更新MPY一些库优化，及增加微波雷达，语音播放库

boards/default_src/micropython/origin/build/lib/sonar.py

@@ -1,23 +1,39 @@
-from machine import Pin
-import time
+"""
+CS100/HC-SR04
+
+Micropython library for the CS100/HC-SR04(Ultrasonic ranging)
+=======================================================
+@dahanzimin From the Mixly Team 
+"""
+from time import sleep_us
+from machine import Pin, time_pulse_us
 
-# Sonar
 class Sonar:
-    def __init__(self, trig, echo):
-        self.trig=Pin(trig, Pin.OUT)
-        self.echo=Pin(echo, Pin.IN)
+	__species = {}
+	__first_init = True
 
-    def checkdist(self):
-        #trig, echo = Pin(trig, Pin.OUT), Pin(echo, Pin.IN)
-        self.trig.value(0)
-        self.echo.value(0)
-        self.trig.value(1)
-        time.sleep_us(10)
-        self.trig.value(0)
-        while(self.echo.value()==0):
-            pass
-        t1 = time.ticks_us()
-        while(self.echo.value()==1):
-            pass
-        t2 = time.ticks_us()
-        return round(time.ticks_diff(t2, t1) / 10000 * 340 / 2, 2)
+	def __new__(cls, trig, echo, *args, **kwargs):
+		if (trig, echo) not in cls.__species.keys():
+			cls.__first_init = True
+			cls.__species[(trig, echo) ] = object.__new__(cls)
+		return cls.__species[(trig, echo)]
+
+	def __init__(self, trig, echo, max_rang=400):
+		if self.__first_init:
+			self.__first_init = False
+			self.trig = Pin(trig, Pin.OUT, value=0)
+			self.echo = Pin(echo, Pin.IN)
+			self.timeout_us = int(max_rang * 2 * 29.1)
+
+	def checkdist(self):
+		self.trig.value(0)
+		sleep_us(5)
+		self.trig.value(1)
+		sleep_us(10)
+		self.trig.value(0)
+		try:
+			pulse_time = time_pulse_us(self.echo, 1, self.timeout_us)
+			pulse_time = pulse_time if pulse_time >= 0  else self.timeout_us 
+			return round(pulse_time / 2 / 29.1, 2)	# 1cm each 29.1us
+		except:
+			return None