Merge branch 'boards'

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

@@ -19,6 +19,8 @@ _IRQ_CENTRAL_DISCONNECT = const(2)
 _IRQ_GATTS_WRITE        = const(3)
 _IRQ_MTU_EXCHANGED      = const(21)
 _IRQ_CONNECTION_UPDATE  = const(27)
+_IRQ_GET_SECRET         = const(29)
+_IRQ_SET_SECRET         = const(30)
 _IRQ_PASSKEY_ACTION     = const(31)
 _PASSKEY_ACTION_INPUT   = const(2)
 _PASSKEY_ACTION_DISP    = const(3)
@@ -66,6 +68,11 @@ class Keyboard:
         self.passkey = passkey
         self.battery_level = battery_level
         self.report = b'\x00'
+        try:
+            import ble_hid_key
+            self.keys = ble_hid_key.keys
+        except:
+            self.keys = {} 
 
         handles = self._ble.gatts_register_services((_DIS, _BAS, _HIDS))
         self._service_characteristics(handles)
@@ -106,10 +113,44 @@ class Keyboard:
                 print("unknown action")
         elif event == _IRQ_GATTS_WRITE:
             conn_handle, attr_handle = data
-            self.report = self._ble.gatts_read(attr_handle) 
+            self.report = self._ble.gatts_read(attr_handle)
+        elif event == _IRQ_SET_SECRET:
+            sec_type, key, value = data
+            key = sec_type, bytes(key)
+            value = bytes(value) if value else None
+            #print("Set secret: ", key, value)
+            if value is None:
+                if key in self.keys:
+                    del self.keys[key]
+                    self.key_secrets(self.keys)
+                    return True
+                else:
+                    return False
+            else:
+                self.keys[key] = value
+                self.key_secrets(self.keys)
+            return True
+        elif event == _IRQ_GET_SECRET:
+            sec_type, index, key = data
+            #print("Get secret: ", sec_type, index, bytes(key) if key else None)
+            if key is None:
+                i = 0
+                for (t, _key), value in self.keys.items():
+                    if t == sec_type:
+                        if i == index:
+                            return value
+                        i += 1
+                return None
+            else:
+                key = sec_type, bytes(key)
+                return self.keys.get(key, None) 
         #else:
             #print("Unhandled IRQ event: ", event, data)
 
+    def key_secrets(self, keys={}):
+        with open("ble_hid_key.py", "w+") as s_f:
+            s_f.write("keys=" + str(keys) + "\n")
+
     def _service_characteristics(self, handles):
         (h_mod, h_ser, h_fwr, h_hwr, h_swr, h_man, h_pnp) = handles[0]
         (self.h_bat, h_ccc, h_bfmt,) = handles[1] 

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

@@ -18,6 +18,8 @@ _IRQ_CENTRAL_CONNECT    = const(1)
 _IRQ_CENTRAL_DISCONNECT = const(2)
 _IRQ_MTU_EXCHANGED      = const(21)
 _IRQ_CONNECTION_UPDATE  = const(27)
+_IRQ_GET_SECRET         = const(29)
+_IRQ_SET_SECRET         = const(30)
 _IRQ_PASSKEY_ACTION     = const(31)
 _PASSKEY_ACTION_INPUT   = const(2)
 _PASSKEY_ACTION_DISP    = const(3)
@@ -60,6 +62,11 @@ class Mouse:
         self.conn_handle = None
         self.passkey = passkey
         self.battery_level = battery_level
+        try:
+            import ble_hid_key
+            self.keys = ble_hid_key.keys
+        except:
+            self.keys = {} 
 
         handles = self._ble.gatts_register_services((_DIS, _BAS, _HIDS))
         self._service_characteristics(handles)
@@ -98,9 +105,43 @@ class Mouse:
                 self._ble.gap_passkey(conn_handle, action, None)
             else:
                 print("unknown action")
+        elif event == _IRQ_SET_SECRET:
+            sec_type, key, value = data
+            key = sec_type, bytes(key)
+            value = bytes(value) if value else None
+            #print("Set secret: ", key, value)
+            if value is None:
+                if key in self.keys:
+                    del self.keys[key]
+                    self.key_secrets(self.keys)
+                    return True
+                else:
+                    return False
+            else:
+                self.keys[key] = value
+                self.key_secrets(self.keys)
+            return True
+        elif event == _IRQ_GET_SECRET:
+            sec_type, index, key = data
+            #print("Get secret: ", sec_type, index, bytes(key) if key else None)
+            if key is None:
+                i = 0
+                for (t, _key), value in self.keys.items():
+                    if t == sec_type:
+                        if i == index:
+                            return value
+                        i += 1
+                return None
+            else:
+                key = sec_type, bytes(key)
+                return self.keys.get(key, None)
         #else:
             #print("Unhandled IRQ event: ", event, data)
 
+    def key_secrets(self, keys={}):
+        with open("ble_hid_key.py", "w+") as s_f:
+            s_f.write("keys=" + str(keys) + "\n")
+
     def _service_characteristics(self, handles):
         (h_mod, h_ser, h_fwr, h_hwr, h_swr, h_man, h_pnp) = handles[0]
         (self.h_bat, h_ccc, h_bfmt,) = handles[1] 

boards/default_src/micropython/origin/build/lib/ltr381rgb.py

@@ -69,10 +69,10 @@ class LTR_381RGB:
 		return round(self._als, 2), self._ir, self._color 
 
 	def color(self):	
-		return self.getdata[2]
+		return self.getdata()[2]
 
 	def ir(self):	
-		return self.getdata[1]
+		return self.getdata()[1]
 
 	def als(self):	
-		return self.getdata[0]
+		return self.getdata()[0]

boards/default_src/micropython/origin/build/lib/ucs12071.py

@@ -0,0 +1,78 @@
+"""
+UCS12071
+
+MicroPython library for the UCS12071 (Color sensor)
+=======================================================
+@dahanzimin From the Mixly Team
+"""
+import time
+from micropython import const
+
+UCS_SYSM_CTRL			= const(0x00)
+UCS_INT_FLAG			= const(0x02)
+UCS_WAIT_TIME			= const(0x03)
+UCS_CLS_GAIN			= const(0x04)
+UCS_CLS_TIME			= const(0x05)
+UCS_CLS_DATA			= const(0x1C)
+
+_GAINS_X = (1, 4, 8, 32, 96, 192)
+
+class UCS1207:
+	def __init__(self, i2c_bus, addr=0x38, gain=2):
+		self._device  =  i2c_bus
+		self._address = addr
+		self._gain = gain
+		self._color = [0, 0, 0]
+		self._ir = 0
+		self._als = 0
+		self._configure()
+
+	def _wreg(self, reg, val):
+		'''Write memory address'''
+		self._device.writeto_mem(self._address,reg,val.to_bytes(1, 'little'))
+
+	def _rreg(self, reg, nbytes=1):
+		'''Read memory address'''
+		return  self._device.readfrom_mem(self._address, reg, nbytes)[0] if nbytes<=1 else self._device.readfrom_mem(self._address, reg, nbytes)[0:nbytes]
+
+	def _configure(self):
+		'''Configuration Register'''
+		#self._wreg(UCS_SYSM_CTRL, 0x80)					#Software reset
+		self._wreg(UCS_SYSM_CTRL, 0x03)						#CLS & IR Enable
+		self._wreg(UCS_CLS_GAIN, 1 << self._gain | 0x80)	#CLS sensing gain
+		self._wreg(UCS_CLS_TIME, 0x03)						#CLSCONV INT_TIME
+		self._wreg(UCS_WAIT_TIME, 0x00)						#10ms per time unit
+	
+	def status(self):
+		'''Data conversion status'''
+		return self._rreg(UCS_INT_FLAG) & 0x40
+
+	def getdata(self):
+		'''Processing data acquisition'''
+		if not self.status():
+			_buf = self._rreg(UCS_CLS_DATA, 10)
+			self._color[0] = _buf[0] | _buf[1] << 8
+			self._color[1] = _buf[2] | _buf[3] << 8
+			self._color[2] = _buf[4] | _buf[5] << 8
+			self._als = _buf[6] | _buf[7] << 8
+			self._ir = _buf[8] | _buf[9] << 8
+		return self._als, self._ir, self._color
+
+	def color(self):
+		w, _, (r, g, b) = self.getdata()
+		if w == 0:
+			return (0, 0, 0)
+		else:
+			red = int(pow((int((r / w) * 256) / 255), 2.5) * 255)
+			green = int(pow((int((g / w) * 256) / 255), 2.5) * 255)
+			blue = int(pow((int((b / w) * 256) / 255), 2.5) * 255)
+			return (min(red, 255), min(green, 255), min(blue, 255))
+
+	def color_raw(self):
+		return self.getdata()[2]
+
+	def ir(self):
+		return round(self.getdata()[1] / _GAINS_X[self._gain])
+
+	def als(self):
+		return round(self.getdata()[0] / _GAINS_X[self._gain])

boards/default_src/micropython_esp32/origin/config.json

@@ -10,16 +10,16 @@
         "type": "command",
         "portSelect": "all",
         "micropython:esp32:mixgo": {
-            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/MixGo-0x1000-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/Mixgo-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32:mixgo_pe": {
-            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/MixGo_PE-0x1000-V1.19.1.bin\" 0x700000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/Mixgo_PE-v1.23.0.bin\" 0x700000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32:generic": {
-            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/Generic_ESP32-0x1000-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/Generic_ESP32-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32:mpython": {
-            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/mPython-0x1000-V1.19.1.bin\" 0x700000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/mPython-v1.23.0.bin\" 0x700000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "reset": [
             {
@@ -88,7 +88,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/MixGo-0x1000-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_lib-v1.23.0.bin"
                     },
                     {
                         "offset": "0X3A0000",
@@ -100,7 +100,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/MixGo_PE-0x1000-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_PE_lib-v1.23.0.bin"
                     },
                     {
                         "offset": "0x700000",
@@ -112,7 +112,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/Generic_ESP32-0x1000-V1.19.1-lib.bin"
+                        "path": "./build/Generic_ESP32_lib-v1.23.0.bin"
                     },
                     {
                         "offset": "0X3A0000",
@@ -124,7 +124,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/mPython-0x1000-V1.19.1-lib.bin"
+                        "path": "./build/mPython_lib-v1.23.0.bin"
                     },
                     {
                         "offset": "0x700000",

boards/default_src/micropython_esp32c3/origin/config.json

@@ -10,16 +10,16 @@
         "type": "command",
         "portSelect": "all",
         "micropython:esp32c3:mixgo_cc": {
-            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/MixGo_CC-0x0-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Mixgo_CC-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32c3:mixgo_me": {
-            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/MixGo_ME-0x0-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Mixgo_ME-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32c3:mixgocar_c3": {
-            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/MixGo_Car-0x0-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Mixgo_Car-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32c3:generic": {
-            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Generic_C3_UART-0x0-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Generic_C3_UART-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         }
     },
     "upload": {
@@ -70,7 +70,7 @@
                 "binFile": [
                     {
                         "offset": "0x0000",
-                        "path": "./build/MixGo_CC-0x0-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_CC_lib-v1.23.0.bin"
                     }, {
                         "offset": "0x3A0000",
                         "path": "../micropython/build/HZK12.bin"
@@ -81,7 +81,7 @@
                 "binFile": [
                     {
                         "offset": "0x0000",
-                        "path": "./build/MixGo_ME-0x0-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_ME_lib-v1.23.0.bin"
                     }, {
                         "offset": "0x3A0000",
                         "path": "../micropython/build/HZK12.bin"
@@ -92,7 +92,7 @@
                 "binFile": [
                     {
                         "offset": "0x0000",
-                        "path": "./build/MixGo_Car-0x0-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_Car_lib-v1.23.0.bin"
                     }, {
                         "offset": "0x3A0000",
                         "path": "../micropython/build/HZK12.bin"
@@ -103,7 +103,7 @@
                 "binFile": [
                     {
                         "offset": "0x0000",
-                        "path": "./build/Generic_C3_UART-0x0-V1.19.1-lib.bin"
+                        "path": "./build/Generic_C3_UART_lib-v1.23.0.bin"
                     }, {
                         "offset": "0x3A0000",
                         "path": "../micropython/build/HZK12.bin"

boards/default_src/micropython_esp32s2/origin/config.json

@@ -8,11 +8,11 @@
         "type": "command",
         "portSelect": "all",
         "micropython:esp32s2:mixgo_ce": {
-            "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/MixGo_CE-0x1000-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\"",
+            "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/Mixgo_CE-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\"",
             "special": [
                 {
                     "name": "Default",
-                    "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/MixGo_CE-0x1000-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+                    "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/Mixgo_CE-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
                 },
                 {
                     "name": "ESP-AT-mode",
@@ -21,11 +21,11 @@
             ]
         },
         "micropython:esp32s2:generic": {
-            "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/Generic_S2_0x1000-V1.19.1.bin\"",
+            "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/Generic_S2-v1.23.0.bin\"",
             "special": [
                 {
                     "name": "Default",
-                    "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/Generic_S2_0x1000-V1.19.1.bin\""
+                    "command": "\"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset_stub erase_flash && \"{esptool}\" --chip esp32s2 --port {com} --baud 460800 --after=no_reset write_flash 0x1000 \"{indexPath}/build/Generic_S2-v1.23.0.bin\""
                 },
                 {
                     "name": "ESP-AT-mode",
@@ -82,7 +82,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/MixGo_CE-0x1000-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_CE_lib-v1.23.0.bin"
                     }, {
                         "offset": "0x3A0000",
                         "path": "../micropython/build/HZK12.bin"
@@ -93,7 +93,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/Generic_S2_0x1000-V1.19.1-lib.bin"
+                        "path": "./build/Generic_S2_lib-v1.23.0.bin"
                     }
                 ]
             }

boards/default_src/micropython_robot/origin/build/lib/mixbot.py

@@ -1,354 +1,354 @@
-"""
+"""
-Mixbot-Onboard resources
+Mixbot-Onboard resources
-
+
-Micropython library for the Mixbot-Onboard resources
+Micropython library for the Mixbot-Onboard resources
-=======================================================
+=======================================================
-
+
-@dahanzimin From the Mixly Team
+@dahanzimin From the Mixly Team
-"""
+"""
-
+
-import time, gc, random, uframebuf
+import time, gc, random, uframebuf
-from micropython import const
+from micropython import const
-from machine import Pin, SoftI2C, ADC, PWM, RTC
+from machine import Pin, SoftI2C, ADC, PWM, RTC
-
+
-'''RTC'''
+'''RTC'''
-rtc_clock=RTC()
+rtc_clock=RTC()
-
+
-'''2RGB_WS2812'''
+'''2RGB_WS2812'''
-from ws2812 import NeoPixel
+from ws2812 import NeoPixel
-onboard_rgb = NeoPixel(Pin(12), 2, default=1)
+onboard_rgb = NeoPixel(Pin(12), 2, default=1, timing=(450, 900, 850, 500))
-
+
-'''1Buzzer-Music'''
+'''1Buzzer-Music'''
-from music import MIDI
+from music import MIDI
-onboard_music =MIDI(25)
+onboard_music =MIDI(25)
-
+
-spk_en = Pin(27, Pin.OUT)
+spk_en = Pin(27, Pin.OUT)
-spk_en.value(0)
+spk_en.value(0)
-
+
-'''i2c-onboard & ext'''
+'''i2c-onboard & ext'''
-class I2C_device(SoftI2C):
+class I2C_device(SoftI2C):
-
+
-	CRC8_Table =b'\x00^\xbc\xe2a?\xdd\x83\xc2\x9c~ \xa3\xfd\x1fA\x9d\xc3!\x7f\xfc\xa2@\x1e_\x01\xe3\xbd>`\x82\xdc#}\x9f\xc1B\x1c\xfe\xa0\xe1\xbf]\x03\x80\xde<b\xbe\xe0\x02\\\xdf\x81c=|"\xc0\x9e\x1dC\xa1\xffF\x18\xfa\xa4\'y\x9b\xc5\x84\xda8f\xe5\xbbY\x07\xdb\x85g9\xba\xe4\x06X\x19G\xa5\xfbx&\xc4\x9ae;\xd9\x87\x04Z\xb8\xe6\xa7\xf9\x1bE\xc6\x98z$\xf8\xa6D\x1a\x99\xc7%{:d\x86\xd8[\x05\xe7\xb9\x8c\xd20n\xed\xb3Q\x0fN\x10\xf2\xac/q\x93\xcd\x11O\xad\xf3p.\xcc\x92\xd3\x8do1\xb2\xec\x0eP\xaf\xf1\x13M\xce\x90r,m3\xd1\x8f\x0cR\xb0\xee2l\x8e\xd0S\r\xef\xb1\xf0\xaeL\x12\x91\xcf-s\xca\x94v(\xab\xf5\x17I\x08V\xb4\xeai7\xd5\x8bW\t\xeb\xb56h\x8a\xd4\x95\xcb)w\xf4\xaaH\x16\xe9\xb7U\x0b\x88\xd64j+u\x97\xc9J\x14\xf6\xa8t*\xc8\x96\x15K\xa9\xf7\xb6\xe8\nT\xd7\x89k5'
+	CRC8_Table =b'\x00^\xbc\xe2a?\xdd\x83\xc2\x9c~ \xa3\xfd\x1fA\x9d\xc3!\x7f\xfc\xa2@\x1e_\x01\xe3\xbd>`\x82\xdc#}\x9f\xc1B\x1c\xfe\xa0\xe1\xbf]\x03\x80\xde<b\xbe\xe0\x02\\\xdf\x81c=|"\xc0\x9e\x1dC\xa1\xffF\x18\xfa\xa4\'y\x9b\xc5\x84\xda8f\xe5\xbbY\x07\xdb\x85g9\xba\xe4\x06X\x19G\xa5\xfbx&\xc4\x9ae;\xd9\x87\x04Z\xb8\xe6\xa7\xf9\x1bE\xc6\x98z$\xf8\xa6D\x1a\x99\xc7%{:d\x86\xd8[\x05\xe7\xb9\x8c\xd20n\xed\xb3Q\x0fN\x10\xf2\xac/q\x93\xcd\x11O\xad\xf3p.\xcc\x92\xd3\x8do1\xb2\xec\x0eP\xaf\xf1\x13M\xce\x90r,m3\xd1\x8f\x0cR\xb0\xee2l\x8e\xd0S\r\xef\xb1\xf0\xaeL\x12\x91\xcf-s\xca\x94v(\xab\xf5\x17I\x08V\xb4\xeai7\xd5\x8bW\t\xeb\xb56h\x8a\xd4\x95\xcb)w\xf4\xaaH\x16\xe9\xb7U\x0b\x88\xd64j+u\x97\xc9J\x14\xf6\xa8t*\xc8\x96\x15K\xa9\xf7\xb6\xe8\nT\xd7\x89k5'
-
+
-	def _crc8(self, buf):
+	def _crc8(self, buf):
-		_sum = 0
+		_sum = 0
-		for i in range(0, len(buf)):
+		for i in range(0, len(buf)):
-			_sum = self.CRC8_Table[_sum ^ buf[i]]
+			_sum = self.CRC8_Table[_sum ^ buf[i]]
-		return _sum
+		return _sum
-
+
-	def read_device(self, addr, cmd, nbytes=1):
+	def read_device(self, addr, cmd, nbytes=1):
-		buf = self.readfrom_mem(addr, cmd, nbytes+2)
+		buf = self.readfrom_mem(addr, cmd, nbytes+2)
-		if self._crc8(buf[:-1]) == buf[-1]:
+		if self._crc8(buf[:-1]) == buf[-1]:
-			return buf[1] if nbytes<=1 else buf[1:-1]
+			return buf[1] if nbytes<=1 else buf[1:-1]
-
+
-	def write_device(self, addr, cmd, buf=0):
+	def write_device(self, addr, cmd, buf=0):
-		buf = buf.to_bytes(1, 'little') if type(buf) is int else buf
+		buf = buf.to_bytes(1, 'little') if type(buf) is int else buf
-		buf = bytearray([cmd, random.randint(0, 255)]) + buf
+		buf = bytearray([cmd, random.randint(0, 255)]) + buf
-		crc8 = self._crc8(buf).to_bytes(1, 'little')
+		crc8 = self._crc8(buf).to_bytes(1, 'little')
-		self.writeto(addr, buf + crc8)
+		self.writeto(addr, buf + crc8)
-		if crc8 == self.readfrom(addr, 1):
+		if crc8 == self.readfrom(addr, 1):
-			return True
+			return True
-
+
-onboard_i2c = I2C_device(scl=Pin(18), sda=Pin(23) , freq=400000)
+onboard_i2c = I2C_device(scl=Pin(18), sda=Pin(23) , freq=400000)
-ext_i2c = I2C_device(scl=Pin(22), sda=Pin(21), freq=200000)
+ext_i2c = I2C_device(scl=Pin(22), sda=Pin(21), freq=200000)
-
+
-'''Version judgment'''
+'''Version judgment'''
-if 0x68 in onboard_i2c.scan():
+if 0x68 in onboard_i2c.scan():
-	version=1
+	version=1
-else:
+else:
-	version=0
+	version=0
-
+
-'''Accelerometer+Gyroscope'''
+'''Accelerometer+Gyroscope'''
-if version:
+if version:
-	import icm42670
+	import icm42670
-	acc_gyr = icm42670.ICM42670(onboard_i2c)
+	acc_gyr = icm42670.ICM42670(onboard_i2c)
-
+
-'''2-Button'''
+'''2-Button'''
-class Button:
+class Button:
-	def __init__(self, pin, level=True):
+	def __init__(self, pin, level=True):
-		self._pin = Pin(pin, Pin.IN)
+		self._pin = Pin(pin, Pin.IN)
-		self._flag = True
+		self._flag = True
-		self._level = level
+		self._level = level
-
+
-	def get_presses(self, delay = 1):
+	def get_presses(self, delay = 1):
-		last_time,presses = time.time(), 0
+		last_time,presses = time.time(), 0
-		while time.time() < last_time + delay:
+		while time.time() < last_time + delay:
-			time.sleep(0.05)
+			time.sleep(0.05)
-			if self.was_pressed():
+			if self.was_pressed():
-				presses += 1
+				presses += 1
-		return presses
+		return presses
-
+
-	def is_pressed(self):
+	def is_pressed(self):
-		return self._pin.value() == self._level
+		return self._pin.value() == self._level
-
+
-	def was_pressed(self):
+	def was_pressed(self):
-		if self._pin.value() != self._flag:
+		if self._pin.value() != self._flag:
-			time.sleep(0.01)
+			time.sleep(0.01)
-			self._flag = self._pin.value()
+			self._flag = self._pin.value()
-			return self._level if self._flag else not self._level
+			return self._level if self._flag else not self._level
-
+
-	def irq(self, handler, trigger):
+	def irq(self, handler, trigger):
-		self._pin.irq(handler = handler, trigger = trigger)
+		self._pin.irq(handler = handler, trigger = trigger)
-
+
-button_p = Button(34, True)
+button_p = Button(34, True)
-button_a = Button(35, False)
+button_a = Button(35, False)
-button_b = Button(39, False)
+button_b = Button(39, False)
-
+
-'''2-LED'''  
+'''2-LED'''  
-class LED:
+class LED:
-	def __init__(self, pin):
+	def __init__(self, pin):
-		self._pin =PWM(Pin(pin), freq=5000, duty_u16=65535)
+		self._pin =PWM(Pin(pin), freq=5000, duty_u16=65535)
-		self.setbrightness(0)
+		self.setbrightness(0)
-		
+		
-	def setbrightness(self,val):
+	def setbrightness(self,val):
-		if not 0 <= val <= 100:
+		if not 0 <= val <= 100:
-			raise ValueError("Brightness must be in the range: 0-100%")
+			raise ValueError("Brightness must be in the range: 0-100%")
-		self._brightness=val
+		self._brightness=val
-		self._pin.duty_u16(val * 65535 // 100)
+		self._pin.duty_u16(val * 65535 // 100)
-
+
-	def getbrightness(self):
+	def getbrightness(self):
-		return self._brightness
+		return self._brightness
-
+
-	def setonoff(self,val):
+	def setonoff(self,val):
-		if(val == -1):
+		if(val == -1):
-			self.setbrightness(100)  if self._brightness < 50 else self.setbrightness(0) 
+			self.setbrightness(100)  if self._brightness < 50 else self.setbrightness(0) 
-		elif(val == 1):
+		elif(val == 1):
-			self.setbrightness(100) 
+			self.setbrightness(100) 
-		elif(val == 0):
+		elif(val == 0):
-			self.setbrightness(0) 
+			self.setbrightness(0) 
-			
+			
-	def getonoff(self):
+	def getonoff(self):
-		return True if self._brightness > 0 else False
+		return True if self._brightness > 0 else False
-
+
-	def value(self,val=None):
+	def value(self,val=None):
-		if val is None:
+		if val is None:
-			return self.getonoff()
+			return self.getonoff()
-		else:
+		else:
-			self.setbrightness(100)  if val else self.setbrightness(0)
+			self.setbrightness(100)  if val else self.setbrightness(0)
-
+
-rled = LED(2)
+rled = LED(2)
-gled = LED(4)
+gled = LED(4)
-
+
-'''3-ADCSensor'''
+'''3-ADCSensor'''
-class ADCSensor:
+class ADCSensor:
-	def __init__(self, pin):
+	def __init__(self, pin):
-		self.adc=ADC(Pin(pin))
+		self.adc=ADC(Pin(pin))
-		self.adc.atten(ADC.ATTN_11DB) 
+		self.adc.atten(ADC.ATTN_11DB) 
-
+
-	def read(self):
+	def read(self):
-		return self.adc.read_u16()
+		return self.adc.read_u16()
-	
+	
-	def voltage(self, scale=4.6):
+	def voltage(self, scale=4.6):
-		return round(self.adc.read_uv() * scale / 1000000, 2) 
+		return round(self.adc.read_uv() * scale / 1000000, 2) 
-
+
-	def loudness(self):
+	def loudness(self):
-		values = []
+		values = []
-		for i in range(200):
+		for i in range(200):
-			val = self.adc.read_u16()
+			val = self.adc.read_u16()
-			values.append(val)
+			values.append(val)
-		return max(values) - min(values)
+		return max(values) - min(values)
-
+
-adc1 = ADCSensor(33)
+adc1 = ADCSensor(33)
-adc2 = ADCSensor(32)
+adc2 = ADCSensor(32)
-battery = ADCSensor(36)
+battery = ADCSensor(36)
-sound = ADCSensor(38)
+sound = ADCSensor(38)
-
+
-'''4-FindLine /i2c'''
+'''4-FindLine /i2c'''
-class FindLine(object):
+class FindLine(object):
-
+
-	CORRECTING_WHITE        = const(0x01)
+	CORRECTING_WHITE        = const(0x01)
-	CORRECTING_BLACK        = const(0x02)
+	CORRECTING_BLACK        = const(0x02)
-	CORRECTING_RESET_TO_FAB = const(0x04)
+	CORRECTING_RESET_TO_FAB = const(0x04)
-
+
-	def __init__(self, i2c_bus, addr=0x01):
+	def __init__(self, i2c_bus, addr=0x01):
-		self._i2c = i2c_bus
+		self._i2c = i2c_bus
-		self._addr = addr
+		self._addr = addr
-		self._data = (0,0,0,0)
+		self._data = (0,0,0,0)
-	
+	
-	def getdata(self):
+	def getdata(self):
-		_buf = self._i2c.read_device(self._addr, 0x10, 4)
+		_buf = self._i2c.read_device(self._addr, 0x10, 4)
-		if _buf:
+		if _buf:
-			self._data = tuple(_buf)
+			self._data = tuple(_buf)
-		return self._data
+		return self._data
-	
+	
-	def correct(self,type):
+	def correct(self,type):
-		'''type 0x01 校正白色 0x02 校正黑色 0x04 恢复出厂 '''
+		'''type 0x01 校正白色 0x02 校正黑色 0x04 恢复出厂 '''
-		if type not in [CORRECTING_WHITE, CORRECTING_BLACK, CORRECTING_RESET_TO_FAB]:
+		if type not in [CORRECTING_WHITE, CORRECTING_BLACK, CORRECTING_RESET_TO_FAB]:
-			raise ValueError('Invalid parameter')
+			raise ValueError('Invalid parameter')
-		self._i2c.write_device(self._addr, 0xA0, type)
+		self._i2c.write_device(self._addr, 0xA0, type)
-
+
-patrol = FindLine(onboard_i2c)
+patrol = FindLine(onboard_i2c)
-
+
-'''4-LEDmatrix /i2c'''
+'''4-LEDmatrix /i2c'''
-class Matrix5x5(uframebuf.FrameBuffer_Ascall):
+class Matrix5x5(uframebuf.FrameBuffer_Ascall):
-
+
-	"""Graph module 5x5"""
+	"""Graph module 5x5"""
-	HEART = b'\n\x1f\x1f\x0e\x04'
+	HEART = b'\n\x1f\x1f\x0e\x04'
-	HEART_SMALL = b'\x00\n\x0e\x04\x00'
+	HEART_SMALL = b'\x00\n\x0e\x04\x00'
-	HAPPY = b'\x00\n\x00\x11\x0e'
+	HAPPY = b'\x00\n\x00\x11\x0e'
-	SAD = b'\x00\n\x00\x0e\x11'
+	SAD = b'\x00\n\x00\x0e\x11'
-	SMILE =  b'\x00\x00\x00\x11\x0e'
+	SMILE =  b'\x00\x00\x00\x11\x0e'
-	SILLY = b'\x11\x00\x1f\x14\x1c'
+	SILLY = b'\x11\x00\x1f\x14\x1c'
-	FABULOUS = b'\x1f\x1b\x00\n\x0e'
+	FABULOUS = b'\x1f\x1b\x00\n\x0e'
-	SURPRISED = b'\n\x00\x04\n\x04'
+	SURPRISED = b'\n\x00\x04\n\x04'
-	ASLEEP = b'\x00\x1b\x00\x0e\x00'
+	ASLEEP = b'\x00\x1b\x00\x0e\x00'
-	ANGRY = b'\x11\n\x00\x1f\x15'		
+	ANGRY = b'\x11\n\x00\x1f\x15'		
-	CONFUSED = b'\x00\n\x00\n\x15'
+	CONFUSED = b'\x00\n\x00\n\x15'
-	NO = b'\x11\n\x04\n\x11'
+	NO = b'\x11\n\x04\n\x11'
-	YES = b'\x00\x10\x08\x05\x02'
+	YES = b'\x00\x10\x08\x05\x02'
-	LEFT_ARROW = b'\x04\x02\x1f\x02\x04'
+	LEFT_ARROW = b'\x04\x02\x1f\x02\x04'
-	RIGHT_ARROW = b'\x04\x08\x1f\x08\x04'
+	RIGHT_ARROW = b'\x04\x08\x1f\x08\x04'
-	DRESS = b'\n\x1b\x0e\x0e\x1f'
+	DRESS = b'\n\x1b\x0e\x0e\x1f'
-	TRANSFORMERS = b'\x04\x0e\x15\n\x11'
+	TRANSFORMERS = b'\x04\x0e\x15\n\x11'
-	SCISSORS = b'\x13\x0b\x04\x0b\x13'
+	SCISSORS = b'\x13\x0b\x04\x0b\x13'
-	EXIT = b'\x04\x0e\x15\x0b\x10'
+	EXIT = b'\x04\x0e\x15\x0b\x10'
-	TREE = b'\x04\x0e\x1f\x04\x04'
+	TREE = b'\x04\x0e\x1f\x04\x04'
-	PACMAN = b'\x1e\x0b\x07\x0f\x1e'
+	PACMAN = b'\x1e\x0b\x07\x0f\x1e'
-	TARGET = b'\x04\x0e\x1b\x0e\x04'
+	TARGET = b'\x04\x0e\x1b\x0e\x04'
-	TSHIRT = b'\x1b\x1f\x0e\x0e\x0e'
+	TSHIRT = b'\x1b\x1f\x0e\x0e\x0e'
-	ROLLERSKATE = b'\x18\x18\x1f\x1f\n'
+	ROLLERSKATE = b'\x18\x18\x1f\x1f\n'
-	DUCK = b'\x06\x07\x1e\x0e\x00'
+	DUCK = b'\x06\x07\x1e\x0e\x00'
-	HOUSE = b'\x04\x0e\x1f\x0e\n'
+	HOUSE = b'\x04\x0e\x1f\x0e\n'
-	TORTOISE = b'\x00\x0e\x1f\n\x00'
+	TORTOISE = b'\x00\x0e\x1f\n\x00'
-	BUTTERFLY = b'\x1b\x1f\x04\x1f\x1b'
+	BUTTERFLY = b'\x1b\x1f\x04\x1f\x1b'
-	STICKFIGURE = b'\x04\x1f\x04\n\x11'
+	STICKFIGURE = b'\x04\x1f\x04\n\x11'
-	GHOST = b'\x1f\x15\x1f\x1f\x15'
+	GHOST = b'\x1f\x15\x1f\x1f\x15'
-	PITCHFORK = b'\x15\x15\x1f\x04\x04'
+	PITCHFORK = b'\x15\x15\x1f\x04\x04'
-	MUSIC_QUAVERS = b'\x1e\x12\x12\x1b\x1b'	
+	MUSIC_QUAVERS = b'\x1e\x12\x12\x1b\x1b'	
-	MUSIC_QUAVER = b'\x04\x0c\x14\x07\x07'
+	MUSIC_QUAVER = b'\x04\x0c\x14\x07\x07'
-	MUSIC_CROTCHET = b'\x04\x04\x04\x07\x07'
+	MUSIC_CROTCHET = b'\x04\x04\x04\x07\x07'
-	COW = b'\x11\x11\x1f\x0e\x04'
+	COW = b'\x11\x11\x1f\x0e\x04'
-	RABBIT = b'\x05\x05\x0f\x0b\x0f'
+	RABBIT = b'\x05\x05\x0f\x0b\x0f'
-	SQUARE_SMALL = b'\x00\x0e\n\x0e\x00'
+	SQUARE_SMALL = b'\x00\x0e\n\x0e\x00'
-	SQUARE = b'\x1f\x11\x11\x11\x1f'
+	SQUARE = b'\x1f\x11\x11\x11\x1f'
-	DIAMOND_SMALL = b'\x00\x04\n\x04\x00'
+	DIAMOND_SMALL = b'\x00\x04\n\x04\x00'
-	DIAMOND = b'\x04\n\x11\n\x04' 
+	DIAMOND = b'\x04\n\x11\n\x04' 
-	CHESSBOARD = b'\n\x15\n\x15\n'
+	CHESSBOARD = b'\n\x15\n\x15\n'
-	TRIANGLE_LEFT = b'\x01\x03\x05\t\x1f'				
+	TRIANGLE_LEFT = b'\x01\x03\x05\t\x1f'				
-	TRIANGLE = b'\x00\x04\n\x1f\x00'
+	TRIANGLE = b'\x00\x04\n\x1f\x00'
-	SNAKE = b'\x03\x1b\n\x0e\x00'
+	SNAKE = b'\x03\x1b\n\x0e\x00'
-	UMBRELLA = b'\x0e\x1f\x04\x05\x06'
+	UMBRELLA = b'\x0e\x1f\x04\x05\x06'
-	SKULL = b'\x0e\x15\x1f\x0e\x0e'	
+	SKULL = b'\x0e\x15\x1f\x0e\x0e'	
-	GIRAFFE = b'\x03\x02\x02\x0e\n'
+	GIRAFFE = b'\x03\x02\x02\x0e\n'
-	SWORD = b'\x04\x04\x04\x0e\x04' 
+	SWORD = b'\x04\x04\x04\x0e\x04' 
-
+
-
+
-	def __init__(self, i2c_bus, addr=0x03, brightness=0.5):
+	def __init__(self, i2c_bus, addr=0x03, brightness=0.5):
-		self._i2c = i2c_bus
+		self._i2c = i2c_bus
-		self._addr = addr
+		self._addr = addr
-		self._brightness= brightness
+		self._brightness= brightness
-		self._buffer = bytearray(5)
+		self._buffer = bytearray(5)
-		super().__init__(self._buffer, 5, 5, uframebuf.MONO_HMSB) 
+		super().__init__(self._buffer, 5, 5, uframebuf.MONO_HMSB) 
-		self.font("5x5")
+		self.font("5x5")
-		self.screenbright(self._brightness)
+		self.screenbright(self._brightness)
-		self.clear()   
+		self.clear()   
-
+
-	def screenbright(self, brightness=None, background=0):
+	def screenbright(self, brightness=None, background=0):
-		if brightness is None :
+		if brightness is None :
-			return self._brightness
+			return self._brightness
-		else:
+		else:
-			if not 0.0 <= brightness <= 1.0:
+			if not 0.0 <= brightness <= 1.0:
-				raise ValueError("Brightness must be a decimal number in the range: 0.0-1.0")
+				raise ValueError("Brightness must be a decimal number in the range: 0.0-1.0")
-			self._brightness = brightness
+			self._brightness = brightness
-			self._i2c.write_device(self._addr, 0xA5, bytes([round(255 * brightness), round(255 * background)])) 
+			self._i2c.write_device(self._addr, 0xA5, bytes([round(255 * brightness), round(255 * background)])) 
-
+
-	def ambientbright(self):
+	def ambientbright(self):
-		bright = self._i2c.read_device(self._addr, 0x10)
+		bright = self._i2c.read_device(self._addr, 0x10)
-		if bright:
+		if bright:
-			return bright
+			return bright
-
+
-	def direction(self,mode = 0):
+	def direction(self,mode = 0):
-		'''set display direction '''
+		'''set display direction '''
-		self._i2c.write_device(self._addr, 0xA7, mode)
+		self._i2c.write_device(self._addr, 0xA7, mode)
-
+
-	def show(self):
+	def show(self):
-		'''Refresh the display and show the changes'''
+		'''Refresh the display and show the changes'''
-		buf = bytearray(4)
+		buf = bytearray(4)
-		buf[0] = (self._buffer[4] & 0xF0) >> 4
+		buf[0] = (self._buffer[4] & 0xF0) >> 4
-		buf[1] = (self._buffer[3] & 0x1E) >> 1 | (self._buffer[4] & 0x0F) << 4
+		buf[1] = (self._buffer[3] & 0x1E) >> 1 | (self._buffer[4] & 0x0F) << 4
-		buf[2] = (self._buffer[1] & 0x18) >> 3 | (self._buffer[2] & 0x1F) << 2 | (self._buffer[3] & 0x01) << 7
+		buf[2] = (self._buffer[1] & 0x18) >> 3 | (self._buffer[2] & 0x1F) << 2 | (self._buffer[3] & 0x01) << 7
-		buf[3] = (self._buffer[0] & 0x1F) | (self._buffer[1] & 0x07) << 5 
+		buf[3] = (self._buffer[0] & 0x1F) | (self._buffer[1] & 0x07) << 5 
-		self._i2c.write_device(self._addr, 0xA1, buf)
+		self._i2c.write_device(self._addr, 0xA1, buf)
-
+
-	def clear(self):
+	def clear(self):
-		''' clear display'''
+		''' clear display'''
-		self._i2c.write_device(self._addr, 0xA6)
+		self._i2c.write_device(self._addr, 0xA6)
-	
+	
-onboard_matrix = Matrix5x5(onboard_i2c)
+onboard_matrix = Matrix5x5(onboard_i2c)
-
+
-'''2 Motor /i2c'''
+'''2 Motor /i2c'''
-class Motor(object):
+class Motor(object):
-	
+	
-	STOP_MODE	= const(0x00)
+	STOP_MODE	= const(0x00)
-	BRAKE_MODE	= const(0x01)
+	BRAKE_MODE	= const(0x01)
-	PWR_MODE	= const(0x02)
+	PWR_MODE	= const(0x02)
-	SPEED_MODE	= const(0x03)
+	SPEED_MODE	= const(0x03)
-	TURNS_MODE	= const(0x04)
+	TURNS_MODE	= const(0x04)
-	
+	
-	def __init__(self, i2c_bus, addr=0x02, scale=90 * 4):
+	def __init__(self, i2c_bus, addr=0x02, scale=90 * 4):
-		self._i2c = i2c_bus
+		self._i2c = i2c_bus
-		self._addr = addr
+		self._addr = addr
-		self._scale = scale
+		self._scale = scale
-		self._signala = PWM(Pin(13), freq=500, duty_u16=49150)
+		self._signala = PWM(Pin(13), freq=500, duty_u16=49150)
-		self._signalb = PWM(Pin(14), freq=500, duty_u16=49150)
+		self._signalb = PWM(Pin(14), freq=500, duty_u16=49150)
-		self._status = ((0,0,0,0), (0,0,0,0))
+		self._status = ((0,0,0,0), (0,0,0,0))
-		self._motor = ([0,0], [0,0])
+		self._motor = ([0,0], [0,0])
-	
+	
-	def _u2s(self, value, n=8):
+	def _u2s(self, value, n=8):
-		return value if value < (1 << (n-1)) else value - (1 << n)	
+		return value if value < (1 << (n-1)) else value - (1 << n)	
-	
+	
-	def status(self):
+	def status(self):
-		_buf = self._i2c.read_device(self._addr, 0x10, 9)
+		_buf = self._i2c.read_device(self._addr, 0x10, 9)
-		if _buf:
+		if _buf:
-			self._status = ((_buf[0] >> 4, -self._u2s(_buf[1]), -self._u2s(_buf[3]), abs(self._u2s(_buf[6] << 8 | _buf[5], 16))),
+			self._status = ((_buf[0] >> 4, -self._u2s(_buf[1]), -self._u2s(_buf[3]), abs(self._u2s(_buf[6] << 8 | _buf[5], 16))),
-							(_buf[0] & 0x0F, self._u2s(_buf[2]), self._u2s(_buf[4]), abs(self._u2s(_buf[8] << 8 | _buf[7], 16))))   
+							(_buf[0] & 0x0F, self._u2s(_buf[2]), self._u2s(_buf[4]), abs(self._u2s(_buf[8] << 8 | _buf[7], 16))))   
-		return self._status
+		return self._status
-		
+		
-	def run(self, idx, mode, value):
+	def run(self, idx, mode, value):
-		if idx == 1 or idx == 2:
+		if idx == 1 or idx == 2:
-			self._motor[idx-1][0], self._motor[idx-1][1] = mode, value
+			self._motor[idx-1][0], self._motor[idx-1][1] = mode, value
-		else:
+		else:
-			self._motor = ([mode, value], [mode, value])
+			self._motor = ([mode, value], [mode, value])
-
+
-		buf =  bytearray(5)
+		buf =  bytearray(5)
-		m1_pwr_speed, m2_pwr_speed = 0, 0
+		m1_pwr_speed, m2_pwr_speed = 0, 0
-		buf[0] = (self._motor[0][0] << 4) | self._motor[1][0] 
+		buf[0] = (self._motor[0][0] << 4) | self._motor[1][0] 
-		if self._motor[0][0] == self.TURNS_MODE:
+		if self._motor[0][0] == self.TURNS_MODE:
-			_turns = round(self._motor[0][1] * self._scale)
+			_turns = round(self._motor[0][1] * self._scale)
-			buf[1] = (- _turns) & 0xFF
+			buf[1] = (- _turns) & 0xFF
-			buf[2] = ((- _turns) >> 8) & 0xFF
+			buf[2] = ((- _turns) >> 8) & 0xFF
-		else:
+		else:
-			m1_pwr_speed = - max(min(self._motor[0][1], 100), -100)
+			m1_pwr_speed = - max(min(self._motor[0][1], 100), -100)
-		if self._motor[1][0] == self.TURNS_MODE:
+		if self._motor[1][0] == self.TURNS_MODE:
-			_turns = round(self._motor[1][1] * self._scale)
+			_turns = round(self._motor[1][1] * self._scale)
-			buf[3] = _turns & 0xFF
+			buf[3] = _turns & 0xFF
-			buf[4] = (_turns >> 8) & 0xFF
+			buf[4] = (_turns >> 8) & 0xFF
-		else:
+		else:
-			m2_pwr_speed = max(min(self._motor[1][1], 100), -100)
+			m2_pwr_speed = max(min(self._motor[1][1], 100), -100)
-		
+		
-		self._i2c.write_device(self._addr, 0xA0, buf)
+		self._i2c.write_device(self._addr, 0xA0, buf)
-		self._signala.duty_u16(33422 + 31457 * (m1_pwr_speed + 100) // 200)
+		self._signala.duty_u16(33422 + 31457 * (m1_pwr_speed + 100) // 200)
-		self._signalb.duty_u16(33422 + 31457 * (m2_pwr_speed + 100) // 200)
+		self._signalb.duty_u16(33422 + 31457 * (m2_pwr_speed + 100) // 200)
-
+
-	def move(self, action, mode, value=100):
+	def move(self, action, mode, value=100):
-		if action=="N":
+		if action=="N":
-			self.run(0, self.STOP_MODE, 0)
+			self.run(0, self.STOP_MODE, 0)
-		elif action=="P":
+		elif action=="P":
-			self.run(0, self.BRAKE_MODE, 0)
+			self.run(0, self.BRAKE_MODE, 0)
-		elif action=="F":
+		elif action=="F":
-			self.run(0, mode, value)
+			self.run(0, mode, value)
-		elif action=="B":
+		elif action=="B":
-			self.run(0, mode, -value)
+			self.run(0, mode, -value)
-		elif action=="L":
+		elif action=="L":
-			self.run(1, mode, -value)
+			self.run(1, mode, -value)
-			self.run(2, mode, value)
+			self.run(2, mode, value)
-		elif action=="R":
+		elif action=="R":
-			self.run(1, mode, value)
+			self.run(1, mode, value)
-			self.run(2, mode, -value)			
+			self.run(2, mode, -value)			
-		else:
+		else:
-			raise ValueError('Invalid input, valid are "N","P","F","B","L","R"') 
+			raise ValueError('Invalid input, valid are "N","P","F","B","L","R"') 
-
+
-motor = Motor(onboard_i2c)
+motor = Motor(onboard_i2c)
-
+
-'''Reclaim memory'''
+'''Reclaim memory'''
-gc.collect()
+gc.collect()

boards/default_src/micropython_robot/origin/build/lib/rm_e1.py

@@ -1,174 +1,174 @@
-"""
+"""
-RM E1 -Onboard resources
+RM E1 -Onboard resources
-
+
-MicroPython library for the RM E1 -Onboard resources
+MicroPython library for the RM E1 -Onboard resources
-=======================================================
+=======================================================
-
+
-#Preliminary composition       				20220703
+#Preliminary composition       				20220703
-
+
-dahanzimin From the Mixly Team
+dahanzimin From the Mixly Team
-"""
+"""
-
+
-import time,gc
+import time,gc
-#import ble_handle
+#import ble_handle
-from machine import Pin,SoftI2C,ADC,PWM,RTC
+from machine import Pin,SoftI2C,ADC,PWM,RTC
-
+
-'''Bluetooth-handle'''
+'''Bluetooth-handle'''
-#handle=ble_handle.Handle()
+#handle=ble_handle.Handle()
-
+
-'''i2c-onboard'''
+'''i2c-onboard'''
-onboard_i2c=SoftI2C(scl = Pin(22), sda = Pin(21), freq = 400000)
+onboard_i2c=SoftI2C(scl = Pin(22), sda = Pin(21), freq = 400000)
-
+
-'''RTC'''
+'''RTC'''
-rtc_clock=RTC()
+rtc_clock=RTC()
-
+
-'''ACC-Sensor'''
+'''ACC-Sensor'''
-class ACC:
+class ACC:
-	def __init__(self,i2c_bus):
+	def __init__(self,i2c_bus):
-		self._device = i2c_bus
+		self._device = i2c_bus
-		self._address = 0x09
+		self._address = 0x09
-	
+	
-	def _rreg(self,nbytes):
+	def _rreg(self,nbytes):
-		'''Read memory address'''
+		'''Read memory address'''
-		return  self._device.readfrom(self._address, nbytes)
+		return  self._device.readfrom(self._address, nbytes)
-	
+	
-	def acceleration(self): 
+	def acceleration(self): 
-		data_reg=self._rreg(3)
+		data_reg=self._rreg(3)
-		return data_reg[0],data_reg[1],data_reg[2]	#返回x y轴数值(0~180)及晃动值
+		return data_reg[0],data_reg[1],data_reg[2]	#返回x y轴数值(0~180)及晃动值
-
+
-try :
+try :
-	gyro=ACC(onboard_i2c)
+	gyro=ACC(onboard_i2c)
-except Exception as e:
+except Exception as e:
-	print("Warning: Failed to communicate with ACC or",e)
+	print("Warning: Failed to communicate with ACC or",e)
-
+
-'''2RGB_WS2812'''	#color_chase(),rainbow_cycle()方法移至类里
+'''2RGB_WS2812'''	#color_chase(),rainbow_cycle()方法移至类里
-from ws2812 import NeoPixel
+from ws2812 import NeoPixel
-onboard_rgb = NeoPixel(Pin(12), 2, default=1)
+onboard_rgb = NeoPixel(Pin(12), 2, default=1, timing=(450, 900, 850, 500))
-
+
-'''3-Button'''
+'''3-Button'''
-class Button:
+class Button:
-	def __init__(self, pin):
+	def __init__(self, pin):
-		self._pin = Pin(pin, Pin.IN)
+		self._pin = Pin(pin, Pin.IN)
-		self._flag = True
+		self._flag = True
-
+
-	def get_presses(self, delay = 1):
+	def get_presses(self, delay = 1):
-		last_time,presses = time.time(), 0
+		last_time,presses = time.time(), 0
-		while time.time() < last_time + delay:
+		while time.time() < last_time + delay:
-			time.sleep(0.05)
+			time.sleep(0.05)
-			if self.was_pressed():
+			if self.was_pressed():
-				presses += 1
+				presses += 1
-		return presses
+		return presses
-
+
-	def is_pressed(self):
+	def is_pressed(self):
-		return self._pin.value() == False
+		return self._pin.value() == False
-
+
-	def was_pressed(self):
+	def was_pressed(self):
-		if self._pin.value() != self._flag:
+		if self._pin.value() != self._flag:
-			time.sleep(0.01)
+			time.sleep(0.01)
-			self._flag = self._pin.value()
+			self._flag = self._pin.value()
-			if self._flag:
+			if self._flag:
-				return False
+				return False
-			else:
+			else:
-				return True
+				return True
-
+
-	def irq(self, handler, trigger):
+	def irq(self, handler, trigger):
-		self._pin.irq(handler = handler, trigger = trigger)
+		self._pin.irq(handler = handler, trigger = trigger)
-
+
-button_p   = Button(35)
+button_p   = Button(35)
-button_cw  = Button(39)
+button_cw  = Button(39)
-button_ccw = Button(36)
+button_ccw = Button(36)
-
+
-'''3-ADCSensor'''
+'''3-ADCSensor'''
-class ADCSensor:
+class ADCSensor:
-	def __init__(self, pin):
+	def __init__(self, pin):
-		self._adc=ADC(Pin(pin))
+		self._adc=ADC(Pin(pin))
-		self._adc.atten(ADC.ATTN_11DB) 
+		self._adc.atten(ADC.ATTN_11DB) 
-
+
-	def read(self):
+	def read(self):
-		return self._adc.read_u16()
+		return self._adc.read_u16()
-	
+	
-	def voltage(self):
+	def voltage(self):
-		return round(self._adc.read_uv()*4.6/1000000,2)	
+		return round(self._adc.read_uv()*4.6/1000000,2)	
-	
+	
-adc1=ADCSensor(32)
+adc1=ADCSensor(32)
-adc2=ADCSensor(33)
+adc2=ADCSensor(33)
-
+
-'''ADC conflicts with WiFi'''
+'''ADC conflicts with WiFi'''
-try:
+try:
-	battery=ADCSensor(26)
+	battery=ADCSensor(26)
-except:
+except:
-	class Clash:
+	class Clash:
-		def voltage(self):
+		def voltage(self):
-			print("Warning: battery power collection conflicts with WiFi")
+			print("Warning: battery power collection conflicts with WiFi")
-			return None
+			return None
-	battery=Clash()
+	battery=Clash()
-
+
-'''2-LED'''	 #Repair brightness adjustment range 0-100%	
+'''2-LED'''	 #Repair brightness adjustment range 0-100%	
-class LED:
+class LED:
-	def __init__(self, pin):
+	def __init__(self, pin):
-		self._pin =PWM(Pin(pin),freq=5000,duty_u16=0)
+		self._pin =PWM(Pin(pin),freq=5000,duty_u16=0)
-		self.setbrightness(0)
+		self.setbrightness(0)
-
+
-	def value(self, val):
+	def value(self, val):
-		self.setonoff(val)
+		self.setonoff(val)
-		
+		
-	def setbrightness(self,val):
+	def setbrightness(self,val):
-		if not 0 <= val <= 100:
+		if not 0 <= val <= 100:
-			raise ValueError("Brightness must be in the range: 0-100%")
+			raise ValueError("Brightness must be in the range: 0-100%")
-		self._brightness=val
+		self._brightness=val
-		self._pin.duty_u16(val*65535//100)
+		self._pin.duty_u16(val*65535//100)
-
+
-	def getbrightness(self):
+	def getbrightness(self):
-		return self._brightness
+		return self._brightness
-
+
-	def setonoff(self,val):
+	def setonoff(self,val):
-		if(val == -1):
+		if(val == -1):
-			self.setbrightness(100)  if self._brightness<50 else self.setbrightness(0) 
+			self.setbrightness(100)  if self._brightness<50 else self.setbrightness(0) 
-		elif(val == 1):
+		elif(val == 1):
-			self.setbrightness(100) 
+			self.setbrightness(100) 
-		elif(val == 0):
+		elif(val == 0):
-			self.setbrightness(0) 
+			self.setbrightness(0) 
-			
+			
-	def getonoff(self):
+	def getonoff(self):
-		return True if self._brightness>0 else False
+		return True if self._brightness>0 else False
-		
+		
-rled = LED(2)
+rled = LED(2)
-gled = LED(4)
+gled = LED(4)
-
+
-'''3-Motor'''
+'''3-Motor'''
-class Motor:
+class Motor:
-	def __init__(self, apin,bpin):
+	def __init__(self, apin,bpin):
-		self._apin =PWM(Pin(apin),freq=5000,duty_u16=65535)
+		self._apin =PWM(Pin(apin),freq=5000,duty_u16=65535)
-		self._bpin =PWM(Pin(bpin),freq=5000,duty_u16=65535)
+		self._bpin =PWM(Pin(bpin),freq=5000,duty_u16=65535)
-		self.motion("P")
+		self.motion("P")
-		
+		
-	def motion(self,action,speed=0):
+	def motion(self,action,speed=0):
-		if action=="N":
+		if action=="N":
-			self._apin.duty_u16(0)
+			self._apin.duty_u16(0)
-			self._bpin.duty_u16(0)
+			self._bpin.duty_u16(0)
-		elif action=="P":
+		elif action=="P":
-			self._apin.duty_u16(65535)
+			self._apin.duty_u16(65535)
-			self._bpin.duty_u16(65535)
+			self._bpin.duty_u16(65535)
-		elif action=="CW":
+		elif action=="CW":
-			if speed >=0:
+			if speed >=0:
-				self._apin.duty_u16(speed*65535//100)
+				self._apin.duty_u16(speed*65535//100)
-				self._bpin.duty_u16(0)
+				self._bpin.duty_u16(0)
-			else:
+			else:
-				self._apin.duty_u16(0)
+				self._apin.duty_u16(0)
-				self._bpin.duty_u16(-speed*65535//100)				
+				self._bpin.duty_u16(-speed*65535//100)				
-		elif action=="CCW":
+		elif action=="CCW":
-			if speed >=0:
+			if speed >=0:
-				self._apin.duty_u16(0)
+				self._apin.duty_u16(0)
-				self._bpin.duty_u16(speed*65535//100)
+				self._bpin.duty_u16(speed*65535//100)
-			else:
+			else:
-				self._apin.duty_u16(-speed*65535//100)
+				self._apin.duty_u16(-speed*65535//100)
-				self._bpin.duty_u16(0)			
+				self._bpin.duty_u16(0)			
-		else:
+		else:
-			raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
+			raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
-
+
-motor1=Motor(23,27)
+motor1=Motor(23,27)
-motor2=Motor(18,19)
+motor2=Motor(18,19)
-motor3=Motor(13,14)
+motor3=Motor(13,14)
-
+
-'''Reclaim memory'''
+'''Reclaim memory'''
-gc.collect()
+gc.collect()

boards/default_src/micropython_robot/origin/config.json

@@ -9,13 +9,13 @@
         "type": "command",
         "portSelect": "all",        
         "micropython:esp32c3:feiyi": {
-            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Feiyi-0x0-V1.19.1.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
+            "command": "\"{esptool}\" --chip esp32c3 --port {com} --baud 460800 erase_flash && \"{esptool}\" --chip esp32c3 --port {com} --baud 460800 write_flash 0x0 \"{indexPath}/build/Mixgo_FeiYi-v1.23.0.bin\" 0X3A0000 \"{indexPath}/../micropython/build/HZK12.bin\""
         },
         "micropython:esp32:rm_e1": {
-            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/RM_E1-0x1000-V1.19.1.bin\""
+            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/RM_E1-v1.23.0.bin\""
         },
         "micropython:esp32:mixbot": {
-            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/MixBot-0x1000-V1.19.1.bin\""
+            "command": "\"{esptool}\" --chip esp32 --port {com} --baud 460800 erase_flash && \"{esptool}\" --port {com} --baud 460800 write_flash 0x1000 \"{indexPath}/build/MixBot-v1.23.0.bin\""
         }
     },
     "upload": {
@@ -90,7 +90,7 @@
                 "binFile": [
                     {
                         "offset": "0x0000",
-                        "path": "./build/Feiyi-0x0-V1.19.1-lib.bin"
+                        "path": "./build/Mixgo_FeiYi_lib-v1.23.0.bin"
                     },
                     {
                         "offset": "0X3A0000",
@@ -102,7 +102,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/RM_E1-0x1000-V1.19.1-Slib.bin"
+                        "path": "./build/RM_E1_lib-v1.23.0.bin"
                     }
                 ]
             },
@@ -110,7 +110,7 @@
                 "binFile": [
                     {
                         "offset": "0x1000",
-                        "path": "./build/MixBot-0x1000-V1.19.1-lib.bin"
+                        "path": "./build/MixBot_lib-v1.23.0.bin"
                     }
                 ]
             }