trigger) + +'''1KEY_Button''' +class Button(KEYSensor): + def __init__(self, pin): + self.pin = pin + self.key = Pin(pin, Pin.IN) + self.flag = True + + def _value(self): + return not self.key.value() + +B1key = Button(0) +B2key = KEYSensor(17,0) +A1key = KEYSensor(17,2300) +A2key = KEYSensor(17,1600) +A3key = KEYSensor(17,800) +A4key = KEYSensor(17,2900) + +'''2LED-Independent''' +class LED: + def __init__(self, pins=[]): + self._pins = [PWM(Pin(pin), duty_u16=0) for pin in pins] + self._brightness = [0 for _ in range(len(self._pins))] + + def setbrightness(self, index, val): + if not 0 <= val <= 100: + raise ValueError("Brightness must be in the range: 0-100%") + self._brightness[index - 1] = val + self._pins[index - 1].duty_u16(val * 65535 // 100) + + def getbrightness(self, index): + return self._brightness[index - 1] + + def setonoff(self, index, val): + if val == -1: + self.setbrightness(index, 100) if self.getbrightness(index) < 50 else self.setbrightness(index, 0) + elif val == 1: + self.setbrightness(index, 100) + elif val == 0: + self.setbrightness(index, 0) + + def getonoff(self, index): + return True if self.getbrightness(index) > 50 else False + +onboard_led = LED([38, 39]) + +class Clock: + def __init__(self, x, y, radius, color, oled=onboard_tft): #定义时钟中心点和半径 + self.display = oled + self.xc = x + self.yc = y + self.r = radius + self.color= color + self.hour = 0 + self.min = 0 + self.sec = 0 + + def set_time(self, h, m, s): #设定时间 + self.hour = h + self.min = m + self.sec = s + + def set_rtctime(self): #设定时间 + t = rtc_clock.datetime() + self.hour = t[4] + self.min = t[5] + self.sec = t[6] + + def drawDial(self,color): #画钟表刻度 + r_tic1 = self.r - 1 + r_tic2 = self.r - 2 + self.display.ellipse(self.xc, self.yc, self.r, self.r, color) + self.display.ellipse(self.xc, self.yc, 2, 2, color,True) + + for h in range(12): + at = math.pi * 2.0 * h / 12.0 + x1 = round(self.xc + r_tic1 * math.sin(at)) + x2 = round(self.xc + r_tic2 * math.sin(at)) + y1 = round(self.yc - r_tic1 * math.cos(at)) + y2 = round(self.yc - r_tic2 * math.cos(at)) + self.display.line(x1, y1, x2, y2, color) + + def drawHour(self,color): #画时针 + r_hour = int(self.r / 10.0 * 5) + ah = math.pi * 2.0 * ((self.hour % 12) + self.min / 60.0) / 12.0 + xh = int(self.xc + r_hour * math.sin(ah)) + yh = int(self.yc - r_hour * math.cos(ah)) + self.display.line(self.xc, self.yc, xh, yh, color) + + def drawMin(self,color): #画分针 + r_min = int(self.r / 10.0 * 7) + am = math.pi * 2.0 * self.min / 60.0 + xm = round(self.xc + r_min * math.sin(am)) + ym = round(self.yc - r_min * math.cos(am)) + self.display.line(self.xc, self.yc, xm, ym, color) + + def drawSec(self,color): #画秒针 + r_sec = int(self.r / 10.0 * 9) + asec = math.pi * 2.0 * self.sec / 60.0 + xs = round(self.xc + r_sec * math.sin(asec)) + ys = round(self.yc - r_sec * math.cos(asec)) + self.display.line(self.xc, self.yc, xs, ys, color) + + def draw_clock(self, bg_color=0): #画完整钟表 + self.drawDial(self.color) + self.drawHour(self.color) + self.drawMin(self.color) + self.drawSec(self.color) + self.display.show() + self.drawHour(bg_color) + self.drawMin(bg_color) + self.drawSec(bg_color) + + def clear(self, color=0): #清除 + self.display.ellipse(self.xc, self.yc, self.r, self.r, color, True) + +'''Reclaim memory''' +gc.collect() +onboard_tft.set_brightness(0.6) diff --git a/boards/default_src/micropython_esp32s3/origin/build/lib/mixgo_soar_voice.py b/boards/default_src/micropython_esp32s3/origin/build/lib/mixgo_soar_voice.py new file mode 100644 index 00000000..81473fce --- /dev/null +++ b/boards/default_src/micropython_esp32s3/origin/build/lib/mixgo_soar_voice.py @@ -0,0 +1,86 @@ +""" +Soar Voice Onboard resources + +Micropython library for the Soar Onboard resources +======================================================= +@dahanzimin From the Mixly Team +""" +import ustruct +import time +import music_spk +import es8374 + +from machine import Pin, I2S +from mixgo_soar import onboard_i2c + +sample_rate = 22050 +ob_code = es8374.ES8374(onboard_i2c) +time.sleep(0.2) + +#ps 特殊改双全工i2s支持 +ob_audio = I2S(0, sck=Pin(37), din=Pin(36) , ws=Pin(35), dout=Pin(34), mck=Pin(33), mode=I2S.RTX, bits=16, format=I2S.MONO, rate=sample_rate, ibuf=20000) + +spk_midi = music_spk.MIDI(ob_audio, sample_rate) + +def u2s(n): + return n if n < (1 << 15) else n - (1 << 16) + +def sound_level(): + buf = bytearray(100) + values = [] + ob_audio.readinto(buf) + for i in range(len(buf)//2): + values.append(u2s(buf[i * 2] | buf[i * 2 + 1]<<8)) + return max(values) - min(values) + +def play_audio(path): + file = open(path, 'rb') + header = file.read(44) + if header[8:12] != b'WAVE': + raise Error('not a WAVE file') + _rate = ustruct.unpack(' value if value else touch + + def touched(self, index, value=600): + return self.touch(index, value) + + def touch_slide(self): + values = [] + for i in range(20): + values.append((self.touch(1) - self._touchs[1]) - (self.touch(0) - self._touchs[0])) + return round(sorted(values)[10] / 10) + + def brightness(self, index): + index = max(min(index, 1), 0) + return 4095 - self._rreg(_BOT035_ADC + index * 2, 2) + + def amp_pga(self, k=1, b=155, pga=3, dp=0): + """0:4x,1:8x,2:16x,3:32x""" + self._wreg(_BOT035_CMD, (self._rreg(_BOT035_CMD) & 0x3F) | (pga & 0x03) << 6) + return round((self._rreg(_BOT035_OPA, 2) * k - b) / (2 ** (pga + 2)), dp) + + def usben(self, index=1, duty=None, freq=None): + index = max(min(index, 4), 1) + if duty is not None: + self._wreg(_BOT035_PWM + index + 1, int(max(min(duty, 100), 0))) + if freq is not None: + self._wreg(_BOT035_PWM, max(min(freq, 65535), 10), 2) + if freq is None and duty is None: + return self._rreg(_BOT035_PWM + index + 1), self._rreg(_BOT035_PWM ,2) + + def tft_brightness(self, brightness=None): + if brightness is None: + return round((self._rreg(_BOT035_CMD) & 0x3F) * 1.587) + else: + brightness = round(brightness* 0.63) + self._wreg(_BOT035_CMD, (self._rreg(_BOT035_CMD) & 0xC0) | max(min(brightness, 63), 0)) + + def hid_keyboard(self, special=0, general=0, release=True): + self._buf = bytearray(4) + self._buf[0] = special + if type(general) in (tuple, list): + for i in range(len(general)): + if i > 2: break + self._buf[i + 1] = general[i] + else: + self._buf[1] = general + self._i2c.writeto_mem(_BOT035_ADDRESS, _BOT035_KB, self._buf) + if release: + time.sleep_ms(10) + self._i2c.writeto_mem(_BOT035_ADDRESS, _BOT035_KB, bytes(4)) + + def hid_keyboard_str(self, string, delay=0): + for char in str(string): + self._wreg(_BOT035_STR, ord(char) & 0xFF) + time.sleep_ms(20 + delay) + + def hid_keyboard_state(self): + state = self._rreg(_BOT035_STA) + return bool(state & 0x10), bool(state & 0x20), bool(state & 0x40) + + def hid_mouse(self, keys=0, move=(0, 0), wheel=0, release=True): + self._i2c.writeto_mem(_BOT035_ADDRESS, _BOT035_MS, bytes([keys & 0x0F, move[0] & 0xFF, move[1] & 0xFF, wheel & 0xFF])) + if release: + time.sleep_ms(10) + self._i2c.writeto_mem(_BOT035_ADDRESS, _BOT035_MS, bytes(4)) diff --git a/boards/default_src/micropython_esp32s3/origin/build/lib/st7789_bf.py b/boards/default_src/micropython_esp32s3/origin/build/lib/st7789_bf.py index 8c0e91ca..e529f09d 100644 --- a/boards/default_src/micropython_esp32s3/origin/build/lib/st7789_bf.py +++ b/boards/default_src/micropython_esp32s3/origin/build/lib/st7789_bf.py @@ -30,9 +30,7 @@ _CMD_COLMOD = const(0x3A) _CMD_MADCTL = const(0x36) class ST7789(uframebuf.FrameBuffer_Uincode): - def __init__(self, spi, width, height, dc_pin=None, cs_pin=None, bl_pin=None, font_address=0x700000): - if height != 240 or width not in [320, 240, 135]: - raise ValueError("Unsupported display. 320x240, 240x240 and 135x240 are supported.") + def __init__(self, spi, width, height, dc_pin=None, cs_pin=None, bl_pin=None, brightness=0.6, font_address=0x700000): self.spi = spi self.dc = Pin(dc_pin, Pin.OUT, value=1) self.cs = Pin(cs_pin, Pin.OUT, value=1) @@ -41,9 +39,12 @@ class ST7789(uframebuf.FrameBuffer_Uincode): self.font(font_address) self._init() self.show() - time.sleep_ms(100) - self._brightness = 0.6 - self.bl_led = PWM(Pin(bl_pin), duty_u16=int(self._brightness * 60000)) if bl_pin else None + if brightness > 0: time.sleep_ms(100) + self._brightness = brightness + if callable(bl_pin): + self.bl_led = bl_pin + else: + self.bl_led = PWM(Pin(bl_pin), duty_u16=int(self._brightness * 60000)) if bl_pin else None def _write(self, cmd, dat = None): self.cs.off() @@ -59,13 +60,26 @@ class ST7789(uframebuf.FrameBuffer_Uincode): def _init(self): """Display initialization configuration""" for cmd, data, delay in [ - (_CMD_SWRESET, None, 150), - (_CMD_SLPOUT, None, None), - (_CMD_COLMOD, b'\x55', 50), - (_CMD_MADCTL, b'\x60', 50), - (_CMD_INVOFF, None, 10), - (_CMD_NORON, None, 10), - (_CMD_DISPON, None, 200), + #(_CMD_SWRESET, None, 20000), + (_CMD_SLPOUT, None, 120000), + (_CMD_MADCTL, b'\x00', 50), + (_CMD_COLMOD, b'\x05', 50), + (0xB2, b'\x0c\x0c\x00\x33\x33', 10), + (0xB7, b'\x35', 10), + (0xBB, b'\x19', 10), + (0xC0, b'\x2C', 10), + (0xC2, b'\x01', 10), + (0xC3, b'\x12', 10), + (0xC4, b'\x20', 10), + (0xC6, b'\x0F', 10), + (0xD0, b'\xA4\xA1', 10), + (0xE0, b'\xD0\x04\x0D\x11\x13\x2B\x3F\x54\x4C\x18\x0D\x0B\x1F\x23', 10), + (0xE1, b'\xD0\x04\x0C\x11\x13\x2C\x3F\x44\x51\x2F\x1F\x1F\x20\x23', 10), + (0x21, None, 10), + (0x29, None, 10), + # (_CMD_INVOFF, None, 10), + # (_CMD_NORON, None, 10), + # (_CMD_DISPON, None, 200), ]: self._write(cmd, data) if delay: @@ -91,7 +105,10 @@ class ST7789(uframebuf.FrameBuffer_Uincode): if not 0.0 <= brightness <= 1.0: raise ValueError("Brightness must be a decimal number in the range: 0.0~1.0") self._brightness = brightness - self.bl_led.duty_u16(int(brightness*60000)) + if callable(self.bl_led): + self.bl_led(brightness * 100) + elif isinstance(self.bl_led, PWM): + self.bl_led.duty_u16(int(brightness*60000)) def color(self, red, green=None, blue=None): """ Convert red, green and blue values (0-255) into a 16-bit 565 encoding."""