From ee04dadb66d5dcb2132af227e971fdbf2c1d9be7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E7=AB=8B=E5=B8=AE?= <3294713004@qq.com> Date: Tue, 3 Dec 2024 10:36:49 +0800 Subject: [PATCH] =?UTF-8?q?Fix:=20=E4=BF=AE=E5=A4=8DMicroPython=20MixGoAI?= =?UTF-8?q?=E5=92=8CMicrobit=E4=B8=8B=E4=B8=80=E4=BA=9Bpy=E5=BC=82?= =?UTF-8?q?=E5=B8=B8=E5=90=8C=E6=97=B6=E6=A0=BC=E5=BC=8F=E5=8C=96=E4=BB=A3?= =?UTF-8?q?=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../build/lib/adxl345.py | 89 +++--- .../build/lib/ai_face.py | 227 ++++++++------- .../build/lib/aionenet.py | 121 ++++---- .../build/lib/base64.py | 205 +++++++++----- .../build/lib/bmp280.py | 41 +-- .../build/lib/ce_com.py | 40 +-- .../build/lib/dht11.py | 116 ++++---- .../build/lib/hcr04.py | 51 ++-- .../build/lib/irremote.py | 77 +++--- .../build/lib/miot_no.py | 88 +++--- .../build/lib/mixiot.py | 106 ++++--- .../build/lib/mixly_tool.py | 10 +- .../build/lib/mixpy.py | 46 ++- .../build/lib/mpu9250.py | 226 ++++++++------- .../build/lib/ms32006.py | 241 ++++++++-------- .../build/lib/net_espat.py | 59 ++-- .../micropython_k210_mixgoai/build/lib/pid.py | 22 +- .../build/lib/player.py | 261 ++++++++++-------- .../build/lib/reset.py | 56 ++-- .../build/lib/servo.py | 28 +- .../build/lib/sht20.py | 18 +- .../build/lib/MP3.py | 57 ++-- .../build/lib/RTC.py | 83 +++--- .../build/lib/Servo.py | 5 +- .../build/lib/TCS.py | 207 ++++++++------ .../build/lib/lcd1602.py | 43 +-- .../build/lib/mixpy.py | 26 +- .../build/lib/motor_control.py | 53 ++-- .../build/lib/ntc.py | 15 +- .../build/lib/oled.py | 2 +- .../build/lib/rgb.py | 3 +- .../build/lib/ultrasonic.py | 16 +- .../build/lib/mixpy.py | 26 +- .../build/lib/motor_control.py | 45 +-- .../build/lib/rgb_show.py | 4 +- .../origin/build/lib/adxl345.py | 89 +++--- .../origin/build/lib/ai_face.py | 227 ++++++++------- .../origin/build/lib/aionenet.py | 121 ++++---- .../origin/build/lib/base64.py | 205 +++++++++----- .../origin/build/lib/bmp280.py | 41 +-- .../origin/build/lib/ce_com.py | 40 +-- .../origin/build/lib/dht11.py | 116 ++++---- .../origin/build/lib/hcr04.py | 51 ++-- .../origin/build/lib/irremote.py | 77 +++--- .../origin/build/lib/map.json | 221 +++++++++++++++ .../origin/build/lib/miot_no.py | 88 +++--- .../origin/build/lib/mixiot.py | 106 ++++--- .../origin/build/lib/mixly_tool.py | 10 +- .../origin/build/lib/mixpy.py | 46 ++- .../origin/build/lib/mpu9250.py | 226 ++++++++------- .../origin/build/lib/ms32006.py | 241 ++++++++-------- .../origin/build/lib/net_espat.py | 59 ++-- .../origin/build/lib/pid.py | 22 +- .../origin/build/lib/player.py | 261 ++++++++++-------- .../origin/build/lib/reset.py | 56 ++-- .../origin/build/lib/servo.py | 28 +- .../origin/build/lib/sht20.py | 18 +- .../origin/build/lib/MP3.py | 57 ++-- .../origin/build/lib/RTC.py | 83 +++--- .../origin/build/lib/Servo.py | 5 +- .../origin/build/lib/TCS.py | 207 ++++++++------ .../origin/build/lib/lcd1602.py | 43 +-- .../origin/build/lib/mixpy.py | 26 +- .../origin/build/lib/motor_control.py | 53 ++-- .../origin/build/lib/ntc.py | 15 +- .../origin/build/lib/oled.py | 2 +- .../origin/build/lib/rgb.py | 3 +- .../origin/build/lib/ultrasonic.py | 16 +- .../origin/build/lib/mixpy.py | 26 +- .../origin/build/lib/motor_control.py | 45 +-- .../origin/build/lib/rgb_show.py | 4 +- 71 files changed, 3265 insertions(+), 2382 deletions(-) create mode 100644 boards/default_src/micropython_k210_mixgoai/origin/build/lib/map.json diff --git a/boards/default/micropython_k210_mixgoai/build/lib/adxl345.py b/boards/default/micropython_k210_mixgoai/build/lib/adxl345.py index 9672c71d..d6f1aa8f 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/adxl345.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/adxl345.py @@ -3,12 +3,13 @@ import time import ustruct DATA_FORMAT = 0x31 -BW_RATE = 0x2c -POWER_CTL = 0x2d -INT_ENABLE = 0x2E -OFSX = 0x1e -OFSY =0x1f -OFSZ =0x20 +BW_RATE = 0x2C +POWER_CTL = 0x2D +INT_ENABLE = 0x2E +OFSX = 0x1E +OFSY = 0x1F +OFSZ = 0x20 + class ADXL345: def __init__(self, i2c): @@ -18,51 +19,51 @@ class ADXL345: for s in slv: buf = self.i2c.readfrom_mem(s, 0, 1) print(buf) - if(buf[0] == 0xe5): + if buf[0] == 0xE5: self.slvAddr = s - print('adxl345 found') + print("adxl345 found") break - #self.writeByte(POWER_CTL,0x00) #sleep - #time.sleep(0.001) - #低电平中断输出,13位全分辨率,输出数据右对齐,16g量程 - self.writeByte(DATA_FORMAT,0x2B) - #数据输出速度为100Hz - self.writeByte(BW_RATE,0x0A) - #不使用中断 - self.writeByte(INT_ENABLE,0x00) + # self.writeByte(POWER_CTL,0x00) #sleep + # time.sleep(0.001) + # 低电平中断输出,13位全分辨率,输出数据右对齐,16g量程 + self.writeByte(DATA_FORMAT, 0x2B) + # 数据输出速度为100Hz + self.writeByte(BW_RATE, 0x0A) + # 不使用中断 + self.writeByte(INT_ENABLE, 0x00) - self.writeByte(OFSX,0x00) - self.writeByte(OFSY,0x00) - self.writeByte(OFSZ,0x00) - #链接使能,测量模式 - self.writeByte(POWER_CTL,0x28) + self.writeByte(OFSX, 0x00) + self.writeByte(OFSY, 0x00) + self.writeByte(OFSZ, 0x00) + # 链接使能,测量模式 + self.writeByte(POWER_CTL, 0x28) time.sleep(1) def readXYZ(self): - fmt = ' 4000: - start_processing = True - tim2 = time.ticks_ms() + global start_processing + global tim2 + if (time.ticks_ms() - tim2) > 4000: + start_processing = True + tim2 = time.ticks_ms() -def init(FD,LD,FE): - global task_fd - global task_ld - global task_fe - # task_fd = kpu.load(0x200000) - # task_ld = kpu.load(0x300000) - # task_fe = kpu.load(0x400000) - - task_fd = kpu.load(FD) - task_ld = kpu.load(LD) - task_fe = kpu.load(FE) +def init(FD, LD, FE): + global task_fd + global task_ld + global task_fe + # task_fd = kpu.load(0x200000) + # task_ld = kpu.load(0x300000) + # task_fe = kpu.load(0x400000) + + task_fd = kpu.load(FD) + task_ld = kpu.load(LD) + task_fe = kpu.load(FE) + + gc.collect() + key_gpio = board.pin(9, board.GPIO.IN, board.GPIO.PULL_UP) + key_gpio.irq(set_key_state, board.GPIO.IRQ_RISING, board.GPIO.WAKEUP_NOT_SUPPORT) + + anchor = ( + 1.889, + 2.5245, + 2.9465, + 3.94056, + 3.99987, + 5.3658, + 5.155437, + 6.92275, + 6.718375, + 9.01025, + ) # anchor for face detect + kpu.init_yolo2(task_fd, 0.5, 0.3, 5, anchor) + + +def train(img, names, threshold): + global task_fd + global task_ld + global task_fe + global start_processing + global info + global bb + + code = kpu.run_yolo2(task_fd, img) + if code: + for i in code: + face_cut = img.cut(i.x(), i.y(), i.w(), i.h()) + face_cut_128 = face_cut.resize(128, 128) + a = face_cut_128.pix_to_ai() + fmap = kpu.forward(task_ld, face_cut_128) + plist = fmap[:] + le = (i.x() + int(plist[0] * i.w() - 10), i.y() + int(plist[1] * i.h())) + re = (i.x() + int(plist[2] * i.w()), i.y() + int(plist[3] * i.h())) + nose = (i.x() + int(plist[4] * i.w()), i.y() + int(plist[5] * i.h())) + lm = (i.x() + int(plist[6] * i.w()), i.y() + int(plist[7] * i.h())) + rm = (i.x() + int(plist[8] * i.w()), i.y() + int(plist[9] * i.h())) + lb = i.rect() + src_point = [le, re, nose, lm, rm] + T = image.get_affine_transform(src_point, dst_point) + a = image.warp_affine_ai(img, img_face, T) + a = img_face.ai_to_pix() + del face_cut_128 + fmap = kpu.forward(task_fe, img_face) + feature = kpu.face_encode(fmap[:]) + reg_flag = False + scores = [] + for j in range(len(record_ftrs)): + score = kpu.face_compare(record_ftrs[j], feature) + scores.append(score) + max_score = 0 + index = 0 + for k in range(len(scores)): + if max_score < scores[k]: + max_score = scores[k] + index = k + if start_processing: + record_ftr = feature + record_ftrs.append(record_ftr) + start_processing = False + if max_score > threshold: + info = [names[index], max_score, lb, src_point] + else: + if bb == 1: + print("Please press BOOT key to enter the face") + bb = 0 + info = [None, max_score, lb, src_point] + return True + break + else: + info = None + bb = 1 + return False + gc.collect() - gc.collect() - key_gpio = board.pin(9,board.GPIO.IN,board.GPIO.PULL_UP) - key_gpio.irq(set_key_state,board.GPIO.IRQ_RISING, board.GPIO.WAKEUP_NOT_SUPPORT) - - anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437,6.92275, 6.718375, 9.01025) # anchor for face detect - kpu.init_yolo2(task_fd, 0.5, 0.3, 5, anchor) - - -def train(img,names,threshold): - global task_fd - global task_ld - global task_fe - global start_processing - global info - global bb - - code = kpu.run_yolo2(task_fd, img) - if code: - for i in code: - face_cut = img.cut(i.x(), i.y(), i.w(), i.h()) - face_cut_128 = face_cut.resize(128, 128) - a = face_cut_128.pix_to_ai() - fmap = kpu.forward(task_ld, face_cut_128) - plist = fmap[:] - le = (i.x()+int(plist[0]*i.w() - 10), i.y()+int(plist[1]*i.h())) - re = (i.x()+int(plist[2]*i.w()), i.y()+int(plist[3]*i.h())) - nose = (i.x()+int(plist[4]*i.w()), i.y()+int(plist[5]*i.h())) - lm = (i.x()+int(plist[6]*i.w()), i.y()+int(plist[7]*i.h())) - rm = (i.x()+int(plist[8]*i.w()), i.y()+int(plist[9]*i.h())) - lb=i.rect() - src_point = [le, re, nose, lm, rm] - T = image.get_affine_transform(src_point, dst_point) - a = image.warp_affine_ai(img, img_face, T) - a = img_face.ai_to_pix() - del(face_cut_128) - fmap = kpu.forward(task_fe, img_face) - feature = kpu.face_encode(fmap[:]) - reg_flag = False - scores = [] - for j in range(len(record_ftrs)): - score = kpu.face_compare(record_ftrs[j], feature) - scores.append(score) - max_score = 0 - index = 0 - for k in range(len(scores)): - if max_score < scores[k]: - max_score = scores[k] - index = k - if start_processing: - record_ftr = feature - record_ftrs.append(record_ftr) - start_processing = False - if max_score > threshold: - info=[names[index],max_score,lb,src_point] - else: - if bb==1: - print("Please press BOOT key to enter the face") - bb=0 - info=[None,max_score,lb,src_point] - return True - break - else: - info=None - bb=1 - return False - gc.collect() def info_name(): - gc.collect() - return info[0] + gc.collect() + return info[0] -def info_score(): - return info[1] -def info_face(): - return info[2] - -def info_organs(): - return info[3] - \ No newline at end of file +def info_score(): + return info[1] + + +def info_face(): + return info[2] + + +def info_organs(): + return info[3] diff --git a/boards/default/micropython_k210_mixgoai/build/lib/aionenet.py b/boards/default/micropython_k210_mixgoai/build/lib/aionenet.py index a4e40dac..9205295c 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/aionenet.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/aionenet.py @@ -1,25 +1,29 @@ -import network,time,random,request,base64,json,board +import network, time, random, request, base64, json, board from machine import UART -wifi_en=board.pin(19,board.GPIO.OUT) -board.register(18,board.FPIOA.UART2_TX) -board.register(17,board.FPIOA.UART2_RX) +wifi_en = board.pin(19, board.GPIO.OUT) +board.register(18, board.FPIOA.UART2_TX) +board.register(17, board.FPIOA.UART2_RX) + def wifi_enable(en): global wifi_en wifi_en.value(en) + def wifi_reset(): global uart wifi_enable(0) time.sleep_ms(200) wifi_enable(1) time.sleep(2) - uart = UART(UART.UART2,115200,timeout=1000, read_buf_len=4096) + uart = UART(UART.UART2, 115200, timeout=1000, read_buf_len=4096) tmp = uart.read() uart.write("AT+UART_CUR=921600,8,1,0,0\r\n") print(uart.read()) - uart = UART(UART.UART2,921600,timeout=1000, read_buf_len=10240) # important! baudrate too low or read_buf_len too small will loose data + uart = UART( + UART.UART2, 921600, timeout=1000, read_buf_len=10240 + ) # important! baudrate too low or read_buf_len too small will loose data uart.write("AT\r\n") tmp = uart.read() print(tmp) @@ -32,16 +36,17 @@ def wifi_reset(): return None return nic -def nic_init(account,password): - nic=wifi_reset() - if not nic: - raise Exception("[Cool.AI]:WiFi init fail") - nic.connect(account,password) - nic.ifconfig() +def nic_init(account, password): + nic = wifi_reset() + if not nic: + raise Exception("[Cool.AI]:WiFi init fail") + + nic.connect(account, password) + nic.ifconfig() -class SimpleEncode(): +class SimpleEncode: keyStr = "ABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890abcdefghijklmnopqrstuvwxyz~!@#$%^&*()_+-={}[]:;<,>.?/|" keyLength = len(keyStr) encryptionA = 17 @@ -51,87 +56,87 @@ class SimpleEncode(): postCount = 5 randomChar = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnop" randomCharLength = len(randomChar) - #base64字符 + # base64字符 ALPHABET = "ABCDEFGHIJKLMN0123456789OPQRSTUVWXYZ+/abcdefghijklmnopqrstuvwxyz" STANDARD = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/" # 标准的字符串索引 - #找到密钥 - for i in range(1,keyLength): - if (encryptionA * i) % keyLength == 1: - decodeA = i + # 找到密钥 + for i in range(1, keyLength): + if (encryptionA * i) % keyLength == 1: + decodeA = i - def base64Encode(self,sourceStr): + def base64Encode(self, sourceStr): encode = "" for ch in base64.b64encode(sourceStr.encode()).decode(): - if ch == '=': - encode += '=' + if ch == "=": + encode += "=" else: for i in range(64): if ch == self.STANDARD[i]: encode += self.ALPHABET[i] return encode - def encrpyt(self,sourceStr): + def encrpyt(self, sourceStr): srcLength = len(sourceStr) - #先加入干扰字符的数量 - addCharCount = random.randint(1,self.preCountMax) if srcLength < self.preCountMax else 0 - #随机字符 - sb = str(addCharCount)+"|" + # 先加入干扰字符的数量 + addCharCount = ( + random.randint(1, self.preCountMax) if srcLength < self.preCountMax else 0 + ) + # 随机字符 + sb = str(addCharCount) + "|" for i in range(addCharCount): - sb += self.randomChar[random.randint(0,self.randomCharLength-1)] + sb += self.randomChar[random.randint(0, self.randomCharLength - 1)] sb += sourceStr - #尾部固定增加x个字符 + # 尾部固定增加x个字符 for i in range(self.postCount): - sb += self.randomChar[random.randint(0,self.randomCharLength-1)] + sb += self.randomChar[random.randint(0, self.randomCharLength - 1)] - #base64 加密 + # base64 加密 base64Str = self.base64Encode(sb) - destStr = '' + destStr = "" for i in range(len(base64Str)): - #找到字符所在位置 + # 找到字符所在位置 position = self.keyStr.find(base64Str[i]) - #对字符进行转换 + # 对字符进行转换 y = (self.encryptionA * position + self.encryptionB) % self.keyLength - #找到替换后的字符 + # 找到替换后的字符 destStr += self.keyStr[y] return destStr -def token(account,password): - url = 'http://ai.heclouds.com:9090/v1/user/oneNetLogin' + +def token(account, password): + url = "http://ai.heclouds.com:9090/v1/user/oneNetLogin" headers = { - 'Content-Type': 'application/json', + "Content-Type": "application/json", } simpleencode = SimpleEncode() - data = {'account': account, 'password': simpleencode.encrpyt(password)} + data = {"account": account, "password": simpleencode.encrpyt(password)} req = request.post(url, data=json.dumps(data), headers=headers) - #print(req.text) + # print(req.text) try: - return eval(req.text)['data']['loginToken'] + return eval(req.text)["data"]["loginToken"] except: - raise ValueError( "[Cool.AI]:Wrong account or password ") + raise ValueError("[Cool.AI]:Wrong account or password ") -def post_ai(img,urlx,Token): - ur = 'http://183.230.40.32:9090/v1/aiApi/picture/MixPY' - url=ur.replace("MixPY",urlx) - headers ={ - 'Content-Type':'application/json', - 'Login-Token':'Token' - } - - headers['Login-Token']=Token - - imge = img.compressed(quality=50) - file =imge.to_bytes() - str = base64.b64encode(file).decode() - data = {'picture':[str]} - req = request.post(url,data=json.dumps(data),headers=headers) - return json.loads(req.text) - #return eval(req.text) \ No newline at end of file +def post_ai(img, urlx, Token): + ur = "http://183.230.40.32:9090/v1/aiApi/picture/MixPY" + url = ur.replace("MixPY", urlx) + headers = {"Content-Type": "application/json", "Login-Token": "Token"} + + headers["Login-Token"] = Token + + imge = img.compressed(quality=50) + file = imge.to_bytes() + str = base64.b64encode(file).decode() + data = {"picture": [str]} + req = request.post(url, data=json.dumps(data), headers=headers) + return json.loads(req.text) + # return eval(req.text) diff --git a/boards/default/micropython_k210_mixgoai/build/lib/base64.py b/boards/default/micropython_k210_mixgoai/build/lib/base64.py index 4791d530..51966fec 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/base64.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/base64.py @@ -3,25 +3,38 @@ import struct import binascii __all__ = [ - 'encode', 'decode', 'encodebytes', 'decodebytes', - 'b64encode', 'b64decode', 'b32encode', 'b32decode', - 'b16encode', 'b16decode', - 'standard_b64encode', 'standard_b64decode', - 'urlsafe_b64encode', 'urlsafe_b64decode', - ] + "encode", + "decode", + "encodebytes", + "decodebytes", + "b64encode", + "b64decode", + "b32encode", + "b32decode", + "b16encode", + "b16decode", + "standard_b64encode", + "standard_b64decode", + "urlsafe_b64encode", + "urlsafe_b64decode", +] + +bytes_types = (bytes, bytearray) -bytes_types = (bytes, bytearray) def _bytes_from_decode_data(s): if isinstance(s, str): try: - return s.encode('ascii') + return s.encode("ascii") except: - raise ValueError('string argument should contain only ASCII characters') + raise ValueError("string argument should contain only ASCII characters") elif isinstance(s, bytes_types): return s else: - raise TypeError("argument should be bytes or ASCII string, not %s" % s.__class__.__name__) + raise TypeError( + "argument should be bytes or ASCII string, not %s" % s.__class__.__name__ + ) + def b64encode(s, altchars=None): if not isinstance(s, bytes_types): @@ -29,45 +42,73 @@ def b64encode(s, altchars=None): encoded = binascii.b2a_base64(s)[:-1] if altchars is not None: if not isinstance(altchars, bytes_types): - raise TypeError("expected bytes, not %s" - % altchars.__class__.__name__) + raise TypeError("expected bytes, not %s" % altchars.__class__.__name__) assert len(altchars) == 2, repr(altchars) - return encoded.translate(bytes.maketrans(b'+/', altchars)) + return encoded.translate(bytes.maketrans(b"+/", altchars)) return encoded + def b64decode(s, altchars=None, validate=False): s = _bytes_from_decode_data(s) if altchars is not None: altchars = _bytes_from_decode_data(altchars) assert len(altchars) == 2, repr(altchars) - s = s.translate(bytes.maketrans(altchars, b'+/')) - if validate and not re.match(b'^[A-Za-z0-9+/]*={0,2}$', s): - raise binascii.Error('Non-base64 digit found') + s = s.translate(bytes.maketrans(altchars, b"+/")) + if validate and not re.match(b"^[A-Za-z0-9+/]*={0,2}$", s): + raise binascii.Error("Non-base64 digit found") return binascii.a2b_base64(s) + def standard_b64encode(s): return b64encode(s) + def standard_b64decode(s): return b64decode(s) + def urlsafe_b64encode(s): raise NotImplementedError() + def urlsafe_b64decode(s): raise NotImplementedError() + _b32alphabet = { - 0: b'A', 9: b'J', 18: b'S', 27: b'3', - 1: b'B', 10: b'K', 19: b'T', 28: b'4', - 2: b'C', 11: b'L', 20: b'U', 29: b'5', - 3: b'D', 12: b'M', 21: b'V', 30: b'6', - 4: b'E', 13: b'N', 22: b'W', 31: b'7', - 5: b'F', 14: b'O', 23: b'X', - 6: b'G', 15: b'P', 24: b'Y', - 7: b'H', 16: b'Q', 25: b'Z', - 8: b'I', 17: b'R', 26: b'2', - } + 0: b"A", + 9: b"J", + 18: b"S", + 27: b"3", + 1: b"B", + 10: b"K", + 19: b"T", + 28: b"4", + 2: b"C", + 11: b"L", + 20: b"U", + 29: b"5", + 3: b"D", + 12: b"M", + 21: b"V", + 30: b"6", + 4: b"E", + 13: b"N", + 22: b"W", + 31: b"7", + 5: b"F", + 14: b"O", + 23: b"X", + 6: b"G", + 15: b"P", + 24: b"Y", + 7: b"H", + 16: b"Q", + 25: b"Z", + 8: b"I", + 17: b"R", + 26: b"2", +} _b32tab = [v[0] for k, v in sorted(_b32alphabet.items())] _b32rev = dict([(v[0], k) for k, v in _b32alphabet.items()]) @@ -82,26 +123,29 @@ def b32encode(s): quanta += 1 encoded = bytearray() for i in range(quanta): - c1, c2, c3 = struct.unpack('!HHB', s[i*5:(i+1)*5]) - c2 += (c1 & 1) << 16 - c3 += (c2 & 3) << 8 - encoded += bytes([_b32tab[c1 >> 11], - _b32tab[(c1 >> 6) & 0x1f], - _b32tab[(c1 >> 1) & 0x1f], - _b32tab[c2 >> 12], - _b32tab[(c2 >> 7) & 0x1f], - _b32tab[(c2 >> 2) & 0x1f], - _b32tab[c3 >> 5], - _b32tab[c3 & 0x1f], - ]) + c1, c2, c3 = struct.unpack("!HHB", s[i * 5 : (i + 1) * 5]) + c2 += (c1 & 1) << 16 + c3 += (c2 & 3) << 8 + encoded += bytes( + [ + _b32tab[c1 >> 11], + _b32tab[(c1 >> 6) & 0x1F], + _b32tab[(c1 >> 1) & 0x1F], + _b32tab[c2 >> 12], + _b32tab[(c2 >> 7) & 0x1F], + _b32tab[(c2 >> 2) & 0x1F], + _b32tab[c3 >> 5], + _b32tab[c3 & 0x1F], + ] + ) if leftover == 1: - encoded = encoded[:-6] + b'======' + encoded = encoded[:-6] + b"======" elif leftover == 2: - encoded = encoded[:-4] + b'====' + encoded = encoded[:-4] + b"====" elif leftover == 3: - encoded = encoded[:-3] + b'===' + encoded = encoded[:-3] + b"===" elif leftover == 4: - encoded = encoded[:-1] + b'=' + encoded = encoded[:-1] + b"=" return bytes(encoded) @@ -109,14 +153,14 @@ def b32decode(s, casefold=False, map01=None): s = _bytes_from_decode_data(s) quanta, leftover = divmod(len(s), 8) if leftover: - raise binascii.Error('Incorrect padding') + raise binascii.Error("Incorrect padding") if map01 is not None: map01 = _bytes_from_decode_data(map01) assert len(map01) == 1, repr(map01) - s = s.translate(bytes.maketrans(b'01', b'O' + map01)) + s = s.translate(bytes.maketrans(b"01", b"O" + map01)) if casefold: s = s.upper() - padchars = s.find(b'=') + padchars = s.find(b"=") if padchars > 0: padchars = len(s) - padchars s = s[:-padchars] @@ -129,16 +173,16 @@ def b32decode(s, casefold=False, map01=None): for c in s: val = _b32rev.get(c) if val is None: - raise binascii.Error('Non-base32 digit found') + raise binascii.Error("Non-base32 digit found") acc += _b32rev[c] << shift shift -= 5 if shift < 0: - parts.append(binascii.unhexlify(bytes('%010x' % acc, "ascii"))) + parts.append(binascii.unhexlify(bytes("%010x" % acc, "ascii"))) acc = 0 shift = 35 - last = binascii.unhexlify(bytes('%010x' % acc, "ascii")) + last = binascii.unhexlify(bytes("%010x" % acc, "ascii")) if padchars == 0: - last = b'' + last = b"" elif padchars == 1: last = last[:-1] elif padchars == 3: @@ -148,9 +192,10 @@ def b32decode(s, casefold=False, map01=None): elif padchars == 6: last = last[:-4] else: - raise binascii.Error('Incorrect padding') + raise binascii.Error("Incorrect padding") parts.append(last) - return b''.join(parts) + return b"".join(parts) + def b16encode(s): if not isinstance(s, bytes_types): @@ -162,12 +207,14 @@ def b16decode(s, casefold=False): s = _bytes_from_decode_data(s) if casefold: s = s.upper() - if re.search(b'[^0-9A-F]', s): - raise binascii.Error('Non-base16 digit found') + if re.search(b"[^0-9A-F]", s): + raise binascii.Error("Non-base16 digit found") return binascii.unhexlify(s) -MAXLINESIZE = 76 -MAXBINSIZE = (MAXLINESIZE//4)*3 + +MAXLINESIZE = 76 +MAXBINSIZE = (MAXLINESIZE // 4) * 3 + def encode(input, output): while True: @@ -175,7 +222,7 @@ def encode(input, output): if not s: break while len(s) < MAXBINSIZE: - ns = input.read(MAXBINSIZE-len(s)) + ns = input.read(MAXBINSIZE - len(s)) if not ns: break s += ns @@ -191,6 +238,7 @@ def decode(input, output): s = binascii.a2b_base64(line) output.write(s) + def encodebytes(s): if not isinstance(s, bytes_types): raise TypeError("expected bytes, not %s" % s.__class__.__name__) @@ -200,10 +248,13 @@ def encodebytes(s): pieces.append(binascii.b2a_base64(chunk)) return b"".join(pieces) + def encodestring(s): import warnings - warnings.warn("encodestring() is a deprecated alias, use encodebytes()", - DeprecationWarning, 2) + + warnings.warn( + "encodestring() is a deprecated alias, use encodebytes()", DeprecationWarning, 2 + ) return encodebytes(s) @@ -212,36 +263,50 @@ def decodebytes(s): raise TypeError("expected bytes, not %s" % s.__class__.__name__) return binascii.a2b_base64(s) + def decodestring(s): import warnings - warnings.warn("decodestring() is a deprecated alias, use decodebytes()", - DeprecationWarning, 2) + + warnings.warn( + "decodestring() is a deprecated alias, use decodebytes()", DeprecationWarning, 2 + ) return decodebytes(s) + def main(): import sys, getopt + try: - opts, args = getopt.getopt(sys.argv[1:], 'deut') + opts, args = getopt.getopt(sys.argv[1:], "deut") except getopt.error as msg: sys.stdout = sys.stderr print(msg) - print("""usage: %s [-d|-e|-u|-t] [file|-] + print( + """usage: %s [-d|-e|-u|-t] [file|-] -d, -u: decode -e: encode (default) - -t: encode and decode string 'Aladdin:open sesame'"""%sys.argv[0]) + -t: encode and decode string 'Aladdin:open sesame'""" + % sys.argv[0] + ) sys.exit(2) func = encode for o, a in opts: - if o == '-e': func = encode - if o == '-d': func = decode - if o == '-u': func = decode - if o == '-t': test(); return - if args and args[0] != '-': - with open(args[0], 'rb') as f: + if o == "-e": + func = encode + if o == "-d": + func = decode + if o == "-u": + func = decode + if o == "-t": + test() + return + if args and args[0] != "-": + with open(args[0], "rb") as f: func(f, sys.stdout.buffer) else: func(sys.stdin.buffer, sys.stdout.buffer) + def test(): s0 = b"Aladdin:open sesame" print(repr(s0)) @@ -252,5 +317,5 @@ def test(): assert s0 == s2 -if __name__ == '__main__': +if __name__ == "__main__": main() diff --git a/boards/default/micropython_k210_mixgoai/build/lib/bmp280.py b/boards/default/micropython_k210_mixgoai/build/lib/bmp280.py index 618ee4e9..fb9d2928 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/bmp280.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/bmp280.py @@ -1,6 +1,7 @@ from ustruct import unpack as unp import utime from machine import I2C + # Author David Wahlund david@dafnet.se # Power Modes @@ -49,21 +50,20 @@ class BMP280: self._bmp_i2c = i2c_bus self._i2c_addr = addr - self.chip_id = self._read(BMP280_REGISTER_ID, 2) - self._T1 = unp('> 4) self._t_raw = (d[3] << 12) + (d[4] << 4) + (d[5] >> 4) @@ -142,14 +144,20 @@ class BMP280: self._gauge() if self._t_fine == 0: var1 = (((self._t_raw >> 3) - (self._T1 << 1)) * self._T2) >> 11 - var2 = (((((self._t_raw >> 4) - self._T1) * ((self._t_raw >> 4) - self._T1)) >> 12) * self._T3) >> 14 + var2 = ( + ( + (((self._t_raw >> 4) - self._T1) * ((self._t_raw >> 4) - self._T1)) + >> 12 + ) + * self._T3 + ) >> 14 self._t_fine = var1 + var2 # @property def get_BMP_temperature(self): self._calc_t_fine() if self._t == 0: - self._t = ((self._t_fine * 5 + 128) >> 8) / 100. + self._t = ((self._t_fine * 5 + 128) >> 8) / 100.0 return self._t # @property @@ -175,4 +183,3 @@ class BMP280: p = ((p + var1 + var2) >> 8) + (self._P7 << 4) self._p = p / 256.0 return self._p - diff --git a/boards/default/micropython_k210_mixgoai/build/lib/ce_com.py b/boards/default/micropython_k210_mixgoai/build/lib/ce_com.py index 7d64664b..f0882aef 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/ce_com.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/ce_com.py @@ -6,24 +6,26 @@ MicroPython library for the MxiGo AI 20211213 mixly """ -data_a=None -def uart_tx(uart,data,repeat=True): - global data_a - data_b = data - if data_b != data_a: - uart.write((str(data)+'\n')) - #print(data) - if not repeat: - data_a=data_b - +data_a = None + + +def uart_tx(uart, data, repeat=True): + global data_a + data_b = data + if data_b != data_a: + uart.write((str(data) + "\n")) + # print(data) + if not repeat: + data_a = data_b + + def uart_rx(uart): - data = uart.readline() - if data: - data_str = data.strip() - try: - data_str=data_str.decode() - return eval(data_str) - except: - return data_str - + data = uart.readline() + if data: + data_str = data.strip() + try: + data_str = data_str.decode() + return eval(data_str) + except: + return data_str diff --git a/boards/default/micropython_k210_mixgoai/build/lib/dht11.py b/boards/default/micropython_k210_mixgoai/build/lib/dht11.py index 3ea31d0d..78277e27 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/dht11.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/dht11.py @@ -1,58 +1,60 @@ -import time,board - +import time, board + + def read_data(pin_name): - data=[] - j=0 - time.sleep_ms(1200) - N1 = board.pin(pin_name, board.GPIO.OUT) - N1.value(0) - time.sleep_ms(20) - N1.value(1) - time.sleep_us(30) - N1 =board.pin(pin_name, board.GPIO.IN) - T1 = time.ticks_us() - while N1.value()==0: - continue - while N1.value()==1: - T2 =time.ticks_us() - if time.ticks_diff(T2, T1) >200000: - #raise ValueError("[MixNo]:Sensor read error") - break - continue - while j<40: - k=0 - while N1.value()==0: - continue - while N1.value()==1: - k+=1 - if k>100:break - if k<15: - data.append(0) - else: - data.append(1) - j=j+1 - del N1 - humidity_bit=data[0:8] - humidity_point_bit=data[8:16] - temperature_bit=data[16:24] - temperature_point_bit=data[24:32] - check_bit=data[32:40] - humidity=0 - humidity_point=0 - temperature=0.0 - temperature_point=0 - check=0 - for i in range(8): - humidity+=humidity_bit[i]*2**(7-i) - humidity_point+=humidity_point_bit[i]*2**(7-i) - temperature+=temperature_bit[i]*2**(7-i) - temperature_point+=temperature_point_bit[i]*2**(7-i) - check+=check_bit[i]*2**(7-i) - tmp=humidity+humidity_point+temperature+temperature_point - #print(humidity_point,temperature_point) - if check==tmp: - #print('temperature is',temperature,'-wet is',humidity,'%') - return (temperature+temperature_point/10,humidity) - else: - #print('Error:',humidity,humidity_point,temperature,temperature_point,check) - return (None,None) \ No newline at end of file + data = [] + j = 0 + time.sleep_ms(1200) + N1 = board.pin(pin_name, board.GPIO.OUT) + N1.value(0) + time.sleep_ms(20) + N1.value(1) + time.sleep_us(30) + N1 = board.pin(pin_name, board.GPIO.IN) + T1 = time.ticks_us() + while N1.value() == 0: + continue + while N1.value() == 1: + T2 = time.ticks_us() + if time.ticks_diff(T2, T1) > 200000: + # raise ValueError("[MixNo]:Sensor read error") + break + continue + while j < 40: + k = 0 + while N1.value() == 0: + continue + while N1.value() == 1: + k += 1 + if k > 100: + break + if k < 15: + data.append(0) + else: + data.append(1) + j = j + 1 + del N1 + humidity_bit = data[0:8] + humidity_point_bit = data[8:16] + temperature_bit = data[16:24] + temperature_point_bit = data[24:32] + check_bit = data[32:40] + humidity = 0 + humidity_point = 0 + temperature = 0.0 + temperature_point = 0 + check = 0 + for i in range(8): + humidity += humidity_bit[i] * 2 ** (7 - i) + humidity_point += humidity_point_bit[i] * 2 ** (7 - i) + temperature += temperature_bit[i] * 2 ** (7 - i) + temperature_point += temperature_point_bit[i] * 2 ** (7 - i) + check += check_bit[i] * 2 ** (7 - i) + tmp = humidity + humidity_point + temperature + temperature_point + # print(humidity_point,temperature_point) + if check == tmp: + # print('temperature is',temperature,'-wet is',humidity,'%') + return (temperature + temperature_point / 10, humidity) + else: + # print('Error:',humidity,humidity_point,temperature,temperature_point,check) + return (None, None) diff --git a/boards/default/micropython_k210_mixgoai/build/lib/hcr04.py b/boards/default/micropython_k210_mixgoai/build/lib/hcr04.py index 4464bd58..f41e0f77 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/hcr04.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/hcr04.py @@ -1,27 +1,28 @@ -import time,board - +import time, board + + def Sonar(trig1, echo1): - trig = board.pin(trig1, board.GPIO.OUT) - echo = board.pin(echo1, board.GPIO.IN) - time.sleep_ms(10) - trig.value(1) - time.sleep_us(10) - trig.value(0) - n1 = time.ticks_us() - while(echo.value()==0): - n2 =time.ticks_us() - if time.ticks_diff(n2, n1) >200000: - #raise ValueError("[MixNo]:Sensor read error") - break - pass - t1 = time.ticks_us() - while(echo.value()==1): - n3 =time.ticks_us() - if time.ticks_diff(n3, t1) >200000: - #raise ValueError("[MixNo]:Sensor read error") - break - pass - t2 = time.ticks_us() - time.sleep_ms(10) - return round(time.ticks_diff(t2, t1) / 10000 * 340 / 2, 2) \ No newline at end of file + trig = board.pin(trig1, board.GPIO.OUT) + echo = board.pin(echo1, board.GPIO.IN) + time.sleep_ms(10) + trig.value(1) + time.sleep_us(10) + trig.value(0) + n1 = time.ticks_us() + while echo.value() == 0: + n2 = time.ticks_us() + if time.ticks_diff(n2, n1) > 200000: + # raise ValueError("[MixNo]:Sensor read error") + break + pass + t1 = time.ticks_us() + while echo.value() == 1: + n3 = time.ticks_us() + if time.ticks_diff(n3, t1) > 200000: + # raise ValueError("[MixNo]:Sensor read error") + break + pass + t2 = time.ticks_us() + time.sleep_ms(10) + return round(time.ticks_diff(t2, t1) / 10000 * 340 / 2, 2) diff --git a/boards/default/micropython_k210_mixgoai/build/lib/irremote.py b/boards/default/micropython_k210_mixgoai/build/lib/irremote.py index 9b0567ce..c17c0d45 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/irremote.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/irremote.py @@ -1,47 +1,48 @@ -import time,board +import time, board + def read_id(pin): - L1 = board.pin(pin, board.GPIO.IN, board.GPIO.PULL_UP) - a = [] - t1 = time.ticks_us() - while L1.value() == 1: - t2 = time.ticks_us() - if time.ticks_diff(t2, t1) >1000000: - #raise ValueError("[MixNo]:Sensor read error") - break - pass + L1 = board.pin(pin, board.GPIO.IN, board.GPIO.PULL_UP) + a = [] + t1 = time.ticks_us() + while L1.value() == 1: + t2 = time.ticks_us() + if time.ticks_diff(t2, t1) > 1000000: + # raise ValueError("[MixNo]:Sensor read error") + break + pass - time.sleep_us(13560) + time.sleep_us(13560) - for i in range(1000): - v = L1.value() - a.append(v) - time.sleep_us(56) + for i in range(1000): + v = L1.value() + a.append(v) + time.sleep_us(56) - a_c = [] - count = 0 + a_c = [] + count = 0 - for i in a: - if i == 1: - count += 1 + for i in a: + if i == 1: + count += 1 - elif i == 0: - if count > 0 : - a_c.append(count) - count =0 + elif i == 0: + if count > 0: + a_c.append(count) + count = 0 - for i in range(len(a_c)): - if a_c[i] > 10: - a_c[i] = "1" - else: - a_c[i] = "0" - - B1 = "".join(a_c) - B2 = B1[16:32] - #print(len(B1)) - if len(B1)==32 or len(B1)==33 or len(B1)==46: - B3=int(B2,2) - return B3 - else: - return None \ No newline at end of file + for i in range(len(a_c)): + if a_c[i] > 10: + a_c[i] = "1" + else: + a_c[i] = "0" + + B1 = "".join(a_c) + B2 = B1[16:32] + # print(len(B1)) + if len(B1) == 32 or len(B1) == 33 or len(B1) == 46: + B3 = int(B2, 2) + return B3 + else: + return None diff --git a/boards/default/micropython_k210_mixgoai/build/lib/miot_no.py b/boards/default/micropython_k210_mixgoai/build/lib/miot_no.py index 41b08a6a..dae676b3 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/miot_no.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/miot_no.py @@ -1,29 +1,34 @@ import usocket as socket import ustruct as struct -import network,time,board -#from ubinascii import hexlify +import network, time, board + +# from ubinascii import hexlify import ujson as json from machine import UART -wifi_en=board.pin(19,board.GPIO.OUT) -board.register(18,board.FPIOA.UART2_TX) -board.register(17,board.FPIOA.UART2_RX) +wifi_en = board.pin(19, board.GPIO.OUT) +board.register(18, board.FPIOA.UART2_TX) +board.register(17, board.FPIOA.UART2_RX) + def wifi_enable(en): global wifi_en wifi_en.value(en) + def wifi_reset(): global uart wifi_enable(0) time.sleep_ms(200) wifi_enable(1) time.sleep(2) - uart = UART(UART.UART2,115200,timeout=1000, read_buf_len=4096) + uart = UART(UART.UART2, 115200, timeout=1000, read_buf_len=4096) tmp = uart.read() uart.write("AT+UART_CUR=921600,8,1,0,0\r\n") print(uart.read()) - uart = UART(UART.UART2,921600,timeout=1000, read_buf_len=10240) # important! baudrate too low or read_buf_len too small will loose data + uart = UART( + UART.UART2, 921600, timeout=1000, read_buf_len=10240 + ) # important! baudrate too low or read_buf_len too small will loose data uart.write("AT\r\n") tmp = uart.read() print(tmp) @@ -36,46 +41,62 @@ def wifi_reset(): return None return nic + def get_data_dict(d): - result = {"datastreams":[]} + result = {"datastreams": []} for x in d: - result["datastreams"].append({"id":x,"datapoints":[{"value":d[x]}]}) + result["datastreams"].append({"id": x, "datapoints": [{"value": d[x]}]}) return result -def pubData(value, state): + +def pubData(value, state): value = get_data_dict(value) jdata = json.dumps(value) jlen = len(jdata) - bdata = bytearray(jlen+3) - bdata[0] = 1 # publish data in type of json - bdata[1] = int(jlen / 256) # data lenght - bdata[2] = jlen % 256 # data lenght - bdata[3:jlen+4] = jdata.encode('ascii') # json data + bdata = bytearray(jlen + 3) + bdata[0] = 1 # publish data in type of json + bdata[1] = int(jlen / 256) # data lenght + bdata[2] = jlen % 256 # data lenght + bdata[3 : jlen + 4] = jdata.encode("ascii") # json data if state: print(value) print(bdata) return bdata -def do_connect(account,password): - nic=wifi_reset() - if not nic: - raise Exception("[Cool.AI]:WiFi init fail") - nic.connect(account,password) - nic.ifconfig() +def do_connect(account, password): + nic = wifi_reset() + if not nic: + raise Exception("[Cool.AI]:WiFi init fail") + + nic.connect(account, password) + nic.ifconfig() + def init_MQTT_client(sid, address, cid, api, topic, callback): client = MQTTClient(sid, address, 6002, cid, api) client.set_callback(callback) client.connect() - client.subscribe(bytes(topic, 'utf-8')) + client.subscribe(bytes(topic, "utf-8")) return client + class MQTTException(Exception): pass + class MQTTClient: - def __init__(self, client_id, server, port=0, user=None, password=None, keepalive=0,ssl=False, ssl_params={}): + def __init__( + self, + client_id, + server, + port=0, + user=None, + password=None, + keepalive=0, + ssl=False, + ssl_params={}, + ): if port == 0: port = 8883 if ssl else 1883 self.client_id = client_id @@ -102,7 +123,7 @@ class MQTTClient: sh = 0 while 1: b = self.sock.read(1)[0] - n |= (b & 0x7f) << sh + n |= (b & 0x7F) << sh if not b & 0x80: return n sh += 7 @@ -124,6 +145,7 @@ class MQTTClient: print(self.addr) if self.ssl: import ussl + self.sock = ussl.wrap_socket(self.sock, **self.ssl_params) msg = bytearray(b"\x10\0\0\x04MQTT\x04\x02\0\0") msg[1] = 10 + 2 + len(self.client_id) @@ -140,7 +162,7 @@ class MQTTClient: msg[9] |= 0x4 | (self.lw_qos & 0x1) << 3 | (self.lw_qos & 0x2) << 3 msg[9] |= self.lw_retain << 5 self.sock.write(msg) - #print(hex(len(msg)), hexlify(msg, ":")) + # print(hex(len(msg)), hexlify(msg, ":")) self._send_str(self.client_id) if self.lw_topic: self._send_str(self.lw_topic) @@ -161,7 +183,7 @@ class MQTTClient: def ping(self): self.sock.write(b"\xc0\0") - def publish(self, msg, is_print=True, topic='$dp', retain=False, qos=0): + def publish(self, msg, is_print=True, topic="$dp", retain=False, qos=0): msg = pubData(msg, is_print) pkt = bytearray(b"\x30\0\0\0") pkt[0] |= qos << 1 | retain @@ -170,12 +192,12 @@ class MQTTClient: sz += 2 assert sz < 2097152 i = 1 - while sz > 0x7f: - pkt[i] = (sz & 0x7f) | 0x80 + while sz > 0x7F: + pkt[i] = (sz & 0x7F) | 0x80 sz >>= 7 i += 1 pkt[i] = sz - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt, i + 1) self._send_str(topic) if qos > 0: @@ -202,7 +224,7 @@ class MQTTClient: pkt = bytearray(b"\x82\0\0\0") self.pid += 1 struct.pack_into("!BH", pkt, 1, 2 + 2 + len(topic) + 1, self.pid) - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt) self._send_str(topic) self.sock.write(qos.to_bytes(1, "little")) @@ -210,7 +232,7 @@ class MQTTClient: op = self.wait_msg() if op == 0x90: resp = self.sock.read(4) - #print(resp) + # print(resp) assert resp[1] == pkt[2] and resp[2] == pkt[3] if resp[3] == 0x80: raise MQTTException(resp[3]) @@ -227,12 +249,12 @@ class MQTTClient: return None if res == b"": raise OSError(-1) - if res == b"\xd0": # PINGRESP + if res == b"\xd0": # PINGRESP sz = self.sock.read(1)[0] assert sz == 0 return None op = res[0] - if op & 0xf0 != 0x30: + if op & 0xF0 != 0x30: return op sz = self._recv_len() topic_len = self.sock.read(2) diff --git a/boards/default/micropython_k210_mixgoai/build/lib/mixiot.py b/boards/default/micropython_k210_mixgoai/build/lib/mixiot.py index 8d37629d..7f00b07f 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/mixiot.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/mixiot.py @@ -7,33 +7,55 @@ import ujson as json from matcher import MQTTMatcher from machine import Timer -ADDITIONAL_TOPIC = 'b640a0ce465fa2a4150c36b305c1c11b' -WILL_TOPIC = '9d634e1a156dc0c1611eb4c3cff57276' +ADDITIONAL_TOPIC = "b640a0ce465fa2a4150c36b305c1c11b" +WILL_TOPIC = "9d634e1a156dc0c1611eb4c3cff57276" - -def init_MQTT_client(address, username, password,MQTT_USR_PRJ): + +def init_MQTT_client(address, username, password, MQTT_USR_PRJ): client = MQTTClient(hexlify(machine.unique_id()), address, 1883, username, password) - client.set_last_will(topic=MQTT_USR_PRJ+WILL_TOPIC, msg=client.client_id, qos=2) - if client.connect()==0: - client.publish(MQTT_USR_PRJ+ADDITIONAL_TOPIC, client.client_id, qos=1) - Timer(Timer.TIMER2,Timer.CHANNEL3,mode=Timer.MODE_PERIODIC,period = 10000, callback = lambda x : client.ping()) + client.set_last_will(topic=MQTT_USR_PRJ + WILL_TOPIC, msg=client.client_id, qos=2) + if client.connect() == 0: + client.publish(MQTT_USR_PRJ + ADDITIONAL_TOPIC, client.client_id, qos=1) + Timer( + Timer.TIMER2, + Timer.CHANNEL3, + mode=Timer.MODE_PERIODIC, + period=10000, + callback=lambda x: client.ping(), + ) return client + len_overrided = len + # Add by Mixly Team def len(object): if isinstance(object, str): - return len_overrided(object.encode('utf-8')) + return len_overrided(object.encode("utf-8")) else: return len_overrided(object) -##################################################### + + +##################################################### + class MQTTException(Exception): pass + class MQTTClient: - def __init__(self, client_id, server, port=0, username=None, password=None, keepalive=60, ssl=False, ssl_params={}): + def __init__( + self, + client_id, + server, + port=0, + username=None, + password=None, + keepalive=60, + ssl=False, + ssl_params={}, + ): if port == 0: port = 8883 if ssl else 1883 self.client_id = client_id @@ -42,11 +64,11 @@ class MQTTClient: self.ssl = ssl self.ssl_params = ssl_params self.pid = 0 - #self.cb = None + # self.cb = None self._on_message = None self.username = username self.password = password - #self.project = project + # self.project = project self.keepalive = keepalive self.lw_topic = None self.lw_msg = None @@ -63,7 +85,7 @@ class MQTTClient: sh = 0 while 1: b = self.sock.read(1)[0] - n |= (b & 0x7f) << sh + n |= (b & 0x7F) << sh if not b & 0x80: return n sh += 7 @@ -79,7 +101,7 @@ class MQTTClient: """ if mqtt_topic is None or callback_method is None: raise ValueError("MQTT topic and callback method must both be defined.") - self._on_message_filtered[MQTT_USR_PRJ+mqtt_topic] = callback_method + self._on_message_filtered[MQTT_USR_PRJ + mqtt_topic] = callback_method def remove_callback(self, mqtt_topic): """Removes a registered callback method. @@ -93,7 +115,7 @@ class MQTTClient: except KeyError: raise KeyError( "MQTT topic callback not added with add_topic_callback." - ) from None + ) from None @property def on_message(self): @@ -124,19 +146,20 @@ class MQTTClient: self.lw_msg = msg self.lw_qos = qos self.lw_retain = retain - + def connect(self, clean_session=True): self.sock = socket.socket() self.sock.connect(self.addr) print(self.addr) if self.ssl: import ussl + self.sock = ussl.wrap_socket(self.sock, **self.ssl_params) - msg_header=bytearray([0x10]) + msg_header = bytearray([0x10]) msg = bytearray(b"\x04MQTT\x04\x02\0\0") msg_length = 12 + len(self.client_id) msg[6] = clean_session << 1 - + if self.username is not None: msg_length += 2 + len(self.username) + 2 + len(self.password) msg[6] |= 0xC0 @@ -148,22 +171,22 @@ class MQTTClient: msg_length += 2 + len(self.lw_topic) + 2 + len(self.lw_msg) msg[6] |= 0x4 | (self.lw_qos & 0x1) << 3 | (self.lw_qos & 0x2) << 3 msg[6] |= self.lw_retain << 5 - + if msg_length > 0x7F: - while msg_length>0: + while msg_length > 0: encoded_byte = msg_length % 0x80 msg_length = msg_length // 0x80 if msg_length > 0: encoded_byte |= 0x80 - msg_header.append(encoded_byte) + msg_header.append(encoded_byte) msg_header.append(0x00) else: msg_header.append(msg_length) msg_header.append(0x00) - self.sock.write(msg_header) + self.sock.write(msg_header) self.sock.write(msg) - #print(hexlify(msg_header, ":"), hexlify(msg, ":")) + # print(hexlify(msg_header, ":"), hexlify(msg, ":")) self._send_str(self.client_id) if self.lw_topic: self._send_str(self.lw_topic) @@ -177,26 +200,25 @@ class MQTTClient: raise MQTTException(resp[3]) return resp[2] & 1 - - def disconnect(self,MQTT_USR_PRJ): - #MQTT_USR_PRJ = "{}/{}/".format(self.username,self.project) - self.publish(MQTT_USR_PRJ+WILL_TOPIC, self.client_id, qos=1) + def disconnect(self, MQTT_USR_PRJ): + # MQTT_USR_PRJ = "{}/{}/".format(self.username,self.project) + self.publish(MQTT_USR_PRJ + WILL_TOPIC, self.client_id, qos=1) self.sock.write(b"\xe0\0") self.sock.close() def ping(self): self.sock.write(b"\xc0\0") - + def pingSync(self): time.ticks_ms() self.ping() - for i in range(0,10): + for i in range(0, 10): msg = self.check_msg() if msg == "PINGRESP": return True time.sleep_ms(100) return False - + def publish(self, topic, msg, retain=False, qos=0): # msg = pubData(msg) if "+" in topic or "#" in topic: @@ -219,12 +241,12 @@ class MQTTClient: sz += 2 assert sz < 2097152 i = 1 - while sz > 0x7f: - pkt[i] = (sz & 0x7f) | 0x80 + while sz > 0x7F: + pkt[i] = (sz & 0x7F) | 0x80 sz >>= 7 i += 1 pkt[i] = sz - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt, i + 1) self._send_str(topic) if qos > 0: @@ -247,13 +269,13 @@ class MQTTClient: assert 0 def subscribe(self, topic, qos=0): - #assert self.cb is not None, "Subscribe callback is not set" + # assert self.cb is not None, "Subscribe callback is not set" pkt = bytearray(b"\x82\0\0\0") self.pid += 1 if isinstance(topic, str): - topic=topic.encode() + topic = topic.encode() struct.pack_into("!BH", pkt, 1, 2 + 2 + len(topic) + 1, self.pid) - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt) self._send_str(topic) self.sock.write(qos.to_bytes(1, "little")) @@ -261,7 +283,7 @@ class MQTTClient: op = self.wait_msg() if op == 0x90: resp = self.sock.read(4) - #print(resp) + # print(resp) assert resp[1] == pkt[2] and resp[2] == pkt[3] if resp[3] == 0x80: raise MQTTException(resp[3]) @@ -278,12 +300,12 @@ class MQTTClient: return None if res == b"": raise OSError(-1) - if res == b"\xd0": # PINGRESP + if res == b"\xd0": # PINGRESP sz = self.sock.read(1)[0] assert sz == 0 return "PINGRESP" op = res[0] - if op & 0xf0 != 0x30: + if op & 0xF0 != 0x30: return op sz = self._recv_len() topic_len = self.sock.read(2) @@ -296,7 +318,7 @@ class MQTTClient: sz -= 2 msg = self.sock.read(sz) self._handle_on_message(self, str(topic, "utf-8"), str(msg, "utf-8")) - #self.cb(topic.decode(), msg.decode()) + # self.cb(topic.decode(), msg.decode()) if op & 6 == 2: pkt = bytearray(b"\x40\x02\0\0") struct.pack_into("!H", pkt, 2, pid) @@ -309,4 +331,4 @@ class MQTTClient: # the same processing as wait_msg. def check_msg(self): self.sock.setblocking(False) - return self.wait_msg() \ No newline at end of file + return self.wait_msg() diff --git a/boards/default/micropython_k210_mixgoai/build/lib/mixly_tool.py b/boards/default/micropython_k210_mixgoai/build/lib/mixly_tool.py index e1b1d9c5..10b952d9 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/mixly_tool.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/mixly_tool.py @@ -1,25 +1,27 @@ import hashlib import os + def sha_file(f): if f not in set(os.listdir(".")): - return 'None:::sha_file_end' + return "None:::sha_file_end" else: sha = hashlib.sha256() - with open(f, encoding='utf-8') as fd: + with open(f, encoding="utf-8") as fd: file_buffer = fd.read(128).encode("utf-8") while len(file_buffer) > 0: sha.update(file_buffer) file_buffer = fd.read(128).encode("utf-8") h = sha.digest() - return ''.join(['%.2x' % i for i in h]) + ":::sha_file_end" + return "".join(["%.2x" % i for i in h]) + ":::sha_file_end" + def reload(mod): import sys + mod_name = mod.__name__ try: del sys.modules[mod_name] __import__(mod_name) except: pass - diff --git a/boards/default/micropython_k210_mixgoai/build/lib/mixpy.py b/boards/default/micropython_k210_mixgoai/build/lib/mixpy.py index 7aa9b9bc..0e11620d 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/mixpy.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/mixpy.py @@ -1,8 +1,9 @@ -#coding=utf-8 +# coding=utf-8 import math + def math_map(v, al, ah, bl, bh): - if al==ah: + if al == ah: return bl if al > ah: al, ah = ah, al @@ -12,19 +13,26 @@ def math_map(v, al, ah, bl, bh): v = al return bl + (bh - bl) * (v - al) / (ah - al) + def math_mean(myList): localList = [e for e in myList if type(e) == int or type(e) == float] - if not localList: return + if not localList: + return return float(sum(localList)) / len(localList) + def math_median(myList): localList = sorted([e for e in myList if type(e) == int or type(e) == float]) - if not localList: return + if not localList: + return if len(localList) % 2 == 0: - return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0 + return ( + localList[len(localList) // 2 - 1] + localList[len(localList) // 2] + ) / 2.0 else: return localList[(len(localList) - 1) // 2] + def math_modes(some_list): modes = [] # Using a lists of [item, count] to keep count rather than dict @@ -45,40 +53,48 @@ def math_modes(some_list): modes.append(counted_item) return modes + def math_standard_deviation(numbers): n = len(numbers) - if n == 0: return + if n == 0: + return mean = float(sum(numbers)) / n variance = sum((x - mean) ** 2 for x in numbers) / n return math.sqrt(variance) + def lists_sort(my_list, type, reverse): def try_float(s): try: return float(s) except: return 0 + key_funcs = { "NUMERIC": try_float, "TEXT": str, - "IGNORE_CASE": lambda s: str(s).lower() + "IGNORE_CASE": lambda s: str(s).lower(), } key_func = key_funcs[type] list_cpy = list(my_list) return sorted(list_cpy, key=key_func, reverse=reverse) + def format_content(mydict, cid): - if 'lat' in mydict and 'long' in mydict: - res = '{'+'"lat": "{}", "long": "{}", "clientid": "{}"'.format(mydict.pop('lat'),mydict.pop('long'),cid) - if len(mydict)>0: + if "lat" in mydict and "long" in mydict: + res = "{" + '"lat": "{}", "long": "{}", "clientid": "{}"'.format( + mydict.pop("lat"), mydict.pop("long"), cid + ) + if len(mydict) > 0: res += ', "message": [' for d in mydict: - res += '{{"label": "{}", "value": "{}"}},'.format(d,mydict[d]) + res += '{{"label": "{}", "value": "{}"}},'.format(d, mydict[d]) res = res[:-1] + "]" - res += '}' + res += "}" return res else: - print('Invalid Input') - + print("Invalid Input") + + def format_str(d): - return str(d).replace("'",'"') \ No newline at end of file + return str(d).replace("'", '"') diff --git a/boards/default/micropython_k210_mixgoai/build/lib/mpu9250.py b/boards/default/micropython_k210_mixgoai/build/lib/mpu9250.py index af2f89b0..8de406cf 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/mpu9250.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/mpu9250.py @@ -19,22 +19,23 @@ import ustruct import utime import time import math -#from machine import I2C, Pin + +# from machine import I2C, Pin # pylint: enable=import-error __version__ = "0.2.0" # pylint: disable=import-error # pylint: enable=import-error -_GYRO_CONFIG = const(0x1b) -_ACCEL_CONFIG = const(0x1c) -_ACCEL_CONFIG2 = const(0x1d) +_GYRO_CONFIG = const(0x1B) +_ACCEL_CONFIG = const(0x1C) +_ACCEL_CONFIG2 = const(0x1D) _INT_PIN_CFG = const(0x37) -_ACCEL_XOUT_H = const(0x3b) -_ACCEL_XOUT_L = const(0x3c) -_ACCEL_YOUT_H = const(0x3d) -_ACCEL_YOUT_L = const(0x3e) -_ACCEL_ZOUT_H = const(0x3f) -_ACCEL_ZOUT_L= const(0x40) +_ACCEL_XOUT_H = const(0x3B) +_ACCEL_XOUT_L = const(0x3C) +_ACCEL_YOUT_H = const(0x3D) +_ACCEL_YOUT_L = const(0x3E) +_ACCEL_ZOUT_H = const(0x3F) +_ACCEL_ZOUT_L = const(0x40) _TEMP_OUT_H = const(0x41) _TEMP_OUT_L = const(0x42) _GYRO_XOUT_H = const(0x43) @@ -45,18 +46,18 @@ _GYRO_ZOUT_H = const(0x47) _GYRO_ZOUT_L = const(0x48) _WHO_AM_I = const(0x75) -#_ACCEL_FS_MASK = const(0b00011000) +# _ACCEL_FS_MASK = const(0b00011000) ACCEL_FS_SEL_2G = const(0b00000000) ACCEL_FS_SEL_4G = const(0b00001000) ACCEL_FS_SEL_8G = const(0b00010000) ACCEL_FS_SEL_16G = const(0b00011000) -_ACCEL_SO_2G = 16384 # 1 / 16384 ie. 0.061 mg / digit -_ACCEL_SO_4G = 8192 # 1 / 8192 ie. 0.122 mg / digit -_ACCEL_SO_8G = 4096 # 1 / 4096 ie. 0.244 mg / digit -_ACCEL_SO_16G = 2048 # 1 / 2048 ie. 0.488 mg / digit +_ACCEL_SO_2G = 16384 # 1 / 16384 ie. 0.061 mg / digit +_ACCEL_SO_4G = 8192 # 1 / 8192 ie. 0.122 mg / digit +_ACCEL_SO_8G = 4096 # 1 / 4096 ie. 0.244 mg / digit +_ACCEL_SO_16G = 2048 # 1 / 2048 ie. 0.488 mg / digit -#_GYRO_FS_MASK = const(0b00011000) +# _GYRO_FS_MASK = const(0b00011000) GYRO_FS_SEL_250DPS = const(0b00000000) GYRO_FS_SEL_500DPS = const(0b00001000) GYRO_FS_SEL_1000DPS = const(0b00010000) @@ -73,9 +74,9 @@ _I2C_BYPASS_EN = const(0b00000010) _I2C_BYPASS_DIS = const(0b00000000) SF_G = 1 -SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity +SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity SF_DEG_S = 1 -SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s +SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s _WIA = const(0x00) @@ -86,15 +87,15 @@ _HYH = const(0x06) _HZL = const(0x07) _HZH = const(0x08) _ST2 = const(0x09) -_CNTL1 = const(0x0a) +_CNTL1 = const(0x0A) _ASAX = const(0x10) _ASAY = const(0x11) _ASAZ = const(0x12) _MODE_POWER_DOWN = 0b00000000 MODE_SINGLE_MEASURE = 0b00000001 -MODE_CONTINOUS_MEASURE_1 = 0b00000010 # 8Hz -MODE_CONTINOUS_MEASURE_2 = 0b00000110 # 100Hz +MODE_CONTINOUS_MEASURE_1 = 0b00000010 # 8Hz +MODE_CONTINOUS_MEASURE_2 = 0b00000110 # 100Hz MODE_EXTERNAL_TRIGGER_MEASURE = 0b00000100 _MODE_SELF_TEST = 0b00001000 _MODE_FUSE_ROM_ACCESS = 0b00001111 @@ -102,15 +103,21 @@ _MODE_FUSE_ROM_ACCESS = 0b00001111 OUTPUT_14_BIT = 0b00000000 OUTPUT_16_BIT = 0b00010000 -_SO_14BIT = 0.6 # 渭T per digit when 14bit mode -_SO_16BIT = 0.15 # 渭T per digit when 16bit mode +_SO_14BIT = 0.6 # 渭T per digit when 14bit mode +_SO_16BIT = 0.15 # 渭T per digit when 16bit mode + class MPU6500: """Class which provides interface to MPU6500 6-axis motion tracking device.""" + def __init__( - self, i2c, address=0x68, - accel_fs=ACCEL_FS_SEL_2G, gyro_fs=GYRO_FS_SEL_250DPS, - accel_sf=SF_M_S2, gyro_sf=SF_RAD_S + self, + i2c, + address=0x68, + accel_fs=ACCEL_FS_SEL_2G, + gyro_fs=GYRO_FS_SEL_250DPS, + accel_sf=SF_M_S2, + gyro_sf=SF_RAD_S, ): self.i2c = i2c self.address = address @@ -125,15 +132,15 @@ class MPU6500: # Enable I2C bypass to access for MPU9250 magnetometer access. char = self._register_char(_INT_PIN_CFG) - char &= ~_I2C_BYPASS_MASK # clear I2C bits + char &= ~_I2C_BYPASS_MASK # clear I2C bits char |= _I2C_BYPASS_EN self._register_char(_INT_PIN_CFG, char) - + @property def temperature(self): - tempbuf=self._register_short(0x41) - return tempbuf/333.87 + 21 # I think - + tempbuf = self._register_short(0x41) + return tempbuf / 333.87 + 21 # I think + # @property def acceleration(self): """ @@ -161,7 +168,7 @@ class MPU6500: @property def whoami(self): - """ Value of the whoami register. """ + """Value of the whoami register.""" return self._register_char(_WHO_AM_I) def _register_short(self, register, value=None, buf=bytearray(2)): @@ -216,12 +223,18 @@ class MPU6500: def __exit__(self, exception_type, exception_value, traceback): pass + class AK8963: """Class which provides interface to AK8963 magnetometer.""" + def __init__( - self, i2c, address=0x0c, - mode=MODE_CONTINOUS_MEASURE_1, output=OUTPUT_16_BIT, - offset=(0, 0, 0), scale=(1, 1, 1) + self, + i2c, + address=0x0C, + mode=MODE_CONTINOUS_MEASURE_1, + output=OUTPUT_16_BIT, + offset=(0, 0, 0), + scale=(1, 1, 1), ): self.i2c = i2c self.address = address @@ -242,7 +255,7 @@ class AK8963: self._adjustement = ( (0.5 * (asax - 128)) / 128 + 1, (0.5 * (asay - 128)) / 128 + 1, - (0.5 * (asaz - 128)) / 128 + 1 + (0.5 * (asaz - 128)) / 128 + 1, ) # Power on @@ -252,15 +265,14 @@ class AK8963: self._so = _SO_16BIT else: self._so = _SO_14BIT - - + @property def magnetic(self): """ X, Y, Z axis micro-Tesla (uT) as floats. """ xyz = list(self._register_three_shorts(_HXL)) - self._register_char(_ST2) # Enable updating readings again + self._register_char(_ST2) # Enable updating readings again # Apply factory axial sensitivy adjustements xyz[0] *= self._adjustement[0] @@ -291,7 +303,7 @@ class AK8963: @property def whoami(self): - """ Value of the whoami register. """ + """Value of the whoami register.""" return self._register_char(_WIA) def calibrate(self, count=3, delay=200): @@ -314,7 +326,6 @@ class AK8963: maxz = max(maxz, reading[2]) count -= 1 - # Hard iron correction offset_x = (maxx + minx) / 2 offset_y = (maxy + miny) / 2 @@ -362,11 +373,12 @@ class AK8963: def __exit__(self, exception_type, exception_value, traceback): pass - + class MPU9250: """Class which provides interface to MPU9250 9-axis motion tracking device.""" - def __init__(self, i2c, mpu6500 = None, ak8963 = None): + + def __init__(self, i2c, mpu6500=None, ak8963=None): if mpu6500 is None: self.mpu6500 = MPU6500(i2c) else: @@ -386,8 +398,8 @@ class MPU9250: # """ # return self.mpu6500.acceleration def mpu9250_get_temperature(self): - return self.mpu6500.temperature - + return self.mpu6500.temperature + def mpu9250_get_values(self): """ Acceleration measured by the sensor. By default will return a @@ -395,7 +407,7 @@ class MPU9250: pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ g = self.mpu6500.acceleration() - a = [round(x/9.8, 2) for x in g] + a = [round(x / 9.8, 2) for x in g] return tuple(a) def mpu9250_get_x(self): @@ -404,15 +416,15 @@ class MPU9250: 3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ - return round(self.mpu6500.acceleration()[0]/9.8, 2) - + return round(self.mpu6500.acceleration()[0] / 9.8, 2) + def mpu9250_get_y(self): """ Acceleration measured by the sensor. By default will return a 3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ - return round(self.mpu6500.acceleration()[1]/9.8, 2) + return round(self.mpu6500.acceleration()[1] / 9.8, 2) def mpu9250_get_z(self): """ @@ -420,45 +432,47 @@ class MPU9250: 3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ - return round(self.mpu6500.acceleration()[2]/9.8, 2) + return round(self.mpu6500.acceleration()[2] / 9.8, 2) - - def mpu9250_is_gesture(self,choice): - if choice == 'face up': - if self.mpu6500.acceleration()[2] <= -9: - return True - else: - return False - if choice == 'face down': - if self.mpu6500.acceleration()[2] >= 9: - return True - else: - return False - if choice == 'shake': - if abs(self.mpu6500.acceleration()[0]) >= 9 and abs(self.mpu6500.acceleration()[1]) >= 9 : - return True - else: - return False - if choice == 'up': - if self.mpu6500.acceleration()[1] >= 9: - return True - else: - return False - if choice == 'down': - if self.mpu6500.acceleration()[1] <= -9: - return True - else: - return False - if choice == 'right': - if self.mpu6500.acceleration()[0] <= -9: - return True - else: - return False - if choice == 'left': - if self.mpu6500.acceleration()[0] >= 9: - return True - else: - return False + def mpu9250_is_gesture(self, choice): + if choice == "face up": + if self.mpu6500.acceleration()[2] <= -9: + return True + else: + return False + if choice == "face down": + if self.mpu6500.acceleration()[2] >= 9: + return True + else: + return False + if choice == "shake": + if ( + abs(self.mpu6500.acceleration()[0]) >= 9 + and abs(self.mpu6500.acceleration()[1]) >= 9 + ): + return True + else: + return False + if choice == "up": + if self.mpu6500.acceleration()[1] >= 9: + return True + else: + return False + if choice == "down": + if self.mpu6500.acceleration()[1] <= -9: + return True + else: + return False + if choice == "right": + if self.mpu6500.acceleration()[0] <= -9: + return True + else: + return False + if choice == "left": + if self.mpu6500.acceleration()[0] >= 9: + return True + else: + return False @property def mpu9250_gyro(self): @@ -499,23 +513,27 @@ class MPU9250: def mpu9250_magnetic_values(self): return self.mpu9250_magnetic - + # @property def mpu9250_get_field_strength(self): - x=self.mpu9250_magnetic[0] - y=self.mpu9250_magnetic[1] - z=self.mpu9250_magnetic[2] - return (x**2+y**2+z**2)**0.5*1000 + x = self.mpu9250_magnetic[0] + y = self.mpu9250_magnetic[1] + z = self.mpu9250_magnetic[2] + return (x**2 + y**2 + z**2) ** 0.5 * 1000 def mpu9250_heading(self): - x=self.mpu9250_magnetic[0] - y=self.mpu9250_magnetic[1] - z=self.mpu9250_magnetic[2] - a=math.atan(z/x) - b=math.atan(z/y) - xr=x*math.cos(a)+y*math.sin(a)*math.sin(b)-z*math.cos(b)*math.sin(a) - yr=x*math.cos(b)+z*math.sin(b) - return 60*math.atan(yr/xr) + x = self.mpu9250_magnetic[0] + y = self.mpu9250_magnetic[1] + z = self.mpu9250_magnetic[2] + a = math.atan(z / x) + b = math.atan(z / y) + xr = ( + x * math.cos(a) + + y * math.sin(a) * math.sin(b) + - z * math.cos(b) * math.sin(a) + ) + yr = x * math.cos(b) + z * math.sin(b) + return 60 * math.atan(yr / xr) @property def whoami(self): @@ -527,6 +545,7 @@ class MPU9250: def __exit__(self, exception_type, exception_value, traceback): pass + class Compass: RAD_TO_DEG = 57.295779513082320876798154814105 @@ -547,20 +566,23 @@ class Compass: def heading(self): from math import atan2 + xyz = self.sensor.mpu9250_magnetic return int(((atan2(xyz[1], xyz[0]) * Compass.RAD_TO_DEG) + 180) % 360) - def is_calibrate(self): try: import compass_cfg + return True except Exception as e: return False def reset_calibrate(self): import os + os.remove("compass_cfg.py") + + # compass = mpu # accelerometer = mpu - diff --git a/boards/default/micropython_k210_mixgoai/build/lib/ms32006.py b/boards/default/micropython_k210_mixgoai/build/lib/ms32006.py index 98be9f41..3d7cbfed 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/ms32006.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/ms32006.py @@ -8,135 +8,136 @@ Micropython library for the MS32006 step diever dahanzimin From the Mixly Team """ + import time from micropython import const -MS32006_REG_RESET = const(0x00) #复位 -MS32006_FCLK = const(25000000) #芯片输入时钟选择，此参数与运动速度有关。 范围是：5-30MHZ +MS32006_REG_RESET = const(0x00) # 复位 +MS32006_FCLK = const( + 25000000 +) # 芯片输入时钟选择，此参数与运动速度有关。 范围是：5-30MHZ + +ADDRESS_A = 0x10 +ADDRESS_B = 0x18 +MOT_FULL = 0 +MOT_HALF = 1 +MOT_A = 0 +MOT_B = 4 +MOT_N = 0 +MOT_CW = 1 +MOT_CCW = 2 +MOT_P = 3 + -ADDRESS_A = 0x10 -ADDRESS_B = 0x18 -MOT_FULL = 0 -MOT_HALF = 1 -MOT_A = 0 -MOT_B = 4 -MOT_N = 0 -MOT_CW = 1 -MOT_CCW = 2 -MOT_P = 3 class MS32006: - _buffer = bytearray(2) + _buffer = bytearray(2) - def __init__(self, i2c_bus,addr=ADDRESS_A,mode=MOT_FULL): - self._device = i2c_bus - self._address = addr - self.reset() - self.mode=mode - + def __init__(self, i2c_bus, addr=ADDRESS_A, mode=MOT_FULL): + self._device = i2c_bus + self._address = addr + self.reset() + self.mode = mode - def _read_u8(self, address): - self._buffer[0] = address & 0xFF - self._device.writeto(self._address,self._buffer) - self._device.readfrom_into(self._address,self._buffer) - return self._buffer[0] - - def _write_u8(self, address, val): - self._buffer[0] = address & 0xFF - self._buffer[1] = val & 0xFF - self._device.writeto(self._address,self._buffer) + def _read_u8(self, address): + self._buffer[0] = address & 0xFF + self._device.writeto(self._address, self._buffer) + self._device.readfrom_into(self._address, self._buffer) + return self._buffer[0] - def reset(self): - self._write_u8(MS32006_REG_RESET,0x00) - time.sleep(0.1) - self._write_u8(MS32006_REG_RESET,0xC1) - - def move(self,moto,mot_dir,mot_pps,mot_step): - readstate_0H = self._read_u8(0x00) - readstate_9H = self._read_u8(0x09) - speed_data=MS32006_FCLK//mot_pps//128 #设置速度 xx pps 128是固定参数 - - if speed_data<32: #限定转速 - speed_data=32 - elif speed_data>16383: - speed_data=16383 - - mot_speed_l=speed_data&0x00ff #取低8位 - mot_speed_h=speed_data//0x100 #取高6位 - - if self.mode==MOT_FULL: #设置整步、半步驱动模式 - mot_speed_h|=0x80 - else: - mot_speed_h&=0x7f - - if mot_step>2047: - raise AttributeError("Reach the set upper limit, up to 2047 step") - - mot_step_l=mot_step&0x00ff - mot_step_h=mot_step//0x100 - mot_step_h|=0x80 - - if mot_dir==MOT_CW: - mot_step_h&=0xBF - else: - mot_step_h|=0x40 - self._write_u8(0x01+moto,mot_speed_l) - self._write_u8(0x02+moto,mot_speed_h) - self._write_u8(0x03+moto,mot_step_l) - self._write_u8(0x04+moto,mot_step_h) - - if moto==MOT_A: - self._write_u8(0x00, readstate_0H&0xfb) - self._write_u8(0x09, readstate_9H|0x80) - else: - self._write_u8(0x00, readstate_0H&0xfd) - self._write_u8(0x09, readstate_9H|0x40) - - def close(self,moto): #停止并关闭输出 - if moto==MOT_A: - self._write_u8(0x04,0x00) - else: - self._write_u8(0x08,0x00) + def _write_u8(self, address, val): + self._buffer[0] = address & 0xFF + self._buffer[1] = val & 0xFF + self._device.writeto(self._address, self._buffer) - def stop(self,moto): #此停止函数，强制让电机停止 - readstate = self._read_u8(0x00) - if moto==MOT_A: - self._write_u8(0x00,readstate|0x04) - else: - self._write_u8(0x00,readstate|0x02) - - def readstep(self,moto): #读取电机运动步数 - if moto==MOT_A: - rdb =self._read_u8(0x0b) - rdc =self._read_u8(0x0c) - else: - rdb =self._read_u8(0x0d) - rdc =self._read_u8(0x0e) - return (rdb*0x100+rdc)&0xfff + def reset(self): + self._write_u8(MS32006_REG_RESET, 0x00) + time.sleep(0.1) + self._write_u8(MS32006_REG_RESET, 0xC1) - def readbusy(self,moto): #读取电机缓存是否有数据 - if moto==MOT_A: - busy =(self._read_u8(0x0b)>>6)&1 - else: - busy =(self._read_u8(0x0d)>>6)&1 - return bool(busy) - - def readwork(self,moto): #读取电机是否在运行 - if moto==MOT_A: - busy =(self._read_u8(0x0b)>>4)&1 - else: - busy =(self._read_u8(0x0d)>>4)&1 - return bool(busy) - - def dc_motor(self,state,speed): #直流电机驱动 - if (state==MOT_CW) | (state==MOT_CCW) : - speed_st=speed*127//100 |0x80 - self._write_u8(0x0A,speed_st) - - readstate = self._read_u8(0x09) & 0xA0 - state_st=(state<<2) | 0X03 | readstate - self._write_u8(0x09,state_st) - - - \ No newline at end of file + def move(self, moto, mot_dir, mot_pps, mot_step): + readstate_0H = self._read_u8(0x00) + readstate_9H = self._read_u8(0x09) + speed_data = MS32006_FCLK // mot_pps // 128 # 设置速度 xx pps 128是固定参数 + + if speed_data < 32: # 限定转速 + speed_data = 32 + elif speed_data > 16383: + speed_data = 16383 + + mot_speed_l = speed_data & 0x00FF # 取低8位 + mot_speed_h = speed_data // 0x100 # 取高6位 + + if self.mode == MOT_FULL: # 设置整步、半步驱动模式 + mot_speed_h |= 0x80 + else: + mot_speed_h &= 0x7F + + if mot_step > 2047: + raise AttributeError("Reach the set upper limit, up to 2047 step") + + mot_step_l = mot_step & 0x00FF + mot_step_h = mot_step // 0x100 + mot_step_h |= 0x80 + + if mot_dir == MOT_CW: + mot_step_h &= 0xBF + else: + mot_step_h |= 0x40 + self._write_u8(0x01 + moto, mot_speed_l) + self._write_u8(0x02 + moto, mot_speed_h) + self._write_u8(0x03 + moto, mot_step_l) + self._write_u8(0x04 + moto, mot_step_h) + + if moto == MOT_A: + self._write_u8(0x00, readstate_0H & 0xFB) + self._write_u8(0x09, readstate_9H | 0x80) + else: + self._write_u8(0x00, readstate_0H & 0xFD) + self._write_u8(0x09, readstate_9H | 0x40) + + def close(self, moto): # 停止并关闭输出 + if moto == MOT_A: + self._write_u8(0x04, 0x00) + else: + self._write_u8(0x08, 0x00) + + def stop(self, moto): # 此停止函数，强制让电机停止 + readstate = self._read_u8(0x00) + if moto == MOT_A: + self._write_u8(0x00, readstate | 0x04) + else: + self._write_u8(0x00, readstate | 0x02) + + def readstep(self, moto): # 读取电机运动步数 + if moto == MOT_A: + rdb = self._read_u8(0x0B) + rdc = self._read_u8(0x0C) + else: + rdb = self._read_u8(0x0D) + rdc = self._read_u8(0x0E) + return (rdb * 0x100 + rdc) & 0xFFF + + def readbusy(self, moto): # 读取电机缓存是否有数据 + if moto == MOT_A: + busy = (self._read_u8(0x0B) >> 6) & 1 + else: + busy = (self._read_u8(0x0D) >> 6) & 1 + return bool(busy) + + def readwork(self, moto): # 读取电机是否在运行 + if moto == MOT_A: + busy = (self._read_u8(0x0B) >> 4) & 1 + else: + busy = (self._read_u8(0x0D) >> 4) & 1 + return bool(busy) + + def dc_motor(self, state, speed): # 直流电机驱动 + if (state == MOT_CW) | (state == MOT_CCW): + speed_st = speed * 127 // 100 | 0x80 + self._write_u8(0x0A, speed_st) + + readstate = self._read_u8(0x09) & 0xA0 + state_st = (state << 2) | 0x03 | readstate + self._write_u8(0x09, state_st) diff --git a/boards/default/micropython_k210_mixgoai/build/lib/net_espat.py b/boards/default/micropython_k210_mixgoai/build/lib/net_espat.py index a196fe7a..5b8d1f03 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/net_espat.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/net_espat.py @@ -1,30 +1,31 @@ -import network,time,board +import network, time, board from machine import UART import time -def wifi_init(RX_Pin,TX_Pin): - board.register(TX_Pin,board.FPIOA.UART2_TX) - board.register(RX_Pin,board.FPIOA.UART2_RX) - - uart = UART(UART.UART2,115200,timeout=1000, read_buf_len=1024*16) - T1=time.ticks_ms() - while True: - tmp=uart.read() - if tmp: - if tmp.endswith("OK\r\n"): - break - else: - uart.write("AT+RST\r\n") - time.sleep_ms(20) - if time.ticks_diff(time.ticks_ms(), T1) >2000: - raise AttributeError("ESP-AT not connected or needs to be reset") - try: - nic = network.ESP8285(uart) - time.sleep(1) - print("ESP-AT OK") - return nic - except Exception: - raise AttributeError("ESP-AT Connection Failed") + +def wifi_init(RX_Pin, TX_Pin): + board.register(TX_Pin, board.FPIOA.UART2_TX) + board.register(RX_Pin, board.FPIOA.UART2_RX) + + uart = UART(UART.UART2, 115200, timeout=1000, read_buf_len=1024 * 16) + T1 = time.ticks_ms() + while True: + tmp = uart.read() + if tmp: + if tmp.endswith("OK\r\n"): + break + else: + uart.write("AT+RST\r\n") + time.sleep_ms(20) + if time.ticks_diff(time.ticks_ms(), T1) > 2000: + raise AttributeError("ESP-AT not connected or needs to be reset") + try: + nic = network.ESP8285(uart) + time.sleep(1) + print("ESP-AT OK") + return nic + except Exception: + raise AttributeError("ESP-AT Connection Failed") def wifi_deal_ap_info(info): @@ -40,9 +41,9 @@ def wifi_deal_ap_info(info): res.append(info_one) return res -def scans(nic): - ap_info = nic.scan() - ap_info = wifi_deal_ap_info(ap_info) - ap_info.sort(key=lambda x:x[2], reverse=True) - return ap_info +def scans(nic): + ap_info = nic.scan() + ap_info = wifi_deal_ap_info(ap_info) + ap_info.sort(key=lambda x: x[2], reverse=True) + return ap_info diff --git a/boards/default/micropython_k210_mixgoai/build/lib/pid.py b/boards/default/micropython_k210_mixgoai/build/lib/pid.py index 522165ea..89f3eef1 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/pid.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/pid.py @@ -1,16 +1,18 @@ import time from math import pi, isnan + class PID: _kp = _ki = _kd = _integrator = _imax = 0 _last_error = _last_derivative = _last_t = 0 - _RC = 1/(2 * pi * 20) + _RC = 1 / (2 * pi * 20) + def __init__(self, p=0, i=0, d=0, imax=0): self._kp = float(p) self._ki = float(i) self._kd = float(d) self._imax = abs(imax) - self._last_derivative = float('nan') + self._last_derivative = float("nan") def get_pid(self, error, scaler): tnow = time.ticks_ms() @@ -28,19 +30,23 @@ class PID: self._last_derivative = 0 else: derivative = (error - self._last_error) / delta_time - derivative = self._last_derivative + \ - ((delta_time / (self._RC + delta_time)) * \ - (derivative - self._last_derivative)) + derivative = self._last_derivative + ( + (delta_time / (self._RC + delta_time)) + * (derivative - self._last_derivative) + ) self._last_error = error self._last_derivative = derivative output += self._kd * derivative output *= scaler if abs(self._ki) > 0 and dt > 0: self._integrator += (error * self._ki) * scaler * delta_time - if self._integrator < -self._imax: self._integrator = -self._imax - elif self._integrator > self._imax: self._integrator = self._imax + if self._integrator < -self._imax: + self._integrator = -self._imax + elif self._integrator > self._imax: + self._integrator = self._imax output += self._integrator return output + def reset_I(self): self._integrator = 0 - self._last_derivative = float('nan') + self._last_derivative = float("nan") diff --git a/boards/default/micropython_k210_mixgoai/build/lib/player.py b/boards/default/micropython_k210_mixgoai/build/lib/player.py index 3d6158eb..50b87074 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/player.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/player.py @@ -1,128 +1,151 @@ import board -import audio,video +import audio, video from Maix import I2S import gc - -spk_b=None -spk_d=None -spk_w=None -def spk_init(BLK=8,WS=9,DAT=10,sample_rate=16000): - global spk_b - global spk_d - global spk_w - spk_b=BLK - spk_d=DAT - spk_w=WS - board.register(DAT,board.FPIOA.I2S0_OUT_D1) - board.register(BLK,board.FPIOA.I2S0_SCLK) - board.register(WS,board.FPIOA.I2S0_WS) - wav_dev = I2S(I2S.DEVICE_0) - wav_dev.channel_config(I2S.CHANNEL_1, I2S.TRANSMITTER,resolution = I2S.RESOLUTION_16_BIT, cycles = I2S.SCLK_CYCLES_32, align_mode = I2S.STANDARD_MODE) - wav_dev.set_sample_rate(sample_rate) - spk_rep=wav_dev - return wav_dev - -def mic_init(BLK=35,WS=33,DAT=34,sample_rate=16000): - board.register(DAT,board.FPIOA.I2S2_IN_D0) - board.register(BLK,board.FPIOA.I2S2_SCLK) - board.register(WS,board.FPIOA.I2S2_WS) - wav_dev = I2S(I2S.DEVICE_2) - wav_dev.channel_config(I2S.CHANNEL_0, I2S.RECEIVER, resolution = I2S.RESOLUTION_16_BIT, cycles = I2S.SCLK_CYCLES_32, align_mode=I2S.STANDARD_MODE) - wav_dev.set_sample_rate(sample_rate) - return wav_dev +spk_b = None +spk_d = None +spk_w = None -def audio_play(I2S,path,num=80): - try: - player = audio.Audio(path=path) - except Exception as e: - raise NameError("No audio file loaded or {}".format(e)) - player.volume(num) - wav_info=player.play_process(I2S) - I2S.set_sample_rate(wav_info[1]) - while True: - ret = player.play() - if ret == None: - print("Format Error") - break - elif ret == 0: - print("Play end \n") - player.finish() - break - player.__deinit__() - gc.collect() - -def audio_record(I2S,path,record_time,sample_rate=16000): - try: - recorder = audio.Audio(path=path, is_create=True, samplerate=sample_rate) - except Exception as e: - raise NameError("Need audio storage location or {}".format(e)) - queue = [] - frame_cnt = record_time*sample_rate//2048 - for i in range(frame_cnt): - tmp = I2S.record(2048*2) - if len(queue) > 0: - ret = recorder.record(queue[0]) - queue.pop(0) - I2S.wait_record() - queue.append(tmp) - print("record:{}s".format(round(((frame_cnt-i-1)/7.7) ,1))) - recorder.finish() - recorder.__deinit__() - del recorder - print("Audio record finish \n") - gc.collect() - - -def video_play(I2S1,path,num=80): - try: - global spk_b - global spk_d - global spk_w - import lcd - lcd.init() - I2S=spk_init(spk_b,spk_w,spk_d) - vide = video.open(path) - except Exception as e: - raise NameError("No video file loaded or {}".format(e)) - vide.volume(num) - while True: - try: - ret = vide.play() - except Exception as e: - raise NameError("Video format error or {}".format(e)) - if ret == None: - print("Format Error") - break - elif ret == 0: - print("Play end \n") - break - vide.__del__() - del vide - del I2S - gc.collect() +def spk_init(BLK=8, WS=9, DAT=10, sample_rate=16000): + global spk_b + global spk_d + global spk_w + spk_b = BLK + spk_d = DAT + spk_w = WS + board.register(DAT, board.FPIOA.I2S0_OUT_D1) + board.register(BLK, board.FPIOA.I2S0_SCLK) + board.register(WS, board.FPIOA.I2S0_WS) + wav_dev = I2S(I2S.DEVICE_0) + wav_dev.channel_config( + I2S.CHANNEL_1, + I2S.TRANSMITTER, + resolution=I2S.RESOLUTION_16_BIT, + cycles=I2S.SCLK_CYCLES_32, + align_mode=I2S.STANDARD_MODE, + ) + wav_dev.set_sample_rate(sample_rate) + spk_rep = wav_dev + return wav_dev -def video_record(I2S,path,record_time): - import sensor,lcd - lcd.init() - try: - v = video.open(path, audio=False, record=True, interval=200000, quality=80,width=240, height=240) - except Exception as e: - raise NameError("Need video storage location or {}".format(e)) - record_time=record_time*5 - for i in range(record_time): - try: - img = sensor.snapshot() - except : - raise NameError("Need to initialize camera") - lcd.display(img) - v.record(img) - print("record {}s".format(round((record_time-i-1)*0.2,1))) - v.record_finish() - print("Video record finish \n") - v.__del__() - gc.collect() - +def mic_init(BLK=35, WS=33, DAT=34, sample_rate=16000): + board.register(DAT, board.FPIOA.I2S2_IN_D0) + board.register(BLK, board.FPIOA.I2S2_SCLK) + board.register(WS, board.FPIOA.I2S2_WS) + wav_dev = I2S(I2S.DEVICE_2) + wav_dev.channel_config( + I2S.CHANNEL_0, + I2S.RECEIVER, + resolution=I2S.RESOLUTION_16_BIT, + cycles=I2S.SCLK_CYCLES_32, + align_mode=I2S.STANDARD_MODE, + ) + wav_dev.set_sample_rate(sample_rate) + return wav_dev + +def audio_play(I2S, path, num=80): + try: + player = audio.Audio(path=path) + except Exception as e: + raise NameError("No audio file loaded or {}".format(e)) + player.volume(num) + wav_info = player.play_process(I2S) + I2S.set_sample_rate(wav_info[1]) + while True: + ret = player.play() + if ret == None: + print("Format Error") + break + elif ret == 0: + print("Play end \n") + player.finish() + break + player.__deinit__() + gc.collect() + + +def audio_record(I2S, path, record_time, sample_rate=16000): + try: + recorder = audio.Audio(path=path, is_create=True, samplerate=sample_rate) + except Exception as e: + raise NameError("Need audio storage location or {}".format(e)) + queue = [] + frame_cnt = record_time * sample_rate // 2048 + for i in range(frame_cnt): + tmp = I2S.record(2048 * 2) + if len(queue) > 0: + ret = recorder.record(queue[0]) + queue.pop(0) + I2S.wait_record() + queue.append(tmp) + print("record:{}s".format(round(((frame_cnt - i - 1) / 7.7), 1))) + recorder.finish() + recorder.__deinit__() + del recorder + print("Audio record finish \n") + gc.collect() + + +def video_play(I2S1, path, num=80): + try: + global spk_b + global spk_d + global spk_w + import lcd + + lcd.init() + I2S = spk_init(spk_b, spk_w, spk_d) + vide = video.open(path) + except Exception as e: + raise NameError("No video file loaded or {}".format(e)) + vide.volume(num) + while True: + try: + ret = vide.play() + except Exception as e: + raise NameError("Video format error or {}".format(e)) + if ret == None: + print("Format Error") + break + elif ret == 0: + print("Play end \n") + break + vide.__del__() + del vide + del I2S + gc.collect() + + +def video_record(I2S, path, record_time): + import sensor, lcd + + lcd.init() + try: + v = video.open( + path, + audio=False, + record=True, + interval=200000, + quality=80, + width=240, + height=240, + ) + except Exception as e: + raise NameError("Need video storage location or {}".format(e)) + record_time = record_time * 5 + for i in range(record_time): + try: + img = sensor.snapshot() + except: + raise NameError("Need to initialize camera") + lcd.display(img) + v.record(img) + print("record {}s".format(round((record_time - i - 1) * 0.2, 1))) + v.record_finish() + print("Video record finish \n") + v.__del__() + gc.collect() diff --git a/boards/default/micropython_k210_mixgoai/build/lib/reset.py b/boards/default/micropython_k210_mixgoai/build/lib/reset.py index d478ca73..3acbc000 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/reset.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/reset.py @@ -1,33 +1,35 @@ try: - import image - image.font_free() + import image + + image.font_free() except: pass try: - import lcd,time,gc,machine - - lcd.init(color=0x0000) - lcd.draw_string(48,100, "Welcome to MixGo!", lcd.YELLOW, lcd.BLACK) - lcd.draw_string(62,132, "loading .", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ..", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ...", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ....", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading .....", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ......", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading .......", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.clear(0x0000) - del time - del lcd - del gc - + import lcd, time, gc, machine + + lcd.init(color=0x0000) + lcd.draw_string(48, 100, "Welcome to MixGo!", lcd.YELLOW, lcd.BLACK) + lcd.draw_string(62, 132, "loading .", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ..", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ...", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ....", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading .....", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ......", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading .......", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.clear(0x0000) + del time + del lcd + del gc + finally: - import gc - gc.collect() + import gc + + gc.collect() diff --git a/boards/default/micropython_k210_mixgoai/build/lib/servo.py b/boards/default/micropython_k210_mixgoai/build/lib/servo.py index aa8698ba..323be387 100644 --- a/boards/default/micropython_k210_mixgoai/build/lib/servo.py +++ b/boards/default/micropython_k210_mixgoai/build/lib/servo.py @@ -2,6 +2,8 @@ import math import ustruct import time + + class PCA9685: def __init__(self, i2c, address=0x40): self.i2c = i2c @@ -15,25 +17,25 @@ class PCA9685: return self.i2c.readfrom_mem(self.address, address, 1)[0] def reset(self): - self._write(0x00, 0x00) # Mode1 + self._write(0x00, 0x00) # Mode1 def freq(self, freq=None): if freq is None: - return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5)) + return int(25000000.0 / 4096 / (self._read(0xFE) - 0.5)) prescale = int(25000000.0 / 4096.0 / freq + 0.5) - old_mode = self._read(0x00) # Mode 1 - self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep - self._write(0xfe, prescale) # Prescale - self._write(0x00, old_mode) # Mode 1 + old_mode = self._read(0x00) # Mode 1 + self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep + self._write(0xFE, prescale) # Prescale + self._write(0x00, old_mode) # Mode 1 time.sleep_us(5) - self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on + self._write(0x00, old_mode | 0xA1) # Mode 1, autoincrement on def pwm(self, index, on=None, off=None): if on is None or off is None: data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4) - return ustruct.unpack('h', origin_data)[0] + origin_value = unp(">h", origin_data)[0] value = -46.85 + 175.72 * (origin_value / 65536) return value @@ -31,8 +30,9 @@ class SHT20(object): self._bus.writeto(self._address, TRI_RH_MEASURE_NO_HOLD) sleep_ms(150) origin_data = self._bus.readfrom(self._address, 2) - origin_value = unp('>H', origin_data)[0] + origin_value = unp(">H", origin_data)[0] value = -6 + 125 * (origin_value / 65536) return value -#sht=SHT20(I2C(scl = Pin(22), sda = Pin(21), freq = 100000)) \ No newline at end of file + +# sht=SHT20(I2C(scl = Pin(22), sda = Pin(21), freq = 100000)) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/MP3.py b/boards/default/micropython_nrf51822_microbit/build/lib/MP3.py index 377e37f8..d91a6048 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/MP3.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/MP3.py @@ -1,5 +1,6 @@ from microbit import * + class QJ00X_MP3: def __init__(self, mp3_rx=pin2, mp3_tx=pin16, volume=0x16, mode=0x01): uart.init(rx=mp3_rx, tx=mp3_tx, baudrate=9600) @@ -9,64 +10,64 @@ class QJ00X_MP3: self.pause() def _send_cmd(self, length, cmd, data_high=None, data_low=None): - uart.write(b'\x7E') + uart.write(b"\x7E") uart.write(bytes([length])) uart.write(bytes([cmd])) if data_high != None: uart.write(bytes([data_high])) if data_low != None: uart.write(bytes([data_low])) - uart.write(b'\xEF') + uart.write(b"\xEF") sleep(200) - - #下一曲 + + # 下一曲 def next_track(self): self._send_cmd(0x02, 0x03) - - #上一曲 + + # 上一曲 def prev_track(self): self._send_cmd(0x02, 0x04) - - #选择曲目 + + # 选择曲目 def sel_track(self, track_index): self._send_cmd(0x03, track_index) - - #音量+ + + # 音量+ def inc_vol(self): self._send_cmd(0x02, 0x05) - - #音量- + + # 音量- def dec_vol(self): self._send_cmd(0x02, 0x06) - - #设置音量 + + # 设置音量 def set_vol(self, volume): self._send_cmd(0x03, 0x31, data_high=volume) - - #设置音效 + + # 设置音效 def set_eq(self, equalizer): self._send_cmd(0x03, 0x32, data_high=equalizer) - - #设置播放设备 + + # 设置播放设备 def set_mode(self, mode): self._send_cmd(0x03, 0x35, data_high=mode) - #播放 + # 播放 def play(self): self._send_cmd(0x02, 0x01) - - #终止播放 + + # 终止播放 def pause(self): self._send_cmd(0x02, 0x02) - - #设置文件夹播放 + + # 设置文件夹播放 def set_folder(self, folder_index, music_index): self._send_cmd(0x04, 0x42, data_high=folder_index, data_low=music_index) - - #设置曲目播放 + + # 设置曲目播放 def playFileByIndexNumber(self, music_index): self._send_cmd(0x04, 0x41, data_high=0x00, data_low=music_index) - - #设置循环 + + # 设置循环 def set_loop(self, mode): - self._send_cmd(0x03, 0x33, data_high=mode) \ No newline at end of file + self._send_cmd(0x03, 0x33, data_high=mode) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/RTC.py b/boards/default/micropython_nrf51822_microbit/build/lib/RTC.py index fc53ce5c..8d8ffae6 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/RTC.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/RTC.py @@ -1,16 +1,18 @@ from microbit import * -DS1307_I2C_ADDRESS = (104) -DS1307_REG_SECOND = (0) -DS1307_REG_MINUTE = (1) -DS1307_REG_HOUR = (2) -DS1307_REG_WEEKDAY = (3) -DS1307_REG_DAY = (4) -DS1307_REG_MONTH = (5) -DS1307_REG_YEAR = (6) -DS1307_REG_CTRL = (7) -DS1307_REG_RAM = (8) -class DS1307(): +DS1307_I2C_ADDRESS = 104 +DS1307_REG_SECOND = 0 +DS1307_REG_MINUTE = 1 +DS1307_REG_HOUR = 2 +DS1307_REG_WEEKDAY = 3 +DS1307_REG_DAY = 4 +DS1307_REG_MONTH = 5 +DS1307_REG_YEAR = 6 +DS1307_REG_CTRL = 7 +DS1307_REG_RAM = 8 + + +class DS1307: # set reg def setReg(self, reg, dat): i2c.write(DS1307_I2C_ADDRESS, bytearray([reg, dat])) @@ -23,17 +25,17 @@ class DS1307(): def start(self): t = self.getReg(DS1307_REG_SECOND) - self.setReg(DS1307_REG_SECOND, t&0x7F) + self.setReg(DS1307_REG_SECOND, t & 0x7F) def stop(self): t = self.getReg(DS1307_REG_SECOND) - self.setReg(DS1307_REG_SECOND, t|0x80) + self.setReg(DS1307_REG_SECOND, t | 0x80) def DecToHex(self, dat): - return (dat//10) * 16 + (dat%10) + return (dat // 10) * 16 + (dat % 10) def HexToDec(self, dat): - return (dat//16) * 10 + (dat%16) + return (dat // 16) * 10 + (dat % 16) def DateTime(self, DT=None): if DT == None: @@ -52,62 +54,62 @@ class DS1307(): else: buf = bytearray(8) buf[0] = 0 - buf[1] = self.DecToHex(DT[6]%60) # second - buf[2] = self.DecToHex(DT[5]%60) # minute - buf[3] = self.DecToHex(DT[4]%24) # hour - buf[4] = self.DecToHex(DT[3]%8) # week day - buf[5] = self.DecToHex(DT[2]%32) # date - buf[6] = self.DecToHex(DT[1]%13) # month - buf[7] = self.DecToHex(DT[0]%100) # year + buf[1] = self.DecToHex(DT[6] % 60) # second + buf[2] = self.DecToHex(DT[5] % 60) # minute + buf[3] = self.DecToHex(DT[4] % 24) # hour + buf[4] = self.DecToHex(DT[3] % 8) # week day + buf[5] = self.DecToHex(DT[2] % 32) # date + buf[6] = self.DecToHex(DT[1] % 13) # month + buf[7] = self.DecToHex(DT[0] % 100) # year i2c.write(DS1307_I2C_ADDRESS, buf) - def Year(self, year = None): + def Year(self, year=None): if year == None: return self.HexToDec(self.getReg(DS1307_REG_YEAR)) + 2000 else: - self.setReg(DS1307_REG_YEAR, self.DecToHex(year%100)) + self.setReg(DS1307_REG_YEAR, self.DecToHex(year % 100)) - def Month(self, month = None): + def Month(self, month=None): if month == None: return self.HexToDec(self.getReg(DS1307_REG_MONTH)) else: - self.setReg(DS1307_REG_MONTH, self.DecToHex(month%13)) + self.setReg(DS1307_REG_MONTH, self.DecToHex(month % 13)) - def Day(self, day = None): + def Day(self, day=None): if day == None: return self.HexToDec(self.getReg(DS1307_REG_DAY)) else: - self.setReg(DS1307_REG_DAY, self.DecToHex(day%32)) + self.setReg(DS1307_REG_DAY, self.DecToHex(day % 32)) - def Weekday(self, weekday = None): + def Weekday(self, weekday=None): if weekday == None: return self.HexToDec(self.getReg(DS1307_REG_WEEKDAY)) else: - self.setReg(DS1307_REG_WEEKDAY, self.DecToHex(weekday%8)) + self.setReg(DS1307_REG_WEEKDAY, self.DecToHex(weekday % 8)) - def Hour(self, hour = None): + def Hour(self, hour=None): if hour == None: return self.HexToDec(self.getReg(DS1307_REG_HOUR)) else: - self.setReg(DS1307_REG_HOUR, self.DecToHex(hour%24)) + self.setReg(DS1307_REG_HOUR, self.DecToHex(hour % 24)) - def Minute(self, minute = None): + def Minute(self, minute=None): if minute == None: return self.HexToDec(self.getReg(DS1307_REG_MINUTE)) else: - self.setReg(DS1307_REG_MINUTE, self.DecToHex(minute%60)) + self.setReg(DS1307_REG_MINUTE, self.DecToHex(minute % 60)) - def Second(self, second = None): + def Second(self, second=None): if second == None: return self.HexToDec(self.getReg(DS1307_REG_SECOND)) else: - self.setReg(DS1307_REG_SECOND, self.DecToHex(second%60)) + self.setReg(DS1307_REG_SECOND, self.DecToHex(second % 60)) - def ram(self, reg, dat = None): + def ram(self, reg, dat=None): if dat == None: - return self.getReg(DS1307_REG_RAM + (reg%56)) + return self.getReg(DS1307_REG_RAM + (reg % 56)) else: - self.setReg(DS1307_REG_RAM + (reg%56), dat) + self.setReg(DS1307_REG_RAM + (reg % 56), dat) def get_time(self): return self.Hour() + self.Minute() + self.Second() @@ -125,4 +127,5 @@ class DS1307(): self.Month(month) self.Day(day) -ds = DS1307() \ No newline at end of file + +ds = DS1307() diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/Servo.py b/boards/default/micropython_nrf51822_microbit/build/lib/Servo.py index 402e3030..edae917f 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/Servo.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/Servo.py @@ -1,6 +1,7 @@ from microbit import * + def angle(pin, angle): - pin.set_analog_period(round((1/50) * 1000)) + pin.set_analog_period(round((1 / 50) * 1000)) duty = 26 + (angle * 102) / 180 - pin.write_analog(duty) \ No newline at end of file + pin.write_analog(duty) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/TCS.py b/boards/default/micropython_nrf51822_microbit/build/lib/TCS.py index 8b0a9386..aa4867d2 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/TCS.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/TCS.py @@ -1,64 +1,103 @@ from microbit import * -class TCS34725(): - TCS34725_ADDRESS = 0x29 +class TCS34725: - TCS34725_COMMAND_BIT = 0x80 + TCS34725_ADDRESS = 0x29 - TCS34725_ENABLE = 0x00 - TCS34725_ENABLE_AIEN = 0x10 # RGBC Interrupt Enable - TCS34725_ENABLE_WEN = 0x08 # Wait enable - Writing 1 activates the wait timer - TCS34725_ENABLE_AEN = 0x02 # RGBC Enable - Writing 1 actives the ADC, 0 disables it - TCS34725_ENABLE_PON = 0x01 # Power on - Writing 1 activates the internal oscillator, 0 disables it - TCS34725_ATIME = 0x01 # Integration time - TCS34725_WTIME = 0x03 # Wait time (if TCS34725_ENABLE_WEN is asserted - TCS34725_WTIME_2_4MS = 0xFF # WLONG0 = 2.4ms WLONG1 = 0.029s - TCS34725_WTIME_204MS = 0xAB # WLONG0 = 204ms WLONG1 = 2.45s - TCS34725_WTIME_614MS = 0x00 # WLONG0 = 614ms WLONG1 = 7.4s - TCS34725_AILTL = 0x04 # Clear channel lower interrupt threshold - TCS34725_AILTH = 0x05 - TCS34725_AIHTL = 0x06 # Clear channel upper interrupt threshold - TCS34725_AIHTH = 0x07 - TCS34725_PERS = 0x0C # Persistence register - basic SW filtering mechanism for interrupts - TCS34725_PERS_NONE = 0b0000 # Every RGBC cycle generates an interrupt - TCS34725_PERS_1_CYCLE = 0b0001 # 1 clean channel value outside threshold range generates an interrupt - TCS34725_PERS_2_CYCLE = 0b0010 # 2 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_3_CYCLE = 0b0011 # 3 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_5_CYCLE = 0b0100 # 5 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_10_CYCLE = 0b0101 # 10 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_15_CYCLE = 0b0110 # 15 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_20_CYCLE = 0b0111 # 20 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_25_CYCLE = 0b1000 # 25 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_30_CYCLE = 0b1001 # 30 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_35_CYCLE = 0b1010 # 35 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_40_CYCLE = 0b1011 # 40 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_45_CYCLE = 0b1100 # 45 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_50_CYCLE = 0b1101 # 50 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_55_CYCLE = 0b1110 # 55 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_60_CYCLE = 0b1111 # 60 clean channel values outside threshold range generates an interrupt - TCS34725_CONFIG = 0x0D - TCS34725_CONFIG_WLONG = 0x02 # Choose between short and long (12x wait times via TCS34725_WTIME - TCS34725_CONTROL = 0x0F # Set the gain level for the sensor - TCS34725_ID = 0x12 # 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 - TCS34725_STATUS = 0x13 - TCS34725_STATUS_AINT = 0x10 # RGBC Clean channel interrupt - TCS34725_STATUS_AVALID = 0x01 # Indicates that the RGBC channels have completed an integration cycle - TCS34725_CDATAL = 0x14 # Clear channel data - TCS34725_CDATAH = 0x15 - TCS34725_RDATAL = 0x16 # Red channel data - TCS34725_RDATAH = 0x17 - TCS34725_GDATAL = 0x18 # Green channel data - TCS34725_GDATAH = 0x19 - TCS34725_BDATAL = 0x1A # Blue channel data - TCS34725_BDATAH = 0x1B - - # TCS34725_INTEGRATIONTIME_2_4MS = 0xFF, /**< 2.4ms - 1 cycle - Max Count: 1024 - # TCS34725_INTEGRATIONTIME_24MS = 0xF6, /**< 24ms - 10 cycles - Max Count: 10240 - # TCS34725_INTEGRATIONTIME_50MS = 0xEB, /**< 50ms - 20 cycles - Max Count: 20480 - # TCS34725_INTEGRATIONTIME_101MS = 0xD5, /**< 101ms - 42 cycles - Max Count: 43008 - # TCS34725_INTEGRATIONTIME_154MS = 0xC0, /**< 154ms - 64 cycles - Max Count: 65535 - # TCS34725_INTEGRATIONTIME_700MS = 0x00 /**< 700ms - 256 cycles - Max Count: 65535 + TCS34725_COMMAND_BIT = 0x80 + + TCS34725_ENABLE = 0x00 + TCS34725_ENABLE_AIEN = 0x10 # RGBC Interrupt Enable + TCS34725_ENABLE_WEN = 0x08 # Wait enable - Writing 1 activates the wait timer + TCS34725_ENABLE_AEN = 0x02 # RGBC Enable - Writing 1 actives the ADC, 0 disables it + TCS34725_ENABLE_PON = ( + 0x01 # Power on - Writing 1 activates the internal oscillator, 0 disables it + ) + TCS34725_ATIME = 0x01 # Integration time + TCS34725_WTIME = 0x03 # Wait time (if TCS34725_ENABLE_WEN is asserted + TCS34725_WTIME_2_4MS = 0xFF # WLONG0 = 2.4ms WLONG1 = 0.029s + TCS34725_WTIME_204MS = 0xAB # WLONG0 = 204ms WLONG1 = 2.45s + TCS34725_WTIME_614MS = 0x00 # WLONG0 = 614ms WLONG1 = 7.4s + TCS34725_AILTL = 0x04 # Clear channel lower interrupt threshold + TCS34725_AILTH = 0x05 + TCS34725_AIHTL = 0x06 # Clear channel upper interrupt threshold + TCS34725_AIHTH = 0x07 + TCS34725_PERS = ( + 0x0C # Persistence register - basic SW filtering mechanism for interrupts + ) + TCS34725_PERS_NONE = 0b0000 # Every RGBC cycle generates an interrupt + TCS34725_PERS_1_CYCLE = ( + 0b0001 # 1 clean channel value outside threshold range generates an interrupt + ) + TCS34725_PERS_2_CYCLE = ( + 0b0010 # 2 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_3_CYCLE = ( + 0b0011 # 3 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_5_CYCLE = ( + 0b0100 # 5 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_10_CYCLE = ( + 0b0101 # 10 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_15_CYCLE = ( + 0b0110 # 15 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_20_CYCLE = ( + 0b0111 # 20 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_25_CYCLE = ( + 0b1000 # 25 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_30_CYCLE = ( + 0b1001 # 30 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_35_CYCLE = ( + 0b1010 # 35 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_40_CYCLE = ( + 0b1011 # 40 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_45_CYCLE = ( + 0b1100 # 45 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_50_CYCLE = ( + 0b1101 # 50 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_55_CYCLE = ( + 0b1110 # 55 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_60_CYCLE = ( + 0b1111 # 60 clean channel values outside threshold range generates an interrupt + ) + TCS34725_CONFIG = 0x0D + TCS34725_CONFIG_WLONG = ( + 0x02 # Choose between short and long (12x wait times via TCS34725_WTIME + ) + TCS34725_CONTROL = 0x0F # Set the gain level for the sensor + TCS34725_ID = 0x12 # 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 + TCS34725_STATUS = 0x13 + TCS34725_STATUS_AINT = 0x10 # RGBC Clean channel interrupt + TCS34725_STATUS_AVALID = ( + 0x01 # Indicates that the RGBC channels have completed an integration cycle + ) + TCS34725_CDATAL = 0x14 # Clear channel data + TCS34725_CDATAH = 0x15 + TCS34725_RDATAL = 0x16 # Red channel data + TCS34725_RDATAH = 0x17 + TCS34725_GDATAL = 0x18 # Green channel data + TCS34725_GDATAH = 0x19 + TCS34725_BDATAL = 0x1A # Blue channel data + TCS34725_BDATAH = 0x1B + + # TCS34725_INTEGRATIONTIME_2_4MS = 0xFF, /**< 2.4ms - 1 cycle - Max Count: 1024 + # TCS34725_INTEGRATIONTIME_24MS = 0xF6, /**< 24ms - 10 cycles - Max Count: 10240 + # TCS34725_INTEGRATIONTIME_50MS = 0xEB, /**< 50ms - 20 cycles - Max Count: 20480 + # TCS34725_INTEGRATIONTIME_101MS = 0xD5, /**< 101ms - 42 cycles - Max Count: 43008 + # TCS34725_INTEGRATIONTIME_154MS = 0xC0, /**< 154ms - 64 cycles - Max Count: 65535 + # TCS34725_INTEGRATIONTIME_700MS = 0x00 /**< 700ms - 256 cycles - Max Count: 65535 _tcs34725Initialised = False _tcs34725Gain = 0 @@ -66,57 +105,66 @@ class TCS34725(): def __init__(self, i2c): self.i2c = i2c - #pass + # pass def write8(self, reg, val): - self.i2c.write(self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg, val & 0xFF])) + self.i2c.write( + self.TCS34725_ADDRESS, + bytearray([self.TCS34725_COMMAND_BIT | reg, val & 0xFF]), + ) def read16(self, reg): - self.i2c.write(self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg])) + self.i2c.write( + self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg]) + ) list_bytes = self.i2c.read(self.TCS34725_ADDRESS, 2) - bytes = list_bytes[1]<<8 | list_bytes[0] - #return [ hex(x) for x in bytes ][0] + bytes = list_bytes[1] << 8 | list_bytes[0] + # return [ hex(x) for x in bytes ][0] return bytes - + def read8(self, reg): - self.i2c.write(self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg])) + self.i2c.write( + self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg]) + ) return i2c.read(self.TCS34725_ADDRESS, 1)[0] - 0 def begin(self): x = self.read8(self.TCS34725_ID) - #print(x) - if x != 68: # code I was basing this on expects 0x44, not sure why. Got 0x12 - print('did not get the expected response from sensor: ', x) + # print(x) + if x != 68: # code I was basing this on expects 0x44, not sure why. Got 0x12 + print("did not get the expected response from sensor: ", x) return False self._tcs34725Initialised = True self.setIntegrationTime(self._tcs34725IntegrationTime) self.setGain(0) self.enable() return True - + def setIntegrationTime(self, theTime): - if theTime not in [0xFF,0xF6,0xEB,0xD5,0xC0,0x00]: - print('setting integration time to 0x00, %s is illegal' % theTime) + if theTime not in [0xFF, 0xF6, 0xEB, 0xD5, 0xC0, 0x00]: + print("setting integration time to 0x00, %s is illegal" % theTime) theTime = 0x00 self.write8(self.TCS34725_ATIME, theTime) # self.i2c.write8(self.TCS34725_ATIME, theTime) self._tcs34725IntegrationTime = theTime - + def setGain(self, gain): - # TCS34725_GAIN_1X = 0x00, /**< No gain - # TCS34725_GAIN_4X = 0x01, /**< 2x gain - # TCS34725_GAIN_16X = 0x02, /**< 16x gain - # TCS34725_GAIN_60X = 0x03 /**< 60x gain - if gain not in [0,1,2,3]: - print('setting gain to 0, %s is illegal' % gain) + # TCS34725_GAIN_1X = 0x00, /**< No gain + # TCS34725_GAIN_4X = 0x01, /**< 2x gain + # TCS34725_GAIN_16X = 0x02, /**< 16x gain + # TCS34725_GAIN_60X = 0x03 /**< 60x gain + if gain not in [0, 1, 2, 3]: + print("setting gain to 0, %s is illegal" % gain) gain = 0 self.write8(self.TCS34725_CONTROL, gain) self._tcs34725Gain = gain - + def enable(self): self.write8(self.TCS34725_ENABLE, self.TCS34725_ENABLE_PON) sleep(0.003) - self.write8(self.TCS34725_ENABLE, (self.TCS34725_ENABLE_PON | self.TCS34725_ENABLE_AEN)) + self.write8( + self.TCS34725_ENABLE, (self.TCS34725_ENABLE_PON | self.TCS34725_ENABLE_AEN) + ) def getRawRGBData(self, type): if not self._tcs34725Initialised: @@ -145,4 +193,5 @@ class TCS34725(): else: return b -tcs = TCS34725(i2c) \ No newline at end of file + +tcs = TCS34725(i2c) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/lcd1602.py b/boards/default/micropython_nrf51822_microbit/build/lib/lcd1602.py index c583cdfb..416b70d9 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/lcd1602.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/lcd1602.py @@ -1,6 +1,7 @@ from microbit import * -class LCD1602(): + +class LCD1602: def __init__(self, lcd_i2c_addr): self.buf = bytearray(1) self.BK = 0x08 @@ -16,8 +17,8 @@ class LCD1602(): self.setcmd(0x0C) self.setcmd(0x06) self.setcmd(0x01) - self.version='1.0' - self.lcd_i2c_addr=lcd_i2c_addr + self.version = "1.0" + self.lcd_i2c_addr = lcd_i2c_addr def setReg(self, dat): self.buf[0] = dat @@ -25,31 +26,31 @@ class LCD1602(): sleep(1) def send(self, dat): - d=dat&0xF0 - d|=self.BK - d|=self.RS + d = dat & 0xF0 + d |= self.BK + d |= self.RS self.setReg(d) - self.setReg(d|0x04) + self.setReg(d | 0x04) self.setReg(d) def setcmd(self, cmd): - self.RS=0 + self.RS = 0 self.send(cmd) - self.send(cmd<<4) + self.send(cmd << 4) def setdat(self, dat): - self.RS=1 + self.RS = 1 self.send(dat) - self.send(dat<<4) + self.send(dat << 4) def clear(self): self.setcmd(1) def backlight(self, on): if on: - self.BK=0x08 + self.BK = 0x08 else: - self.BK=0 + self.BK = 0 self.setdat(0) def on(self): @@ -59,17 +60,17 @@ class LCD1602(): self.setcmd(0x08) def char(self, ch, x=-1, y=0): - if x>=0: - a=0x80 - if y>0: - a=0xC0 - a+=x + if x >= 0: + a = 0x80 + if y > 0: + a = 0xC0 + a += x self.setcmd(a) self.setdat(ch) def puts(self, s, x=0, y=0): - if len(s)>0: - self.char(ord(s[0]),x,y) + if len(s) > 0: + self.char(ord(s[0]), x, y) for i in range(1, len(s)): self.char(ord(s[i])) @@ -83,4 +84,4 @@ class LCD1602(): line1 = str(line1) line2 = str(line2) self.puts(self, line1, 0, 0) - self.puts(self, line2, 0, 1) \ No newline at end of file + self.puts(self, line2, 0, 1) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/mixpy.py b/boards/default/micropython_nrf51822_microbit/build/lib/mixpy.py index 0380b9a2..9fb75a09 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/mixpy.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/mixpy.py @@ -1,21 +1,29 @@ import math + def math_map(v, al, ah, bl, bh): - return bl + (bh - bl) * (v - al) / (ah - al) + return bl + (bh - bl) * (v - al) / (ah - al) + def math_mean(myList): localList = [e for e in myList if type(e) == int or type(e) == float] - if not localList: return + if not localList: + return return float(sum(localList)) / len(localList) + def math_median(myList): localList = sorted([e for e in myList if type(e) == int or type(e) == float]) - if not localList: return + if not localList: + return if len(localList) % 2 == 0: - return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0 + return ( + localList[len(localList) // 2 - 1] + localList[len(localList) // 2] + ) / 2.0 else: return localList[(len(localList) - 1) // 2] + def math_modes(some_list): modes = [] # Using a lists of [item, count] to keep count rather than dict @@ -36,24 +44,28 @@ def math_modes(some_list): modes.append(counted_item) return modes + def math_standard_deviation(numbers): n = len(numbers) - if n == 0: return + if n == 0: + return mean = float(sum(numbers)) / n variance = sum((x - mean) ** 2 for x in numbers) / n return math.sqrt(variance) + def lists_sort(my_list, type, reverse): def try_float(s): try: return float(s) except: return 0 + key_funcs = { "NUMERIC": try_float, "TEXT": str, - "IGNORE_CASE": lambda s: str(s).lower() + "IGNORE_CASE": lambda s: str(s).lower(), } key_func = key_funcs[type] list_cpy = list(my_list) - return sorted(list_cpy, key=key_func, reverse=reverse) \ No newline at end of file + return sorted(list_cpy, key=key_func, reverse=reverse) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/motor_control.py b/boards/default/micropython_nrf51822_microbit/build/lib/motor_control.py index 9ccddc89..b17e9869 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/motor_control.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/motor_control.py @@ -1,48 +1,67 @@ from microbit import * + def initPCA9685(): i2c.write(0x40, bytearray([0x00, 0x00])) setFreq(50) for idx in range(0, 16, 1): - setPwm(idx, 0 ,0) + setPwm(idx, 0, 0) + + def MotorRun(Motors, speed): speed = speed * 16 - if (speed >= 4096): + if speed >= 4096: speed = 4095 - if (speed <= -4096): + if speed <= -4096: speed = -4095 - if (Motors <= 4 and Motors > 0): + if Motors <= 4 and Motors > 0: pp = (Motors - 1) * 2 pn = (Motors - 1) * 2 + 1 - if (speed >= 0): + if speed >= 0: setPwm(pp, 0, speed) setPwm(pn, 0, 0) - else : + else: setPwm(pp, 0, 0) setPwm(pn, 0, -speed) + + def Servo(Servos, degree): - v_us = (degree * 1800 / 180 + 600) + v_us = degree * 1800 / 180 + 600 value = int(v_us * 4096 / 20000) setPwm(Servos + 7, 0, value) + + def setFreq(freq): - prescaleval = int(25000000/(4096*freq)) - 1 + prescaleval = int(25000000 / (4096 * freq)) - 1 i2c.write(0x40, bytearray([0x00])) oldmode = i2c.read(0x40, 1) newmode = (oldmode[0] & 0x7F) | 0x10 i2c.write(0x40, bytearray([0x00, newmode])) - i2c.write(0x40, bytearray([0xfe, prescaleval])) + i2c.write(0x40, bytearray([0xFE, prescaleval])) i2c.write(0x40, bytearray([0x00, oldmode[0]])) sleep(4) - i2c.write(0x40, bytearray([0x00, oldmode[0] | 0xa1])) + i2c.write(0x40, bytearray([0x00, oldmode[0] | 0xA1])) + + def setPwm(channel, on, off): - if (channel >= 0 and channel <= 15): - buf = bytearray([0X06 + 4 * channel, on & 0xff, (on >> 8) & 0xff, off & 0xff, (off >> 8) & 0xff]) + if channel >= 0 and channel <= 15: + buf = bytearray( + [ + 0x06 + 4 * channel, + on & 0xFF, + (on >> 8) & 0xFF, + off & 0xFF, + (off >> 8) & 0xFF, + ] + ) i2c.write(0x40, buf) + + def setStepper(stpMotors, dir, speed): spd = speed setFreq(spd) - if (stpMotors == 1): - if (dir): + if stpMotors == 1: + if dir: setPwm(0, 2047, 4095) setPwm(1, 1, 2047) setPwm(2, 1023, 3071) @@ -52,8 +71,8 @@ def setStepper(stpMotors, dir, speed): setPwm(2, 1, 2047) setPwm(1, 1023, 3071) setPwm(0, 3071, 1023) - elif (stpMotors == 2): - if (dir): + elif stpMotors == 2: + if dir: setPwm(4, 2047, 4095) setPwm(5, 1, 2047) setPwm(6, 1023, 3071) @@ -62,4 +81,4 @@ def setStepper(stpMotors, dir, speed): setPwm(7, 2047, 4095) setPwm(6, 1, 2047) setPwm(4, 1023, 3071) - setPwm(5, 3071, 1023) \ No newline at end of file + setPwm(5, 3071, 1023) diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/ntc.py b/boards/default/micropython_nrf51822_microbit/build/lib/ntc.py index 97b6fa7a..0cce26b9 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/ntc.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/ntc.py @@ -7,21 +7,22 @@ _B = 3950 _T1 = 273.15 + 25 _R1 = 100 + def read(pin, r1, b, rs): r1 = r1 / 1000 rs = rs / 1000 - + # print("rs:" + str(rs)) - + _analogValue = pin.read_analog() _voltageValue = (_analogValue / 1545) * _VOLTAGE_POWER - + # print("voltageValue:" + str(_voltageValue)) _rt = ((_VOLTAGE_POWER - _voltageValue) * rs) / _voltageValue - + # print("rt:" + str(_rt)) - _tempValue = (((_T1 * b) / (b + _T1 * math.log(_rt / r1))) - 273.15) - - return _tempValue \ No newline at end of file + _tempValue = ((_T1 * b) / (b + _T1 * math.log(_rt / r1))) - 273.15 + + return _tempValue diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/oled.py b/boards/default/micropython_nrf51822_microbit/build/lib/oled.py index e0bb4109..543e79b3 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/oled.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/oled.py @@ -32,7 +32,7 @@ class OLED12864_I2C(): self.screen[0] = 0x40 def command(self, c): - i2c.write(self.ADDR, b'·' + bytearray(c)) + i2c.write(self.ADDR, b'\xb7' + bytearray(c)) def set_pos(self, col=0, page=0): self.command([0xb0 | page]) # page number diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/rgb.py b/boards/default/micropython_nrf51822_microbit/build/lib/rgb.py index 99b2a1bd..58b09f2b 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/rgb.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/rgb.py @@ -1,5 +1,6 @@ from microbit import * + def show(object, led, r, g, b): object[led] = (r, g, b) - object.show() \ No newline at end of file + object.show() diff --git a/boards/default/micropython_nrf51822_microbit/build/lib/ultrasonic.py b/boards/default/micropython_nrf51822_microbit/build/lib/ultrasonic.py index 0b665545..74ee486c 100644 --- a/boards/default/micropython_nrf51822_microbit/build/lib/ultrasonic.py +++ b/boards/default/micropython_nrf51822_microbit/build/lib/ultrasonic.py @@ -1,8 +1,8 @@ from microbit import * + def distance_mm(tpin=pin16, epin=pin15): - spi.init(baudrate=125000, sclk=pin13, - mosi=tpin, miso=epin) + spi.init(baudrate=125000, sclk=pin13, mosi=tpin, miso=epin) pre = 0 post = 0 k = -1 @@ -19,14 +19,18 @@ def distance_mm(tpin=pin16, epin=pin15): pre = bin(value).count("1") # find first non full high value afterwards try: - k, value = next((ind, v) - for ind, v in enumerate(resp[i:length - 2]) if resp[i + ind + 1] == 0) + k, value = next( + (ind, v) + for ind, v in enumerate(resp[i : length - 2]) + if resp[i + ind + 1] == 0 + ) post = bin(value).count("1") if k else 0 k = k + i except StopIteration: i = -1 - dist= -1 if i < 0 else round((pre + (k - i) * 8. + post) * 8 * 0.172) + dist = -1 if i < 0 else round((pre + (k - i) * 8.0 + post) * 8 * 0.172) return dist + def distance_cm(t_pin=pin16, e_pin=pin15): - return distance_mm(tpin=t_pin, epin=e_pin) / 10.0 \ No newline at end of file + return distance_mm(tpin=t_pin, epin=e_pin) / 10.0 diff --git a/boards/default/micropython_nrf51822_mithoncc/build/lib/mixpy.py b/boards/default/micropython_nrf51822_mithoncc/build/lib/mixpy.py index 0380b9a2..9fb75a09 100644 --- a/boards/default/micropython_nrf51822_mithoncc/build/lib/mixpy.py +++ b/boards/default/micropython_nrf51822_mithoncc/build/lib/mixpy.py @@ -1,21 +1,29 @@ import math + def math_map(v, al, ah, bl, bh): - return bl + (bh - bl) * (v - al) / (ah - al) + return bl + (bh - bl) * (v - al) / (ah - al) + def math_mean(myList): localList = [e for e in myList if type(e) == int or type(e) == float] - if not localList: return + if not localList: + return return float(sum(localList)) / len(localList) + def math_median(myList): localList = sorted([e for e in myList if type(e) == int or type(e) == float]) - if not localList: return + if not localList: + return if len(localList) % 2 == 0: - return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0 + return ( + localList[len(localList) // 2 - 1] + localList[len(localList) // 2] + ) / 2.0 else: return localList[(len(localList) - 1) // 2] + def math_modes(some_list): modes = [] # Using a lists of [item, count] to keep count rather than dict @@ -36,24 +44,28 @@ def math_modes(some_list): modes.append(counted_item) return modes + def math_standard_deviation(numbers): n = len(numbers) - if n == 0: return + if n == 0: + return mean = float(sum(numbers)) / n variance = sum((x - mean) ** 2 for x in numbers) / n return math.sqrt(variance) + def lists_sort(my_list, type, reverse): def try_float(s): try: return float(s) except: return 0 + key_funcs = { "NUMERIC": try_float, "TEXT": str, - "IGNORE_CASE": lambda s: str(s).lower() + "IGNORE_CASE": lambda s: str(s).lower(), } key_func = key_funcs[type] list_cpy = list(my_list) - return sorted(list_cpy, key=key_func, reverse=reverse) \ No newline at end of file + return sorted(list_cpy, key=key_func, reverse=reverse) diff --git a/boards/default/micropython_nrf51822_mithoncc/build/lib/motor_control.py b/boards/default/micropython_nrf51822_mithoncc/build/lib/motor_control.py index b5fd5b0f..589c65fa 100644 --- a/boards/default/micropython_nrf51822_mithoncc/build/lib/motor_control.py +++ b/boards/default/micropython_nrf51822_mithoncc/build/lib/motor_control.py @@ -1,37 +1,40 @@ from microbit import * -def motor1(v,d=1): - v = min(12,max(0,v)) - if v==0: + +def motor1(v, d=1): + v = min(12, max(0, v)) + if v == 0: pin8.write_analog(0) pin16.write_analog(0) - elif d==1: - pin8.write_analog(int(v/12*1023)) + elif d == 1: + pin8.write_analog(int(v / 12 * 1023)) pin16.write_analog(0) - elif d==0: + elif d == 0: pin8.write_analog(0) - pin16.write_analog(int(v/12*1023)) + pin16.write_analog(int(v / 12 * 1023)) -def motor2(v,d=1): - v = min(12,max(0,v)) - if v==0: + +def motor2(v, d=1): + v = min(12, max(0, v)) + if v == 0: pin14.write_analog(0) pin13.write_analog(0) - elif d==1: - pin14.write_analog(int(v/12*1023)) + elif d == 1: + pin14.write_analog(int(v / 12 * 1023)) pin13.write_analog(0) - elif d==0: + elif d == 0: pin14.write_analog(0) - pin13.write_analog(int(v/12*1023)) + pin13.write_analog(int(v / 12 * 1023)) -def motor3(v,d=1): - v = min(12,max(0,v)) - if v==0: + +def motor3(v, d=1): + v = min(12, max(0, v)) + if v == 0: pin0.write_analog(0) pin15.write_analog(0) - elif d==1: - pin0.write_analog(int(v/12*1023)) + elif d == 1: + pin0.write_analog(int(v / 12 * 1023)) pin15.write_analog(0) - elif d==0: + elif d == 0: pin0.write_analog(0) - pin15.write_analog(int(v/12*1023)) \ No newline at end of file + pin15.write_analog(int(v / 12 * 1023)) diff --git a/boards/default/micropython_nrf51822_mithoncc/build/lib/rgb_show.py b/boards/default/micropython_nrf51822_mithoncc/build/lib/rgb_show.py index 3684bd87..1233d3e3 100644 --- a/boards/default/micropython_nrf51822_mithoncc/build/lib/rgb_show.py +++ b/boards/default/micropython_nrf51822_mithoncc/build/lib/rgb_show.py @@ -3,11 +3,13 @@ import neopixel np = neopixel.NeoPixel(pin12, 4) + def mixly_rgb_show_all(r, g, b): for led in range(4): np[led] = (r, g, b) np.show() + def mixly_rgb_show(led, r, g, b): np[led] = (r, g, b) - np.show() \ No newline at end of file + np.show() diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/adxl345.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/adxl345.py index 9672c71d..d6f1aa8f 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/adxl345.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/adxl345.py @@ -3,12 +3,13 @@ import time import ustruct DATA_FORMAT = 0x31 -BW_RATE = 0x2c -POWER_CTL = 0x2d -INT_ENABLE = 0x2E -OFSX = 0x1e -OFSY =0x1f -OFSZ =0x20 +BW_RATE = 0x2C +POWER_CTL = 0x2D +INT_ENABLE = 0x2E +OFSX = 0x1E +OFSY = 0x1F +OFSZ = 0x20 + class ADXL345: def __init__(self, i2c): @@ -18,51 +19,51 @@ class ADXL345: for s in slv: buf = self.i2c.readfrom_mem(s, 0, 1) print(buf) - if(buf[0] == 0xe5): + if buf[0] == 0xE5: self.slvAddr = s - print('adxl345 found') + print("adxl345 found") break - #self.writeByte(POWER_CTL,0x00) #sleep - #time.sleep(0.001) - #低电平中断输出,13位全分辨率,输出数据右对齐,16g量程 - self.writeByte(DATA_FORMAT,0x2B) - #数据输出速度为100Hz - self.writeByte(BW_RATE,0x0A) - #不使用中断 - self.writeByte(INT_ENABLE,0x00) + # self.writeByte(POWER_CTL,0x00) #sleep + # time.sleep(0.001) + # 低电平中断输出,13位全分辨率,输出数据右对齐,16g量程 + self.writeByte(DATA_FORMAT, 0x2B) + # 数据输出速度为100Hz + self.writeByte(BW_RATE, 0x0A) + # 不使用中断 + self.writeByte(INT_ENABLE, 0x00) - self.writeByte(OFSX,0x00) - self.writeByte(OFSY,0x00) - self.writeByte(OFSZ,0x00) - #链接使能,测量模式 - self.writeByte(POWER_CTL,0x28) + self.writeByte(OFSX, 0x00) + self.writeByte(OFSY, 0x00) + self.writeByte(OFSZ, 0x00) + # 链接使能,测量模式 + self.writeByte(POWER_CTL, 0x28) time.sleep(1) def readXYZ(self): - fmt = ' 4000: - start_processing = True - tim2 = time.ticks_ms() + global start_processing + global tim2 + if (time.ticks_ms() - tim2) > 4000: + start_processing = True + tim2 = time.ticks_ms() -def init(FD,LD,FE): - global task_fd - global task_ld - global task_fe - # task_fd = kpu.load(0x200000) - # task_ld = kpu.load(0x300000) - # task_fe = kpu.load(0x400000) - - task_fd = kpu.load(FD) - task_ld = kpu.load(LD) - task_fe = kpu.load(FE) +def init(FD, LD, FE): + global task_fd + global task_ld + global task_fe + # task_fd = kpu.load(0x200000) + # task_ld = kpu.load(0x300000) + # task_fe = kpu.load(0x400000) + + task_fd = kpu.load(FD) + task_ld = kpu.load(LD) + task_fe = kpu.load(FE) + + gc.collect() + key_gpio = board.pin(9, board.GPIO.IN, board.GPIO.PULL_UP) + key_gpio.irq(set_key_state, board.GPIO.IRQ_RISING, board.GPIO.WAKEUP_NOT_SUPPORT) + + anchor = ( + 1.889, + 2.5245, + 2.9465, + 3.94056, + 3.99987, + 5.3658, + 5.155437, + 6.92275, + 6.718375, + 9.01025, + ) # anchor for face detect + kpu.init_yolo2(task_fd, 0.5, 0.3, 5, anchor) + + +def train(img, names, threshold): + global task_fd + global task_ld + global task_fe + global start_processing + global info + global bb + + code = kpu.run_yolo2(task_fd, img) + if code: + for i in code: + face_cut = img.cut(i.x(), i.y(), i.w(), i.h()) + face_cut_128 = face_cut.resize(128, 128) + a = face_cut_128.pix_to_ai() + fmap = kpu.forward(task_ld, face_cut_128) + plist = fmap[:] + le = (i.x() + int(plist[0] * i.w() - 10), i.y() + int(plist[1] * i.h())) + re = (i.x() + int(plist[2] * i.w()), i.y() + int(plist[3] * i.h())) + nose = (i.x() + int(plist[4] * i.w()), i.y() + int(plist[5] * i.h())) + lm = (i.x() + int(plist[6] * i.w()), i.y() + int(plist[7] * i.h())) + rm = (i.x() + int(plist[8] * i.w()), i.y() + int(plist[9] * i.h())) + lb = i.rect() + src_point = [le, re, nose, lm, rm] + T = image.get_affine_transform(src_point, dst_point) + a = image.warp_affine_ai(img, img_face, T) + a = img_face.ai_to_pix() + del face_cut_128 + fmap = kpu.forward(task_fe, img_face) + feature = kpu.face_encode(fmap[:]) + reg_flag = False + scores = [] + for j in range(len(record_ftrs)): + score = kpu.face_compare(record_ftrs[j], feature) + scores.append(score) + max_score = 0 + index = 0 + for k in range(len(scores)): + if max_score < scores[k]: + max_score = scores[k] + index = k + if start_processing: + record_ftr = feature + record_ftrs.append(record_ftr) + start_processing = False + if max_score > threshold: + info = [names[index], max_score, lb, src_point] + else: + if bb == 1: + print("Please press BOOT key to enter the face") + bb = 0 + info = [None, max_score, lb, src_point] + return True + break + else: + info = None + bb = 1 + return False + gc.collect() - gc.collect() - key_gpio = board.pin(9,board.GPIO.IN,board.GPIO.PULL_UP) - key_gpio.irq(set_key_state,board.GPIO.IRQ_RISING, board.GPIO.WAKEUP_NOT_SUPPORT) - - anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437,6.92275, 6.718375, 9.01025) # anchor for face detect - kpu.init_yolo2(task_fd, 0.5, 0.3, 5, anchor) - - -def train(img,names,threshold): - global task_fd - global task_ld - global task_fe - global start_processing - global info - global bb - - code = kpu.run_yolo2(task_fd, img) - if code: - for i in code: - face_cut = img.cut(i.x(), i.y(), i.w(), i.h()) - face_cut_128 = face_cut.resize(128, 128) - a = face_cut_128.pix_to_ai() - fmap = kpu.forward(task_ld, face_cut_128) - plist = fmap[:] - le = (i.x()+int(plist[0]*i.w() - 10), i.y()+int(plist[1]*i.h())) - re = (i.x()+int(plist[2]*i.w()), i.y()+int(plist[3]*i.h())) - nose = (i.x()+int(plist[4]*i.w()), i.y()+int(plist[5]*i.h())) - lm = (i.x()+int(plist[6]*i.w()), i.y()+int(plist[7]*i.h())) - rm = (i.x()+int(plist[8]*i.w()), i.y()+int(plist[9]*i.h())) - lb=i.rect() - src_point = [le, re, nose, lm, rm] - T = image.get_affine_transform(src_point, dst_point) - a = image.warp_affine_ai(img, img_face, T) - a = img_face.ai_to_pix() - del(face_cut_128) - fmap = kpu.forward(task_fe, img_face) - feature = kpu.face_encode(fmap[:]) - reg_flag = False - scores = [] - for j in range(len(record_ftrs)): - score = kpu.face_compare(record_ftrs[j], feature) - scores.append(score) - max_score = 0 - index = 0 - for k in range(len(scores)): - if max_score < scores[k]: - max_score = scores[k] - index = k - if start_processing: - record_ftr = feature - record_ftrs.append(record_ftr) - start_processing = False - if max_score > threshold: - info=[names[index],max_score,lb,src_point] - else: - if bb==1: - print("Please press BOOT key to enter the face") - bb=0 - info=[None,max_score,lb,src_point] - return True - break - else: - info=None - bb=1 - return False - gc.collect() def info_name(): - gc.collect() - return info[0] + gc.collect() + return info[0] -def info_score(): - return info[1] -def info_face(): - return info[2] - -def info_organs(): - return info[3] - \ No newline at end of file +def info_score(): + return info[1] + + +def info_face(): + return info[2] + + +def info_organs(): + return info[3] diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/aionenet.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/aionenet.py index a4e40dac..9205295c 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/aionenet.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/aionenet.py @@ -1,25 +1,29 @@ -import network,time,random,request,base64,json,board +import network, time, random, request, base64, json, board from machine import UART -wifi_en=board.pin(19,board.GPIO.OUT) -board.register(18,board.FPIOA.UART2_TX) -board.register(17,board.FPIOA.UART2_RX) +wifi_en = board.pin(19, board.GPIO.OUT) +board.register(18, board.FPIOA.UART2_TX) +board.register(17, board.FPIOA.UART2_RX) + def wifi_enable(en): global wifi_en wifi_en.value(en) + def wifi_reset(): global uart wifi_enable(0) time.sleep_ms(200) wifi_enable(1) time.sleep(2) - uart = UART(UART.UART2,115200,timeout=1000, read_buf_len=4096) + uart = UART(UART.UART2, 115200, timeout=1000, read_buf_len=4096) tmp = uart.read() uart.write("AT+UART_CUR=921600,8,1,0,0\r\n") print(uart.read()) - uart = UART(UART.UART2,921600,timeout=1000, read_buf_len=10240) # important! baudrate too low or read_buf_len too small will loose data + uart = UART( + UART.UART2, 921600, timeout=1000, read_buf_len=10240 + ) # important! baudrate too low or read_buf_len too small will loose data uart.write("AT\r\n") tmp = uart.read() print(tmp) @@ -32,16 +36,17 @@ def wifi_reset(): return None return nic -def nic_init(account,password): - nic=wifi_reset() - if not nic: - raise Exception("[Cool.AI]:WiFi init fail") - nic.connect(account,password) - nic.ifconfig() +def nic_init(account, password): + nic = wifi_reset() + if not nic: + raise Exception("[Cool.AI]:WiFi init fail") + + nic.connect(account, password) + nic.ifconfig() -class SimpleEncode(): +class SimpleEncode: keyStr = "ABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890abcdefghijklmnopqrstuvwxyz~!@#$%^&*()_+-={}[]:;<,>.?/|" keyLength = len(keyStr) encryptionA = 17 @@ -51,87 +56,87 @@ class SimpleEncode(): postCount = 5 randomChar = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnop" randomCharLength = len(randomChar) - #base64字符 + # base64字符 ALPHABET = "ABCDEFGHIJKLMN0123456789OPQRSTUVWXYZ+/abcdefghijklmnopqrstuvwxyz" STANDARD = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/" # 标准的字符串索引 - #找到密钥 - for i in range(1,keyLength): - if (encryptionA * i) % keyLength == 1: - decodeA = i + # 找到密钥 + for i in range(1, keyLength): + if (encryptionA * i) % keyLength == 1: + decodeA = i - def base64Encode(self,sourceStr): + def base64Encode(self, sourceStr): encode = "" for ch in base64.b64encode(sourceStr.encode()).decode(): - if ch == '=': - encode += '=' + if ch == "=": + encode += "=" else: for i in range(64): if ch == self.STANDARD[i]: encode += self.ALPHABET[i] return encode - def encrpyt(self,sourceStr): + def encrpyt(self, sourceStr): srcLength = len(sourceStr) - #先加入干扰字符的数量 - addCharCount = random.randint(1,self.preCountMax) if srcLength < self.preCountMax else 0 - #随机字符 - sb = str(addCharCount)+"|" + # 先加入干扰字符的数量 + addCharCount = ( + random.randint(1, self.preCountMax) if srcLength < self.preCountMax else 0 + ) + # 随机字符 + sb = str(addCharCount) + "|" for i in range(addCharCount): - sb += self.randomChar[random.randint(0,self.randomCharLength-1)] + sb += self.randomChar[random.randint(0, self.randomCharLength - 1)] sb += sourceStr - #尾部固定增加x个字符 + # 尾部固定增加x个字符 for i in range(self.postCount): - sb += self.randomChar[random.randint(0,self.randomCharLength-1)] + sb += self.randomChar[random.randint(0, self.randomCharLength - 1)] - #base64 加密 + # base64 加密 base64Str = self.base64Encode(sb) - destStr = '' + destStr = "" for i in range(len(base64Str)): - #找到字符所在位置 + # 找到字符所在位置 position = self.keyStr.find(base64Str[i]) - #对字符进行转换 + # 对字符进行转换 y = (self.encryptionA * position + self.encryptionB) % self.keyLength - #找到替换后的字符 + # 找到替换后的字符 destStr += self.keyStr[y] return destStr -def token(account,password): - url = 'http://ai.heclouds.com:9090/v1/user/oneNetLogin' + +def token(account, password): + url = "http://ai.heclouds.com:9090/v1/user/oneNetLogin" headers = { - 'Content-Type': 'application/json', + "Content-Type": "application/json", } simpleencode = SimpleEncode() - data = {'account': account, 'password': simpleencode.encrpyt(password)} + data = {"account": account, "password": simpleencode.encrpyt(password)} req = request.post(url, data=json.dumps(data), headers=headers) - #print(req.text) + # print(req.text) try: - return eval(req.text)['data']['loginToken'] + return eval(req.text)["data"]["loginToken"] except: - raise ValueError( "[Cool.AI]:Wrong account or password ") + raise ValueError("[Cool.AI]:Wrong account or password ") -def post_ai(img,urlx,Token): - ur = 'http://183.230.40.32:9090/v1/aiApi/picture/MixPY' - url=ur.replace("MixPY",urlx) - headers ={ - 'Content-Type':'application/json', - 'Login-Token':'Token' - } - - headers['Login-Token']=Token - - imge = img.compressed(quality=50) - file =imge.to_bytes() - str = base64.b64encode(file).decode() - data = {'picture':[str]} - req = request.post(url,data=json.dumps(data),headers=headers) - return json.loads(req.text) - #return eval(req.text) \ No newline at end of file +def post_ai(img, urlx, Token): + ur = "http://183.230.40.32:9090/v1/aiApi/picture/MixPY" + url = ur.replace("MixPY", urlx) + headers = {"Content-Type": "application/json", "Login-Token": "Token"} + + headers["Login-Token"] = Token + + imge = img.compressed(quality=50) + file = imge.to_bytes() + str = base64.b64encode(file).decode() + data = {"picture": [str]} + req = request.post(url, data=json.dumps(data), headers=headers) + return json.loads(req.text) + # return eval(req.text) diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/base64.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/base64.py index 4791d530..51966fec 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/base64.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/base64.py @@ -3,25 +3,38 @@ import struct import binascii __all__ = [ - 'encode', 'decode', 'encodebytes', 'decodebytes', - 'b64encode', 'b64decode', 'b32encode', 'b32decode', - 'b16encode', 'b16decode', - 'standard_b64encode', 'standard_b64decode', - 'urlsafe_b64encode', 'urlsafe_b64decode', - ] + "encode", + "decode", + "encodebytes", + "decodebytes", + "b64encode", + "b64decode", + "b32encode", + "b32decode", + "b16encode", + "b16decode", + "standard_b64encode", + "standard_b64decode", + "urlsafe_b64encode", + "urlsafe_b64decode", +] + +bytes_types = (bytes, bytearray) -bytes_types = (bytes, bytearray) def _bytes_from_decode_data(s): if isinstance(s, str): try: - return s.encode('ascii') + return s.encode("ascii") except: - raise ValueError('string argument should contain only ASCII characters') + raise ValueError("string argument should contain only ASCII characters") elif isinstance(s, bytes_types): return s else: - raise TypeError("argument should be bytes or ASCII string, not %s" % s.__class__.__name__) + raise TypeError( + "argument should be bytes or ASCII string, not %s" % s.__class__.__name__ + ) + def b64encode(s, altchars=None): if not isinstance(s, bytes_types): @@ -29,45 +42,73 @@ def b64encode(s, altchars=None): encoded = binascii.b2a_base64(s)[:-1] if altchars is not None: if not isinstance(altchars, bytes_types): - raise TypeError("expected bytes, not %s" - % altchars.__class__.__name__) + raise TypeError("expected bytes, not %s" % altchars.__class__.__name__) assert len(altchars) == 2, repr(altchars) - return encoded.translate(bytes.maketrans(b'+/', altchars)) + return encoded.translate(bytes.maketrans(b"+/", altchars)) return encoded + def b64decode(s, altchars=None, validate=False): s = _bytes_from_decode_data(s) if altchars is not None: altchars = _bytes_from_decode_data(altchars) assert len(altchars) == 2, repr(altchars) - s = s.translate(bytes.maketrans(altchars, b'+/')) - if validate and not re.match(b'^[A-Za-z0-9+/]*={0,2}$', s): - raise binascii.Error('Non-base64 digit found') + s = s.translate(bytes.maketrans(altchars, b"+/")) + if validate and not re.match(b"^[A-Za-z0-9+/]*={0,2}$", s): + raise binascii.Error("Non-base64 digit found") return binascii.a2b_base64(s) + def standard_b64encode(s): return b64encode(s) + def standard_b64decode(s): return b64decode(s) + def urlsafe_b64encode(s): raise NotImplementedError() + def urlsafe_b64decode(s): raise NotImplementedError() + _b32alphabet = { - 0: b'A', 9: b'J', 18: b'S', 27: b'3', - 1: b'B', 10: b'K', 19: b'T', 28: b'4', - 2: b'C', 11: b'L', 20: b'U', 29: b'5', - 3: b'D', 12: b'M', 21: b'V', 30: b'6', - 4: b'E', 13: b'N', 22: b'W', 31: b'7', - 5: b'F', 14: b'O', 23: b'X', - 6: b'G', 15: b'P', 24: b'Y', - 7: b'H', 16: b'Q', 25: b'Z', - 8: b'I', 17: b'R', 26: b'2', - } + 0: b"A", + 9: b"J", + 18: b"S", + 27: b"3", + 1: b"B", + 10: b"K", + 19: b"T", + 28: b"4", + 2: b"C", + 11: b"L", + 20: b"U", + 29: b"5", + 3: b"D", + 12: b"M", + 21: b"V", + 30: b"6", + 4: b"E", + 13: b"N", + 22: b"W", + 31: b"7", + 5: b"F", + 14: b"O", + 23: b"X", + 6: b"G", + 15: b"P", + 24: b"Y", + 7: b"H", + 16: b"Q", + 25: b"Z", + 8: b"I", + 17: b"R", + 26: b"2", +} _b32tab = [v[0] for k, v in sorted(_b32alphabet.items())] _b32rev = dict([(v[0], k) for k, v in _b32alphabet.items()]) @@ -82,26 +123,29 @@ def b32encode(s): quanta += 1 encoded = bytearray() for i in range(quanta): - c1, c2, c3 = struct.unpack('!HHB', s[i*5:(i+1)*5]) - c2 += (c1 & 1) << 16 - c3 += (c2 & 3) << 8 - encoded += bytes([_b32tab[c1 >> 11], - _b32tab[(c1 >> 6) & 0x1f], - _b32tab[(c1 >> 1) & 0x1f], - _b32tab[c2 >> 12], - _b32tab[(c2 >> 7) & 0x1f], - _b32tab[(c2 >> 2) & 0x1f], - _b32tab[c3 >> 5], - _b32tab[c3 & 0x1f], - ]) + c1, c2, c3 = struct.unpack("!HHB", s[i * 5 : (i + 1) * 5]) + c2 += (c1 & 1) << 16 + c3 += (c2 & 3) << 8 + encoded += bytes( + [ + _b32tab[c1 >> 11], + _b32tab[(c1 >> 6) & 0x1F], + _b32tab[(c1 >> 1) & 0x1F], + _b32tab[c2 >> 12], + _b32tab[(c2 >> 7) & 0x1F], + _b32tab[(c2 >> 2) & 0x1F], + _b32tab[c3 >> 5], + _b32tab[c3 & 0x1F], + ] + ) if leftover == 1: - encoded = encoded[:-6] + b'======' + encoded = encoded[:-6] + b"======" elif leftover == 2: - encoded = encoded[:-4] + b'====' + encoded = encoded[:-4] + b"====" elif leftover == 3: - encoded = encoded[:-3] + b'===' + encoded = encoded[:-3] + b"===" elif leftover == 4: - encoded = encoded[:-1] + b'=' + encoded = encoded[:-1] + b"=" return bytes(encoded) @@ -109,14 +153,14 @@ def b32decode(s, casefold=False, map01=None): s = _bytes_from_decode_data(s) quanta, leftover = divmod(len(s), 8) if leftover: - raise binascii.Error('Incorrect padding') + raise binascii.Error("Incorrect padding") if map01 is not None: map01 = _bytes_from_decode_data(map01) assert len(map01) == 1, repr(map01) - s = s.translate(bytes.maketrans(b'01', b'O' + map01)) + s = s.translate(bytes.maketrans(b"01", b"O" + map01)) if casefold: s = s.upper() - padchars = s.find(b'=') + padchars = s.find(b"=") if padchars > 0: padchars = len(s) - padchars s = s[:-padchars] @@ -129,16 +173,16 @@ def b32decode(s, casefold=False, map01=None): for c in s: val = _b32rev.get(c) if val is None: - raise binascii.Error('Non-base32 digit found') + raise binascii.Error("Non-base32 digit found") acc += _b32rev[c] << shift shift -= 5 if shift < 0: - parts.append(binascii.unhexlify(bytes('%010x' % acc, "ascii"))) + parts.append(binascii.unhexlify(bytes("%010x" % acc, "ascii"))) acc = 0 shift = 35 - last = binascii.unhexlify(bytes('%010x' % acc, "ascii")) + last = binascii.unhexlify(bytes("%010x" % acc, "ascii")) if padchars == 0: - last = b'' + last = b"" elif padchars == 1: last = last[:-1] elif padchars == 3: @@ -148,9 +192,10 @@ def b32decode(s, casefold=False, map01=None): elif padchars == 6: last = last[:-4] else: - raise binascii.Error('Incorrect padding') + raise binascii.Error("Incorrect padding") parts.append(last) - return b''.join(parts) + return b"".join(parts) + def b16encode(s): if not isinstance(s, bytes_types): @@ -162,12 +207,14 @@ def b16decode(s, casefold=False): s = _bytes_from_decode_data(s) if casefold: s = s.upper() - if re.search(b'[^0-9A-F]', s): - raise binascii.Error('Non-base16 digit found') + if re.search(b"[^0-9A-F]", s): + raise binascii.Error("Non-base16 digit found") return binascii.unhexlify(s) -MAXLINESIZE = 76 -MAXBINSIZE = (MAXLINESIZE//4)*3 + +MAXLINESIZE = 76 +MAXBINSIZE = (MAXLINESIZE // 4) * 3 + def encode(input, output): while True: @@ -175,7 +222,7 @@ def encode(input, output): if not s: break while len(s) < MAXBINSIZE: - ns = input.read(MAXBINSIZE-len(s)) + ns = input.read(MAXBINSIZE - len(s)) if not ns: break s += ns @@ -191,6 +238,7 @@ def decode(input, output): s = binascii.a2b_base64(line) output.write(s) + def encodebytes(s): if not isinstance(s, bytes_types): raise TypeError("expected bytes, not %s" % s.__class__.__name__) @@ -200,10 +248,13 @@ def encodebytes(s): pieces.append(binascii.b2a_base64(chunk)) return b"".join(pieces) + def encodestring(s): import warnings - warnings.warn("encodestring() is a deprecated alias, use encodebytes()", - DeprecationWarning, 2) + + warnings.warn( + "encodestring() is a deprecated alias, use encodebytes()", DeprecationWarning, 2 + ) return encodebytes(s) @@ -212,36 +263,50 @@ def decodebytes(s): raise TypeError("expected bytes, not %s" % s.__class__.__name__) return binascii.a2b_base64(s) + def decodestring(s): import warnings - warnings.warn("decodestring() is a deprecated alias, use decodebytes()", - DeprecationWarning, 2) + + warnings.warn( + "decodestring() is a deprecated alias, use decodebytes()", DeprecationWarning, 2 + ) return decodebytes(s) + def main(): import sys, getopt + try: - opts, args = getopt.getopt(sys.argv[1:], 'deut') + opts, args = getopt.getopt(sys.argv[1:], "deut") except getopt.error as msg: sys.stdout = sys.stderr print(msg) - print("""usage: %s [-d|-e|-u|-t] [file|-] + print( + """usage: %s [-d|-e|-u|-t] [file|-] -d, -u: decode -e: encode (default) - -t: encode and decode string 'Aladdin:open sesame'"""%sys.argv[0]) + -t: encode and decode string 'Aladdin:open sesame'""" + % sys.argv[0] + ) sys.exit(2) func = encode for o, a in opts: - if o == '-e': func = encode - if o == '-d': func = decode - if o == '-u': func = decode - if o == '-t': test(); return - if args and args[0] != '-': - with open(args[0], 'rb') as f: + if o == "-e": + func = encode + if o == "-d": + func = decode + if o == "-u": + func = decode + if o == "-t": + test() + return + if args and args[0] != "-": + with open(args[0], "rb") as f: func(f, sys.stdout.buffer) else: func(sys.stdin.buffer, sys.stdout.buffer) + def test(): s0 = b"Aladdin:open sesame" print(repr(s0)) @@ -252,5 +317,5 @@ def test(): assert s0 == s2 -if __name__ == '__main__': +if __name__ == "__main__": main() diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/bmp280.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/bmp280.py index 618ee4e9..fb9d2928 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/bmp280.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/bmp280.py @@ -1,6 +1,7 @@ from ustruct import unpack as unp import utime from machine import I2C + # Author David Wahlund david@dafnet.se # Power Modes @@ -49,21 +50,20 @@ class BMP280: self._bmp_i2c = i2c_bus self._i2c_addr = addr - self.chip_id = self._read(BMP280_REGISTER_ID, 2) - self._T1 = unp('> 4) self._t_raw = (d[3] << 12) + (d[4] << 4) + (d[5] >> 4) @@ -142,14 +144,20 @@ class BMP280: self._gauge() if self._t_fine == 0: var1 = (((self._t_raw >> 3) - (self._T1 << 1)) * self._T2) >> 11 - var2 = (((((self._t_raw >> 4) - self._T1) * ((self._t_raw >> 4) - self._T1)) >> 12) * self._T3) >> 14 + var2 = ( + ( + (((self._t_raw >> 4) - self._T1) * ((self._t_raw >> 4) - self._T1)) + >> 12 + ) + * self._T3 + ) >> 14 self._t_fine = var1 + var2 # @property def get_BMP_temperature(self): self._calc_t_fine() if self._t == 0: - self._t = ((self._t_fine * 5 + 128) >> 8) / 100. + self._t = ((self._t_fine * 5 + 128) >> 8) / 100.0 return self._t # @property @@ -175,4 +183,3 @@ class BMP280: p = ((p + var1 + var2) >> 8) + (self._P7 << 4) self._p = p / 256.0 return self._p - diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ce_com.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ce_com.py index 7d64664b..f0882aef 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ce_com.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ce_com.py @@ -6,24 +6,26 @@ MicroPython library for the MxiGo AI 20211213 mixly """ -data_a=None -def uart_tx(uart,data,repeat=True): - global data_a - data_b = data - if data_b != data_a: - uart.write((str(data)+'\n')) - #print(data) - if not repeat: - data_a=data_b - +data_a = None + + +def uart_tx(uart, data, repeat=True): + global data_a + data_b = data + if data_b != data_a: + uart.write((str(data) + "\n")) + # print(data) + if not repeat: + data_a = data_b + + def uart_rx(uart): - data = uart.readline() - if data: - data_str = data.strip() - try: - data_str=data_str.decode() - return eval(data_str) - except: - return data_str - + data = uart.readline() + if data: + data_str = data.strip() + try: + data_str = data_str.decode() + return eval(data_str) + except: + return data_str diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/dht11.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/dht11.py index 3ea31d0d..78277e27 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/dht11.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/dht11.py @@ -1,58 +1,60 @@ -import time,board - +import time, board + + def read_data(pin_name): - data=[] - j=0 - time.sleep_ms(1200) - N1 = board.pin(pin_name, board.GPIO.OUT) - N1.value(0) - time.sleep_ms(20) - N1.value(1) - time.sleep_us(30) - N1 =board.pin(pin_name, board.GPIO.IN) - T1 = time.ticks_us() - while N1.value()==0: - continue - while N1.value()==1: - T2 =time.ticks_us() - if time.ticks_diff(T2, T1) >200000: - #raise ValueError("[MixNo]:Sensor read error") - break - continue - while j<40: - k=0 - while N1.value()==0: - continue - while N1.value()==1: - k+=1 - if k>100:break - if k<15: - data.append(0) - else: - data.append(1) - j=j+1 - del N1 - humidity_bit=data[0:8] - humidity_point_bit=data[8:16] - temperature_bit=data[16:24] - temperature_point_bit=data[24:32] - check_bit=data[32:40] - humidity=0 - humidity_point=0 - temperature=0.0 - temperature_point=0 - check=0 - for i in range(8): - humidity+=humidity_bit[i]*2**(7-i) - humidity_point+=humidity_point_bit[i]*2**(7-i) - temperature+=temperature_bit[i]*2**(7-i) - temperature_point+=temperature_point_bit[i]*2**(7-i) - check+=check_bit[i]*2**(7-i) - tmp=humidity+humidity_point+temperature+temperature_point - #print(humidity_point,temperature_point) - if check==tmp: - #print('temperature is',temperature,'-wet is',humidity,'%') - return (temperature+temperature_point/10,humidity) - else: - #print('Error:',humidity,humidity_point,temperature,temperature_point,check) - return (None,None) \ No newline at end of file + data = [] + j = 0 + time.sleep_ms(1200) + N1 = board.pin(pin_name, board.GPIO.OUT) + N1.value(0) + time.sleep_ms(20) + N1.value(1) + time.sleep_us(30) + N1 = board.pin(pin_name, board.GPIO.IN) + T1 = time.ticks_us() + while N1.value() == 0: + continue + while N1.value() == 1: + T2 = time.ticks_us() + if time.ticks_diff(T2, T1) > 200000: + # raise ValueError("[MixNo]:Sensor read error") + break + continue + while j < 40: + k = 0 + while N1.value() == 0: + continue + while N1.value() == 1: + k += 1 + if k > 100: + break + if k < 15: + data.append(0) + else: + data.append(1) + j = j + 1 + del N1 + humidity_bit = data[0:8] + humidity_point_bit = data[8:16] + temperature_bit = data[16:24] + temperature_point_bit = data[24:32] + check_bit = data[32:40] + humidity = 0 + humidity_point = 0 + temperature = 0.0 + temperature_point = 0 + check = 0 + for i in range(8): + humidity += humidity_bit[i] * 2 ** (7 - i) + humidity_point += humidity_point_bit[i] * 2 ** (7 - i) + temperature += temperature_bit[i] * 2 ** (7 - i) + temperature_point += temperature_point_bit[i] * 2 ** (7 - i) + check += check_bit[i] * 2 ** (7 - i) + tmp = humidity + humidity_point + temperature + temperature_point + # print(humidity_point,temperature_point) + if check == tmp: + # print('temperature is',temperature,'-wet is',humidity,'%') + return (temperature + temperature_point / 10, humidity) + else: + # print('Error:',humidity,humidity_point,temperature,temperature_point,check) + return (None, None) diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/hcr04.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/hcr04.py index 4464bd58..f41e0f77 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/hcr04.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/hcr04.py @@ -1,27 +1,28 @@ -import time,board - +import time, board + + def Sonar(trig1, echo1): - trig = board.pin(trig1, board.GPIO.OUT) - echo = board.pin(echo1, board.GPIO.IN) - time.sleep_ms(10) - trig.value(1) - time.sleep_us(10) - trig.value(0) - n1 = time.ticks_us() - while(echo.value()==0): - n2 =time.ticks_us() - if time.ticks_diff(n2, n1) >200000: - #raise ValueError("[MixNo]:Sensor read error") - break - pass - t1 = time.ticks_us() - while(echo.value()==1): - n3 =time.ticks_us() - if time.ticks_diff(n3, t1) >200000: - #raise ValueError("[MixNo]:Sensor read error") - break - pass - t2 = time.ticks_us() - time.sleep_ms(10) - return round(time.ticks_diff(t2, t1) / 10000 * 340 / 2, 2) \ No newline at end of file + trig = board.pin(trig1, board.GPIO.OUT) + echo = board.pin(echo1, board.GPIO.IN) + time.sleep_ms(10) + trig.value(1) + time.sleep_us(10) + trig.value(0) + n1 = time.ticks_us() + while echo.value() == 0: + n2 = time.ticks_us() + if time.ticks_diff(n2, n1) > 200000: + # raise ValueError("[MixNo]:Sensor read error") + break + pass + t1 = time.ticks_us() + while echo.value() == 1: + n3 = time.ticks_us() + if time.ticks_diff(n3, t1) > 200000: + # raise ValueError("[MixNo]:Sensor read error") + break + pass + t2 = time.ticks_us() + time.sleep_ms(10) + return round(time.ticks_diff(t2, t1) / 10000 * 340 / 2, 2) diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/irremote.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/irremote.py index 9b0567ce..c17c0d45 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/irremote.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/irremote.py @@ -1,47 +1,48 @@ -import time,board +import time, board + def read_id(pin): - L1 = board.pin(pin, board.GPIO.IN, board.GPIO.PULL_UP) - a = [] - t1 = time.ticks_us() - while L1.value() == 1: - t2 = time.ticks_us() - if time.ticks_diff(t2, t1) >1000000: - #raise ValueError("[MixNo]:Sensor read error") - break - pass + L1 = board.pin(pin, board.GPIO.IN, board.GPIO.PULL_UP) + a = [] + t1 = time.ticks_us() + while L1.value() == 1: + t2 = time.ticks_us() + if time.ticks_diff(t2, t1) > 1000000: + # raise ValueError("[MixNo]:Sensor read error") + break + pass - time.sleep_us(13560) + time.sleep_us(13560) - for i in range(1000): - v = L1.value() - a.append(v) - time.sleep_us(56) + for i in range(1000): + v = L1.value() + a.append(v) + time.sleep_us(56) - a_c = [] - count = 0 + a_c = [] + count = 0 - for i in a: - if i == 1: - count += 1 + for i in a: + if i == 1: + count += 1 - elif i == 0: - if count > 0 : - a_c.append(count) - count =0 + elif i == 0: + if count > 0: + a_c.append(count) + count = 0 - for i in range(len(a_c)): - if a_c[i] > 10: - a_c[i] = "1" - else: - a_c[i] = "0" - - B1 = "".join(a_c) - B2 = B1[16:32] - #print(len(B1)) - if len(B1)==32 or len(B1)==33 or len(B1)==46: - B3=int(B2,2) - return B3 - else: - return None \ No newline at end of file + for i in range(len(a_c)): + if a_c[i] > 10: + a_c[i] = "1" + else: + a_c[i] = "0" + + B1 = "".join(a_c) + B2 = B1[16:32] + # print(len(B1)) + if len(B1) == 32 or len(B1) == 33 or len(B1) == 46: + B3 = int(B2, 2) + return B3 + else: + return None diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/map.json b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/map.json new file mode 100644 index 00000000..949a7207 --- /dev/null +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/map.json @@ -0,0 +1,221 @@ +{ + "adxl345": { + "__require__": [ + "machine", + "time", + "ustruct" + ], + "__file__": true, + "__name__": "adxl345.py" + }, + "aionenet": { + "__require__": [ + "network", + "time", + "random", + "request", + "base64", + "json", + "board", + "machine" + ], + "__file__": true, + "__name__": "aionenet.py" + }, + "ai_face": { + "__require__": [ + "KPU", + "gc", + "image", + "time", + "board" + ], + "__file__": true, + "__name__": "ai_face.py" + }, + "base64": { + "__require__": [ + "re", + "struct", + "binascii", + "warnings", + "warnings", + "sys", + "getopt" + ], + "__file__": true, + "__name__": "base64.py" + }, + "bmp280": { + "__require__": [ + "ustruct", + "utime", + "machine" + ], + "__file__": true, + "__name__": "bmp280.py" + }, + "ce_com": { + "__require__": [], + "__file__": true, + "__name__": "ce_com.py" + }, + "dht11": { + "__require__": [ + "time", + "board" + ], + "__file__": true, + "__name__": "dht11.py" + }, + "hcr04": { + "__require__": [ + "time", + "board" + ], + "__file__": true, + "__name__": "hcr04.py" + }, + "irremote": { + "__require__": [ + "time", + "board" + ], + "__file__": true, + "__name__": "irremote.py" + }, + "matcher": { + "__require__": [], + "__file__": true, + "__name__": "matcher.py" + }, + "miot_no": { + "__require__": [ + "usocket", + "ustruct", + "network", + "time", + "board", + "ujson", + "machine", + "ussl" + ], + "__file__": true, + "__name__": "miot_no.py" + }, + "mixiot": { + "__require__": [ + "usocket", + "ustruct", + "time", + "machine", + "ubinascii", + "ujson", + "matcher", + "machine", + "ussl" + ], + "__file__": true, + "__name__": "mixiot.py" + }, + "mixly_tool": { + "__require__": [ + "hashlib", + "os", + "sys" + ], + "__file__": true, + "__name__": "mixly_tool.py" + }, + "mixpy": { + "__require__": [ + "math" + ], + "__file__": true, + "__name__": "mixpy.py" + }, + "mpu9250": { + "__require__": [ + "micropython", + "ustruct", + "utime", + "time", + "math", + "math", + "os", + "compass_cfg" + ], + "__file__": true, + "__name__": "mpu9250.py" + }, + "ms32006": { + "__require__": [ + "time", + "micropython" + ], + "__file__": true, + "__name__": "ms32006.py" + }, + "net_espat": { + "__require__": [ + "network", + "time", + "board", + "machine", + "time" + ], + "__file__": true, + "__name__": "net_espat.py" + }, + "pid": { + "__require__": [ + "time", + "math" + ], + "__file__": true, + "__name__": "pid.py" + }, + "player": { + "__require__": [ + "board", + "audio", + "video", + "Maix", + "gc", + "sensor", + "lcd", + "lcd" + ], + "__file__": true, + "__name__": "player.py" + }, + "reset": { + "__require__": [ + "image", + "lcd", + "time", + "gc", + "machine", + "gc" + ], + "__file__": true, + "__name__": "reset.py" + }, + "servo": { + "__require__": [ + "math", + "ustruct", + "time" + ], + "__file__": true, + "__name__": "servo.py" + }, + "sht20": { + "__require__": [ + "struct", + "time" + ], + "__file__": true, + "__name__": "sht20.py" + } +} \ No newline at end of file diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/miot_no.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/miot_no.py index 41b08a6a..dae676b3 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/miot_no.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/miot_no.py @@ -1,29 +1,34 @@ import usocket as socket import ustruct as struct -import network,time,board -#from ubinascii import hexlify +import network, time, board + +# from ubinascii import hexlify import ujson as json from machine import UART -wifi_en=board.pin(19,board.GPIO.OUT) -board.register(18,board.FPIOA.UART2_TX) -board.register(17,board.FPIOA.UART2_RX) +wifi_en = board.pin(19, board.GPIO.OUT) +board.register(18, board.FPIOA.UART2_TX) +board.register(17, board.FPIOA.UART2_RX) + def wifi_enable(en): global wifi_en wifi_en.value(en) + def wifi_reset(): global uart wifi_enable(0) time.sleep_ms(200) wifi_enable(1) time.sleep(2) - uart = UART(UART.UART2,115200,timeout=1000, read_buf_len=4096) + uart = UART(UART.UART2, 115200, timeout=1000, read_buf_len=4096) tmp = uart.read() uart.write("AT+UART_CUR=921600,8,1,0,0\r\n") print(uart.read()) - uart = UART(UART.UART2,921600,timeout=1000, read_buf_len=10240) # important! baudrate too low or read_buf_len too small will loose data + uart = UART( + UART.UART2, 921600, timeout=1000, read_buf_len=10240 + ) # important! baudrate too low or read_buf_len too small will loose data uart.write("AT\r\n") tmp = uart.read() print(tmp) @@ -36,46 +41,62 @@ def wifi_reset(): return None return nic + def get_data_dict(d): - result = {"datastreams":[]} + result = {"datastreams": []} for x in d: - result["datastreams"].append({"id":x,"datapoints":[{"value":d[x]}]}) + result["datastreams"].append({"id": x, "datapoints": [{"value": d[x]}]}) return result -def pubData(value, state): + +def pubData(value, state): value = get_data_dict(value) jdata = json.dumps(value) jlen = len(jdata) - bdata = bytearray(jlen+3) - bdata[0] = 1 # publish data in type of json - bdata[1] = int(jlen / 256) # data lenght - bdata[2] = jlen % 256 # data lenght - bdata[3:jlen+4] = jdata.encode('ascii') # json data + bdata = bytearray(jlen + 3) + bdata[0] = 1 # publish data in type of json + bdata[1] = int(jlen / 256) # data lenght + bdata[2] = jlen % 256 # data lenght + bdata[3 : jlen + 4] = jdata.encode("ascii") # json data if state: print(value) print(bdata) return bdata -def do_connect(account,password): - nic=wifi_reset() - if not nic: - raise Exception("[Cool.AI]:WiFi init fail") - nic.connect(account,password) - nic.ifconfig() +def do_connect(account, password): + nic = wifi_reset() + if not nic: + raise Exception("[Cool.AI]:WiFi init fail") + + nic.connect(account, password) + nic.ifconfig() + def init_MQTT_client(sid, address, cid, api, topic, callback): client = MQTTClient(sid, address, 6002, cid, api) client.set_callback(callback) client.connect() - client.subscribe(bytes(topic, 'utf-8')) + client.subscribe(bytes(topic, "utf-8")) return client + class MQTTException(Exception): pass + class MQTTClient: - def __init__(self, client_id, server, port=0, user=None, password=None, keepalive=0,ssl=False, ssl_params={}): + def __init__( + self, + client_id, + server, + port=0, + user=None, + password=None, + keepalive=0, + ssl=False, + ssl_params={}, + ): if port == 0: port = 8883 if ssl else 1883 self.client_id = client_id @@ -102,7 +123,7 @@ class MQTTClient: sh = 0 while 1: b = self.sock.read(1)[0] - n |= (b & 0x7f) << sh + n |= (b & 0x7F) << sh if not b & 0x80: return n sh += 7 @@ -124,6 +145,7 @@ class MQTTClient: print(self.addr) if self.ssl: import ussl + self.sock = ussl.wrap_socket(self.sock, **self.ssl_params) msg = bytearray(b"\x10\0\0\x04MQTT\x04\x02\0\0") msg[1] = 10 + 2 + len(self.client_id) @@ -140,7 +162,7 @@ class MQTTClient: msg[9] |= 0x4 | (self.lw_qos & 0x1) << 3 | (self.lw_qos & 0x2) << 3 msg[9] |= self.lw_retain << 5 self.sock.write(msg) - #print(hex(len(msg)), hexlify(msg, ":")) + # print(hex(len(msg)), hexlify(msg, ":")) self._send_str(self.client_id) if self.lw_topic: self._send_str(self.lw_topic) @@ -161,7 +183,7 @@ class MQTTClient: def ping(self): self.sock.write(b"\xc0\0") - def publish(self, msg, is_print=True, topic='$dp', retain=False, qos=0): + def publish(self, msg, is_print=True, topic="$dp", retain=False, qos=0): msg = pubData(msg, is_print) pkt = bytearray(b"\x30\0\0\0") pkt[0] |= qos << 1 | retain @@ -170,12 +192,12 @@ class MQTTClient: sz += 2 assert sz < 2097152 i = 1 - while sz > 0x7f: - pkt[i] = (sz & 0x7f) | 0x80 + while sz > 0x7F: + pkt[i] = (sz & 0x7F) | 0x80 sz >>= 7 i += 1 pkt[i] = sz - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt, i + 1) self._send_str(topic) if qos > 0: @@ -202,7 +224,7 @@ class MQTTClient: pkt = bytearray(b"\x82\0\0\0") self.pid += 1 struct.pack_into("!BH", pkt, 1, 2 + 2 + len(topic) + 1, self.pid) - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt) self._send_str(topic) self.sock.write(qos.to_bytes(1, "little")) @@ -210,7 +232,7 @@ class MQTTClient: op = self.wait_msg() if op == 0x90: resp = self.sock.read(4) - #print(resp) + # print(resp) assert resp[1] == pkt[2] and resp[2] == pkt[3] if resp[3] == 0x80: raise MQTTException(resp[3]) @@ -227,12 +249,12 @@ class MQTTClient: return None if res == b"": raise OSError(-1) - if res == b"\xd0": # PINGRESP + if res == b"\xd0": # PINGRESP sz = self.sock.read(1)[0] assert sz == 0 return None op = res[0] - if op & 0xf0 != 0x30: + if op & 0xF0 != 0x30: return op sz = self._recv_len() topic_len = self.sock.read(2) diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixiot.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixiot.py index 8d37629d..7f00b07f 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixiot.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixiot.py @@ -7,33 +7,55 @@ import ujson as json from matcher import MQTTMatcher from machine import Timer -ADDITIONAL_TOPIC = 'b640a0ce465fa2a4150c36b305c1c11b' -WILL_TOPIC = '9d634e1a156dc0c1611eb4c3cff57276' +ADDITIONAL_TOPIC = "b640a0ce465fa2a4150c36b305c1c11b" +WILL_TOPIC = "9d634e1a156dc0c1611eb4c3cff57276" - -def init_MQTT_client(address, username, password,MQTT_USR_PRJ): + +def init_MQTT_client(address, username, password, MQTT_USR_PRJ): client = MQTTClient(hexlify(machine.unique_id()), address, 1883, username, password) - client.set_last_will(topic=MQTT_USR_PRJ+WILL_TOPIC, msg=client.client_id, qos=2) - if client.connect()==0: - client.publish(MQTT_USR_PRJ+ADDITIONAL_TOPIC, client.client_id, qos=1) - Timer(Timer.TIMER2,Timer.CHANNEL3,mode=Timer.MODE_PERIODIC,period = 10000, callback = lambda x : client.ping()) + client.set_last_will(topic=MQTT_USR_PRJ + WILL_TOPIC, msg=client.client_id, qos=2) + if client.connect() == 0: + client.publish(MQTT_USR_PRJ + ADDITIONAL_TOPIC, client.client_id, qos=1) + Timer( + Timer.TIMER2, + Timer.CHANNEL3, + mode=Timer.MODE_PERIODIC, + period=10000, + callback=lambda x: client.ping(), + ) return client + len_overrided = len + # Add by Mixly Team def len(object): if isinstance(object, str): - return len_overrided(object.encode('utf-8')) + return len_overrided(object.encode("utf-8")) else: return len_overrided(object) -##################################################### + + +##################################################### + class MQTTException(Exception): pass + class MQTTClient: - def __init__(self, client_id, server, port=0, username=None, password=None, keepalive=60, ssl=False, ssl_params={}): + def __init__( + self, + client_id, + server, + port=0, + username=None, + password=None, + keepalive=60, + ssl=False, + ssl_params={}, + ): if port == 0: port = 8883 if ssl else 1883 self.client_id = client_id @@ -42,11 +64,11 @@ class MQTTClient: self.ssl = ssl self.ssl_params = ssl_params self.pid = 0 - #self.cb = None + # self.cb = None self._on_message = None self.username = username self.password = password - #self.project = project + # self.project = project self.keepalive = keepalive self.lw_topic = None self.lw_msg = None @@ -63,7 +85,7 @@ class MQTTClient: sh = 0 while 1: b = self.sock.read(1)[0] - n |= (b & 0x7f) << sh + n |= (b & 0x7F) << sh if not b & 0x80: return n sh += 7 @@ -79,7 +101,7 @@ class MQTTClient: """ if mqtt_topic is None or callback_method is None: raise ValueError("MQTT topic and callback method must both be defined.") - self._on_message_filtered[MQTT_USR_PRJ+mqtt_topic] = callback_method + self._on_message_filtered[MQTT_USR_PRJ + mqtt_topic] = callback_method def remove_callback(self, mqtt_topic): """Removes a registered callback method. @@ -93,7 +115,7 @@ class MQTTClient: except KeyError: raise KeyError( "MQTT topic callback not added with add_topic_callback." - ) from None + ) from None @property def on_message(self): @@ -124,19 +146,20 @@ class MQTTClient: self.lw_msg = msg self.lw_qos = qos self.lw_retain = retain - + def connect(self, clean_session=True): self.sock = socket.socket() self.sock.connect(self.addr) print(self.addr) if self.ssl: import ussl + self.sock = ussl.wrap_socket(self.sock, **self.ssl_params) - msg_header=bytearray([0x10]) + msg_header = bytearray([0x10]) msg = bytearray(b"\x04MQTT\x04\x02\0\0") msg_length = 12 + len(self.client_id) msg[6] = clean_session << 1 - + if self.username is not None: msg_length += 2 + len(self.username) + 2 + len(self.password) msg[6] |= 0xC0 @@ -148,22 +171,22 @@ class MQTTClient: msg_length += 2 + len(self.lw_topic) + 2 + len(self.lw_msg) msg[6] |= 0x4 | (self.lw_qos & 0x1) << 3 | (self.lw_qos & 0x2) << 3 msg[6] |= self.lw_retain << 5 - + if msg_length > 0x7F: - while msg_length>0: + while msg_length > 0: encoded_byte = msg_length % 0x80 msg_length = msg_length // 0x80 if msg_length > 0: encoded_byte |= 0x80 - msg_header.append(encoded_byte) + msg_header.append(encoded_byte) msg_header.append(0x00) else: msg_header.append(msg_length) msg_header.append(0x00) - self.sock.write(msg_header) + self.sock.write(msg_header) self.sock.write(msg) - #print(hexlify(msg_header, ":"), hexlify(msg, ":")) + # print(hexlify(msg_header, ":"), hexlify(msg, ":")) self._send_str(self.client_id) if self.lw_topic: self._send_str(self.lw_topic) @@ -177,26 +200,25 @@ class MQTTClient: raise MQTTException(resp[3]) return resp[2] & 1 - - def disconnect(self,MQTT_USR_PRJ): - #MQTT_USR_PRJ = "{}/{}/".format(self.username,self.project) - self.publish(MQTT_USR_PRJ+WILL_TOPIC, self.client_id, qos=1) + def disconnect(self, MQTT_USR_PRJ): + # MQTT_USR_PRJ = "{}/{}/".format(self.username,self.project) + self.publish(MQTT_USR_PRJ + WILL_TOPIC, self.client_id, qos=1) self.sock.write(b"\xe0\0") self.sock.close() def ping(self): self.sock.write(b"\xc0\0") - + def pingSync(self): time.ticks_ms() self.ping() - for i in range(0,10): + for i in range(0, 10): msg = self.check_msg() if msg == "PINGRESP": return True time.sleep_ms(100) return False - + def publish(self, topic, msg, retain=False, qos=0): # msg = pubData(msg) if "+" in topic or "#" in topic: @@ -219,12 +241,12 @@ class MQTTClient: sz += 2 assert sz < 2097152 i = 1 - while sz > 0x7f: - pkt[i] = (sz & 0x7f) | 0x80 + while sz > 0x7F: + pkt[i] = (sz & 0x7F) | 0x80 sz >>= 7 i += 1 pkt[i] = sz - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt, i + 1) self._send_str(topic) if qos > 0: @@ -247,13 +269,13 @@ class MQTTClient: assert 0 def subscribe(self, topic, qos=0): - #assert self.cb is not None, "Subscribe callback is not set" + # assert self.cb is not None, "Subscribe callback is not set" pkt = bytearray(b"\x82\0\0\0") self.pid += 1 if isinstance(topic, str): - topic=topic.encode() + topic = topic.encode() struct.pack_into("!BH", pkt, 1, 2 + 2 + len(topic) + 1, self.pid) - #print(hex(len(pkt)), hexlify(pkt, ":")) + # print(hex(len(pkt)), hexlify(pkt, ":")) self.sock.write(pkt) self._send_str(topic) self.sock.write(qos.to_bytes(1, "little")) @@ -261,7 +283,7 @@ class MQTTClient: op = self.wait_msg() if op == 0x90: resp = self.sock.read(4) - #print(resp) + # print(resp) assert resp[1] == pkt[2] and resp[2] == pkt[3] if resp[3] == 0x80: raise MQTTException(resp[3]) @@ -278,12 +300,12 @@ class MQTTClient: return None if res == b"": raise OSError(-1) - if res == b"\xd0": # PINGRESP + if res == b"\xd0": # PINGRESP sz = self.sock.read(1)[0] assert sz == 0 return "PINGRESP" op = res[0] - if op & 0xf0 != 0x30: + if op & 0xF0 != 0x30: return op sz = self._recv_len() topic_len = self.sock.read(2) @@ -296,7 +318,7 @@ class MQTTClient: sz -= 2 msg = self.sock.read(sz) self._handle_on_message(self, str(topic, "utf-8"), str(msg, "utf-8")) - #self.cb(topic.decode(), msg.decode()) + # self.cb(topic.decode(), msg.decode()) if op & 6 == 2: pkt = bytearray(b"\x40\x02\0\0") struct.pack_into("!H", pkt, 2, pid) @@ -309,4 +331,4 @@ class MQTTClient: # the same processing as wait_msg. def check_msg(self): self.sock.setblocking(False) - return self.wait_msg() \ No newline at end of file + return self.wait_msg() diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixly_tool.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixly_tool.py index e1b1d9c5..10b952d9 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixly_tool.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixly_tool.py @@ -1,25 +1,27 @@ import hashlib import os + def sha_file(f): if f not in set(os.listdir(".")): - return 'None:::sha_file_end' + return "None:::sha_file_end" else: sha = hashlib.sha256() - with open(f, encoding='utf-8') as fd: + with open(f, encoding="utf-8") as fd: file_buffer = fd.read(128).encode("utf-8") while len(file_buffer) > 0: sha.update(file_buffer) file_buffer = fd.read(128).encode("utf-8") h = sha.digest() - return ''.join(['%.2x' % i for i in h]) + ":::sha_file_end" + return "".join(["%.2x" % i for i in h]) + ":::sha_file_end" + def reload(mod): import sys + mod_name = mod.__name__ try: del sys.modules[mod_name] __import__(mod_name) except: pass - diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixpy.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixpy.py index 7aa9b9bc..0e11620d 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixpy.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mixpy.py @@ -1,8 +1,9 @@ -#coding=utf-8 +# coding=utf-8 import math + def math_map(v, al, ah, bl, bh): - if al==ah: + if al == ah: return bl if al > ah: al, ah = ah, al @@ -12,19 +13,26 @@ def math_map(v, al, ah, bl, bh): v = al return bl + (bh - bl) * (v - al) / (ah - al) + def math_mean(myList): localList = [e for e in myList if type(e) == int or type(e) == float] - if not localList: return + if not localList: + return return float(sum(localList)) / len(localList) + def math_median(myList): localList = sorted([e for e in myList if type(e) == int or type(e) == float]) - if not localList: return + if not localList: + return if len(localList) % 2 == 0: - return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0 + return ( + localList[len(localList) // 2 - 1] + localList[len(localList) // 2] + ) / 2.0 else: return localList[(len(localList) - 1) // 2] + def math_modes(some_list): modes = [] # Using a lists of [item, count] to keep count rather than dict @@ -45,40 +53,48 @@ def math_modes(some_list): modes.append(counted_item) return modes + def math_standard_deviation(numbers): n = len(numbers) - if n == 0: return + if n == 0: + return mean = float(sum(numbers)) / n variance = sum((x - mean) ** 2 for x in numbers) / n return math.sqrt(variance) + def lists_sort(my_list, type, reverse): def try_float(s): try: return float(s) except: return 0 + key_funcs = { "NUMERIC": try_float, "TEXT": str, - "IGNORE_CASE": lambda s: str(s).lower() + "IGNORE_CASE": lambda s: str(s).lower(), } key_func = key_funcs[type] list_cpy = list(my_list) return sorted(list_cpy, key=key_func, reverse=reverse) + def format_content(mydict, cid): - if 'lat' in mydict and 'long' in mydict: - res = '{'+'"lat": "{}", "long": "{}", "clientid": "{}"'.format(mydict.pop('lat'),mydict.pop('long'),cid) - if len(mydict)>0: + if "lat" in mydict and "long" in mydict: + res = "{" + '"lat": "{}", "long": "{}", "clientid": "{}"'.format( + mydict.pop("lat"), mydict.pop("long"), cid + ) + if len(mydict) > 0: res += ', "message": [' for d in mydict: - res += '{{"label": "{}", "value": "{}"}},'.format(d,mydict[d]) + res += '{{"label": "{}", "value": "{}"}},'.format(d, mydict[d]) res = res[:-1] + "]" - res += '}' + res += "}" return res else: - print('Invalid Input') - + print("Invalid Input") + + def format_str(d): - return str(d).replace("'",'"') \ No newline at end of file + return str(d).replace("'", '"') diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mpu9250.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mpu9250.py index af2f89b0..8de406cf 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mpu9250.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/mpu9250.py @@ -19,22 +19,23 @@ import ustruct import utime import time import math -#from machine import I2C, Pin + +# from machine import I2C, Pin # pylint: enable=import-error __version__ = "0.2.0" # pylint: disable=import-error # pylint: enable=import-error -_GYRO_CONFIG = const(0x1b) -_ACCEL_CONFIG = const(0x1c) -_ACCEL_CONFIG2 = const(0x1d) +_GYRO_CONFIG = const(0x1B) +_ACCEL_CONFIG = const(0x1C) +_ACCEL_CONFIG2 = const(0x1D) _INT_PIN_CFG = const(0x37) -_ACCEL_XOUT_H = const(0x3b) -_ACCEL_XOUT_L = const(0x3c) -_ACCEL_YOUT_H = const(0x3d) -_ACCEL_YOUT_L = const(0x3e) -_ACCEL_ZOUT_H = const(0x3f) -_ACCEL_ZOUT_L= const(0x40) +_ACCEL_XOUT_H = const(0x3B) +_ACCEL_XOUT_L = const(0x3C) +_ACCEL_YOUT_H = const(0x3D) +_ACCEL_YOUT_L = const(0x3E) +_ACCEL_ZOUT_H = const(0x3F) +_ACCEL_ZOUT_L = const(0x40) _TEMP_OUT_H = const(0x41) _TEMP_OUT_L = const(0x42) _GYRO_XOUT_H = const(0x43) @@ -45,18 +46,18 @@ _GYRO_ZOUT_H = const(0x47) _GYRO_ZOUT_L = const(0x48) _WHO_AM_I = const(0x75) -#_ACCEL_FS_MASK = const(0b00011000) +# _ACCEL_FS_MASK = const(0b00011000) ACCEL_FS_SEL_2G = const(0b00000000) ACCEL_FS_SEL_4G = const(0b00001000) ACCEL_FS_SEL_8G = const(0b00010000) ACCEL_FS_SEL_16G = const(0b00011000) -_ACCEL_SO_2G = 16384 # 1 / 16384 ie. 0.061 mg / digit -_ACCEL_SO_4G = 8192 # 1 / 8192 ie. 0.122 mg / digit -_ACCEL_SO_8G = 4096 # 1 / 4096 ie. 0.244 mg / digit -_ACCEL_SO_16G = 2048 # 1 / 2048 ie. 0.488 mg / digit +_ACCEL_SO_2G = 16384 # 1 / 16384 ie. 0.061 mg / digit +_ACCEL_SO_4G = 8192 # 1 / 8192 ie. 0.122 mg / digit +_ACCEL_SO_8G = 4096 # 1 / 4096 ie. 0.244 mg / digit +_ACCEL_SO_16G = 2048 # 1 / 2048 ie. 0.488 mg / digit -#_GYRO_FS_MASK = const(0b00011000) +# _GYRO_FS_MASK = const(0b00011000) GYRO_FS_SEL_250DPS = const(0b00000000) GYRO_FS_SEL_500DPS = const(0b00001000) GYRO_FS_SEL_1000DPS = const(0b00010000) @@ -73,9 +74,9 @@ _I2C_BYPASS_EN = const(0b00000010) _I2C_BYPASS_DIS = const(0b00000000) SF_G = 1 -SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity +SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity SF_DEG_S = 1 -SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s +SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s _WIA = const(0x00) @@ -86,15 +87,15 @@ _HYH = const(0x06) _HZL = const(0x07) _HZH = const(0x08) _ST2 = const(0x09) -_CNTL1 = const(0x0a) +_CNTL1 = const(0x0A) _ASAX = const(0x10) _ASAY = const(0x11) _ASAZ = const(0x12) _MODE_POWER_DOWN = 0b00000000 MODE_SINGLE_MEASURE = 0b00000001 -MODE_CONTINOUS_MEASURE_1 = 0b00000010 # 8Hz -MODE_CONTINOUS_MEASURE_2 = 0b00000110 # 100Hz +MODE_CONTINOUS_MEASURE_1 = 0b00000010 # 8Hz +MODE_CONTINOUS_MEASURE_2 = 0b00000110 # 100Hz MODE_EXTERNAL_TRIGGER_MEASURE = 0b00000100 _MODE_SELF_TEST = 0b00001000 _MODE_FUSE_ROM_ACCESS = 0b00001111 @@ -102,15 +103,21 @@ _MODE_FUSE_ROM_ACCESS = 0b00001111 OUTPUT_14_BIT = 0b00000000 OUTPUT_16_BIT = 0b00010000 -_SO_14BIT = 0.6 # 渭T per digit when 14bit mode -_SO_16BIT = 0.15 # 渭T per digit when 16bit mode +_SO_14BIT = 0.6 # 渭T per digit when 14bit mode +_SO_16BIT = 0.15 # 渭T per digit when 16bit mode + class MPU6500: """Class which provides interface to MPU6500 6-axis motion tracking device.""" + def __init__( - self, i2c, address=0x68, - accel_fs=ACCEL_FS_SEL_2G, gyro_fs=GYRO_FS_SEL_250DPS, - accel_sf=SF_M_S2, gyro_sf=SF_RAD_S + self, + i2c, + address=0x68, + accel_fs=ACCEL_FS_SEL_2G, + gyro_fs=GYRO_FS_SEL_250DPS, + accel_sf=SF_M_S2, + gyro_sf=SF_RAD_S, ): self.i2c = i2c self.address = address @@ -125,15 +132,15 @@ class MPU6500: # Enable I2C bypass to access for MPU9250 magnetometer access. char = self._register_char(_INT_PIN_CFG) - char &= ~_I2C_BYPASS_MASK # clear I2C bits + char &= ~_I2C_BYPASS_MASK # clear I2C bits char |= _I2C_BYPASS_EN self._register_char(_INT_PIN_CFG, char) - + @property def temperature(self): - tempbuf=self._register_short(0x41) - return tempbuf/333.87 + 21 # I think - + tempbuf = self._register_short(0x41) + return tempbuf / 333.87 + 21 # I think + # @property def acceleration(self): """ @@ -161,7 +168,7 @@ class MPU6500: @property def whoami(self): - """ Value of the whoami register. """ + """Value of the whoami register.""" return self._register_char(_WHO_AM_I) def _register_short(self, register, value=None, buf=bytearray(2)): @@ -216,12 +223,18 @@ class MPU6500: def __exit__(self, exception_type, exception_value, traceback): pass + class AK8963: """Class which provides interface to AK8963 magnetometer.""" + def __init__( - self, i2c, address=0x0c, - mode=MODE_CONTINOUS_MEASURE_1, output=OUTPUT_16_BIT, - offset=(0, 0, 0), scale=(1, 1, 1) + self, + i2c, + address=0x0C, + mode=MODE_CONTINOUS_MEASURE_1, + output=OUTPUT_16_BIT, + offset=(0, 0, 0), + scale=(1, 1, 1), ): self.i2c = i2c self.address = address @@ -242,7 +255,7 @@ class AK8963: self._adjustement = ( (0.5 * (asax - 128)) / 128 + 1, (0.5 * (asay - 128)) / 128 + 1, - (0.5 * (asaz - 128)) / 128 + 1 + (0.5 * (asaz - 128)) / 128 + 1, ) # Power on @@ -252,15 +265,14 @@ class AK8963: self._so = _SO_16BIT else: self._so = _SO_14BIT - - + @property def magnetic(self): """ X, Y, Z axis micro-Tesla (uT) as floats. """ xyz = list(self._register_three_shorts(_HXL)) - self._register_char(_ST2) # Enable updating readings again + self._register_char(_ST2) # Enable updating readings again # Apply factory axial sensitivy adjustements xyz[0] *= self._adjustement[0] @@ -291,7 +303,7 @@ class AK8963: @property def whoami(self): - """ Value of the whoami register. """ + """Value of the whoami register.""" return self._register_char(_WIA) def calibrate(self, count=3, delay=200): @@ -314,7 +326,6 @@ class AK8963: maxz = max(maxz, reading[2]) count -= 1 - # Hard iron correction offset_x = (maxx + minx) / 2 offset_y = (maxy + miny) / 2 @@ -362,11 +373,12 @@ class AK8963: def __exit__(self, exception_type, exception_value, traceback): pass - + class MPU9250: """Class which provides interface to MPU9250 9-axis motion tracking device.""" - def __init__(self, i2c, mpu6500 = None, ak8963 = None): + + def __init__(self, i2c, mpu6500=None, ak8963=None): if mpu6500 is None: self.mpu6500 = MPU6500(i2c) else: @@ -386,8 +398,8 @@ class MPU9250: # """ # return self.mpu6500.acceleration def mpu9250_get_temperature(self): - return self.mpu6500.temperature - + return self.mpu6500.temperature + def mpu9250_get_values(self): """ Acceleration measured by the sensor. By default will return a @@ -395,7 +407,7 @@ class MPU9250: pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ g = self.mpu6500.acceleration() - a = [round(x/9.8, 2) for x in g] + a = [round(x / 9.8, 2) for x in g] return tuple(a) def mpu9250_get_x(self): @@ -404,15 +416,15 @@ class MPU9250: 3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ - return round(self.mpu6500.acceleration()[0]/9.8, 2) - + return round(self.mpu6500.acceleration()[0] / 9.8, 2) + def mpu9250_get_y(self): """ Acceleration measured by the sensor. By default will return a 3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ - return round(self.mpu6500.acceleration()[1]/9.8, 2) + return round(self.mpu6500.acceleration()[1] / 9.8, 2) def mpu9250_get_z(self): """ @@ -420,45 +432,47 @@ class MPU9250: 3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g pass `accel_fs=SF_G` parameter to the MPU6500 constructor. """ - return round(self.mpu6500.acceleration()[2]/9.8, 2) + return round(self.mpu6500.acceleration()[2] / 9.8, 2) - - def mpu9250_is_gesture(self,choice): - if choice == 'face up': - if self.mpu6500.acceleration()[2] <= -9: - return True - else: - return False - if choice == 'face down': - if self.mpu6500.acceleration()[2] >= 9: - return True - else: - return False - if choice == 'shake': - if abs(self.mpu6500.acceleration()[0]) >= 9 and abs(self.mpu6500.acceleration()[1]) >= 9 : - return True - else: - return False - if choice == 'up': - if self.mpu6500.acceleration()[1] >= 9: - return True - else: - return False - if choice == 'down': - if self.mpu6500.acceleration()[1] <= -9: - return True - else: - return False - if choice == 'right': - if self.mpu6500.acceleration()[0] <= -9: - return True - else: - return False - if choice == 'left': - if self.mpu6500.acceleration()[0] >= 9: - return True - else: - return False + def mpu9250_is_gesture(self, choice): + if choice == "face up": + if self.mpu6500.acceleration()[2] <= -9: + return True + else: + return False + if choice == "face down": + if self.mpu6500.acceleration()[2] >= 9: + return True + else: + return False + if choice == "shake": + if ( + abs(self.mpu6500.acceleration()[0]) >= 9 + and abs(self.mpu6500.acceleration()[1]) >= 9 + ): + return True + else: + return False + if choice == "up": + if self.mpu6500.acceleration()[1] >= 9: + return True + else: + return False + if choice == "down": + if self.mpu6500.acceleration()[1] <= -9: + return True + else: + return False + if choice == "right": + if self.mpu6500.acceleration()[0] <= -9: + return True + else: + return False + if choice == "left": + if self.mpu6500.acceleration()[0] >= 9: + return True + else: + return False @property def mpu9250_gyro(self): @@ -499,23 +513,27 @@ class MPU9250: def mpu9250_magnetic_values(self): return self.mpu9250_magnetic - + # @property def mpu9250_get_field_strength(self): - x=self.mpu9250_magnetic[0] - y=self.mpu9250_magnetic[1] - z=self.mpu9250_magnetic[2] - return (x**2+y**2+z**2)**0.5*1000 + x = self.mpu9250_magnetic[0] + y = self.mpu9250_magnetic[1] + z = self.mpu9250_magnetic[2] + return (x**2 + y**2 + z**2) ** 0.5 * 1000 def mpu9250_heading(self): - x=self.mpu9250_magnetic[0] - y=self.mpu9250_magnetic[1] - z=self.mpu9250_magnetic[2] - a=math.atan(z/x) - b=math.atan(z/y) - xr=x*math.cos(a)+y*math.sin(a)*math.sin(b)-z*math.cos(b)*math.sin(a) - yr=x*math.cos(b)+z*math.sin(b) - return 60*math.atan(yr/xr) + x = self.mpu9250_magnetic[0] + y = self.mpu9250_magnetic[1] + z = self.mpu9250_magnetic[2] + a = math.atan(z / x) + b = math.atan(z / y) + xr = ( + x * math.cos(a) + + y * math.sin(a) * math.sin(b) + - z * math.cos(b) * math.sin(a) + ) + yr = x * math.cos(b) + z * math.sin(b) + return 60 * math.atan(yr / xr) @property def whoami(self): @@ -527,6 +545,7 @@ class MPU9250: def __exit__(self, exception_type, exception_value, traceback): pass + class Compass: RAD_TO_DEG = 57.295779513082320876798154814105 @@ -547,20 +566,23 @@ class Compass: def heading(self): from math import atan2 + xyz = self.sensor.mpu9250_magnetic return int(((atan2(xyz[1], xyz[0]) * Compass.RAD_TO_DEG) + 180) % 360) - def is_calibrate(self): try: import compass_cfg + return True except Exception as e: return False def reset_calibrate(self): import os + os.remove("compass_cfg.py") + + # compass = mpu # accelerometer = mpu - diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ms32006.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ms32006.py index 98be9f41..3d7cbfed 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ms32006.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/ms32006.py @@ -8,135 +8,136 @@ Micropython library for the MS32006 step diever dahanzimin From the Mixly Team """ + import time from micropython import const -MS32006_REG_RESET = const(0x00) #复位 -MS32006_FCLK = const(25000000) #芯片输入时钟选择，此参数与运动速度有关。 范围是：5-30MHZ +MS32006_REG_RESET = const(0x00) # 复位 +MS32006_FCLK = const( + 25000000 +) # 芯片输入时钟选择，此参数与运动速度有关。 范围是：5-30MHZ + +ADDRESS_A = 0x10 +ADDRESS_B = 0x18 +MOT_FULL = 0 +MOT_HALF = 1 +MOT_A = 0 +MOT_B = 4 +MOT_N = 0 +MOT_CW = 1 +MOT_CCW = 2 +MOT_P = 3 + -ADDRESS_A = 0x10 -ADDRESS_B = 0x18 -MOT_FULL = 0 -MOT_HALF = 1 -MOT_A = 0 -MOT_B = 4 -MOT_N = 0 -MOT_CW = 1 -MOT_CCW = 2 -MOT_P = 3 class MS32006: - _buffer = bytearray(2) + _buffer = bytearray(2) - def __init__(self, i2c_bus,addr=ADDRESS_A,mode=MOT_FULL): - self._device = i2c_bus - self._address = addr - self.reset() - self.mode=mode - + def __init__(self, i2c_bus, addr=ADDRESS_A, mode=MOT_FULL): + self._device = i2c_bus + self._address = addr + self.reset() + self.mode = mode - def _read_u8(self, address): - self._buffer[0] = address & 0xFF - self._device.writeto(self._address,self._buffer) - self._device.readfrom_into(self._address,self._buffer) - return self._buffer[0] - - def _write_u8(self, address, val): - self._buffer[0] = address & 0xFF - self._buffer[1] = val & 0xFF - self._device.writeto(self._address,self._buffer) + def _read_u8(self, address): + self._buffer[0] = address & 0xFF + self._device.writeto(self._address, self._buffer) + self._device.readfrom_into(self._address, self._buffer) + return self._buffer[0] - def reset(self): - self._write_u8(MS32006_REG_RESET,0x00) - time.sleep(0.1) - self._write_u8(MS32006_REG_RESET,0xC1) - - def move(self,moto,mot_dir,mot_pps,mot_step): - readstate_0H = self._read_u8(0x00) - readstate_9H = self._read_u8(0x09) - speed_data=MS32006_FCLK//mot_pps//128 #设置速度 xx pps 128是固定参数 - - if speed_data<32: #限定转速 - speed_data=32 - elif speed_data>16383: - speed_data=16383 - - mot_speed_l=speed_data&0x00ff #取低8位 - mot_speed_h=speed_data//0x100 #取高6位 - - if self.mode==MOT_FULL: #设置整步、半步驱动模式 - mot_speed_h|=0x80 - else: - mot_speed_h&=0x7f - - if mot_step>2047: - raise AttributeError("Reach the set upper limit, up to 2047 step") - - mot_step_l=mot_step&0x00ff - mot_step_h=mot_step//0x100 - mot_step_h|=0x80 - - if mot_dir==MOT_CW: - mot_step_h&=0xBF - else: - mot_step_h|=0x40 - self._write_u8(0x01+moto,mot_speed_l) - self._write_u8(0x02+moto,mot_speed_h) - self._write_u8(0x03+moto,mot_step_l) - self._write_u8(0x04+moto,mot_step_h) - - if moto==MOT_A: - self._write_u8(0x00, readstate_0H&0xfb) - self._write_u8(0x09, readstate_9H|0x80) - else: - self._write_u8(0x00, readstate_0H&0xfd) - self._write_u8(0x09, readstate_9H|0x40) - - def close(self,moto): #停止并关闭输出 - if moto==MOT_A: - self._write_u8(0x04,0x00) - else: - self._write_u8(0x08,0x00) + def _write_u8(self, address, val): + self._buffer[0] = address & 0xFF + self._buffer[1] = val & 0xFF + self._device.writeto(self._address, self._buffer) - def stop(self,moto): #此停止函数，强制让电机停止 - readstate = self._read_u8(0x00) - if moto==MOT_A: - self._write_u8(0x00,readstate|0x04) - else: - self._write_u8(0x00,readstate|0x02) - - def readstep(self,moto): #读取电机运动步数 - if moto==MOT_A: - rdb =self._read_u8(0x0b) - rdc =self._read_u8(0x0c) - else: - rdb =self._read_u8(0x0d) - rdc =self._read_u8(0x0e) - return (rdb*0x100+rdc)&0xfff + def reset(self): + self._write_u8(MS32006_REG_RESET, 0x00) + time.sleep(0.1) + self._write_u8(MS32006_REG_RESET, 0xC1) - def readbusy(self,moto): #读取电机缓存是否有数据 - if moto==MOT_A: - busy =(self._read_u8(0x0b)>>6)&1 - else: - busy =(self._read_u8(0x0d)>>6)&1 - return bool(busy) - - def readwork(self,moto): #读取电机是否在运行 - if moto==MOT_A: - busy =(self._read_u8(0x0b)>>4)&1 - else: - busy =(self._read_u8(0x0d)>>4)&1 - return bool(busy) - - def dc_motor(self,state,speed): #直流电机驱动 - if (state==MOT_CW) | (state==MOT_CCW) : - speed_st=speed*127//100 |0x80 - self._write_u8(0x0A,speed_st) - - readstate = self._read_u8(0x09) & 0xA0 - state_st=(state<<2) | 0X03 | readstate - self._write_u8(0x09,state_st) - - - \ No newline at end of file + def move(self, moto, mot_dir, mot_pps, mot_step): + readstate_0H = self._read_u8(0x00) + readstate_9H = self._read_u8(0x09) + speed_data = MS32006_FCLK // mot_pps // 128 # 设置速度 xx pps 128是固定参数 + + if speed_data < 32: # 限定转速 + speed_data = 32 + elif speed_data > 16383: + speed_data = 16383 + + mot_speed_l = speed_data & 0x00FF # 取低8位 + mot_speed_h = speed_data // 0x100 # 取高6位 + + if self.mode == MOT_FULL: # 设置整步、半步驱动模式 + mot_speed_h |= 0x80 + else: + mot_speed_h &= 0x7F + + if mot_step > 2047: + raise AttributeError("Reach the set upper limit, up to 2047 step") + + mot_step_l = mot_step & 0x00FF + mot_step_h = mot_step // 0x100 + mot_step_h |= 0x80 + + if mot_dir == MOT_CW: + mot_step_h &= 0xBF + else: + mot_step_h |= 0x40 + self._write_u8(0x01 + moto, mot_speed_l) + self._write_u8(0x02 + moto, mot_speed_h) + self._write_u8(0x03 + moto, mot_step_l) + self._write_u8(0x04 + moto, mot_step_h) + + if moto == MOT_A: + self._write_u8(0x00, readstate_0H & 0xFB) + self._write_u8(0x09, readstate_9H | 0x80) + else: + self._write_u8(0x00, readstate_0H & 0xFD) + self._write_u8(0x09, readstate_9H | 0x40) + + def close(self, moto): # 停止并关闭输出 + if moto == MOT_A: + self._write_u8(0x04, 0x00) + else: + self._write_u8(0x08, 0x00) + + def stop(self, moto): # 此停止函数，强制让电机停止 + readstate = self._read_u8(0x00) + if moto == MOT_A: + self._write_u8(0x00, readstate | 0x04) + else: + self._write_u8(0x00, readstate | 0x02) + + def readstep(self, moto): # 读取电机运动步数 + if moto == MOT_A: + rdb = self._read_u8(0x0B) + rdc = self._read_u8(0x0C) + else: + rdb = self._read_u8(0x0D) + rdc = self._read_u8(0x0E) + return (rdb * 0x100 + rdc) & 0xFFF + + def readbusy(self, moto): # 读取电机缓存是否有数据 + if moto == MOT_A: + busy = (self._read_u8(0x0B) >> 6) & 1 + else: + busy = (self._read_u8(0x0D) >> 6) & 1 + return bool(busy) + + def readwork(self, moto): # 读取电机是否在运行 + if moto == MOT_A: + busy = (self._read_u8(0x0B) >> 4) & 1 + else: + busy = (self._read_u8(0x0D) >> 4) & 1 + return bool(busy) + + def dc_motor(self, state, speed): # 直流电机驱动 + if (state == MOT_CW) | (state == MOT_CCW): + speed_st = speed * 127 // 100 | 0x80 + self._write_u8(0x0A, speed_st) + + readstate = self._read_u8(0x09) & 0xA0 + state_st = (state << 2) | 0x03 | readstate + self._write_u8(0x09, state_st) diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/net_espat.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/net_espat.py index a196fe7a..5b8d1f03 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/net_espat.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/net_espat.py @@ -1,30 +1,31 @@ -import network,time,board +import network, time, board from machine import UART import time -def wifi_init(RX_Pin,TX_Pin): - board.register(TX_Pin,board.FPIOA.UART2_TX) - board.register(RX_Pin,board.FPIOA.UART2_RX) - - uart = UART(UART.UART2,115200,timeout=1000, read_buf_len=1024*16) - T1=time.ticks_ms() - while True: - tmp=uart.read() - if tmp: - if tmp.endswith("OK\r\n"): - break - else: - uart.write("AT+RST\r\n") - time.sleep_ms(20) - if time.ticks_diff(time.ticks_ms(), T1) >2000: - raise AttributeError("ESP-AT not connected or needs to be reset") - try: - nic = network.ESP8285(uart) - time.sleep(1) - print("ESP-AT OK") - return nic - except Exception: - raise AttributeError("ESP-AT Connection Failed") + +def wifi_init(RX_Pin, TX_Pin): + board.register(TX_Pin, board.FPIOA.UART2_TX) + board.register(RX_Pin, board.FPIOA.UART2_RX) + + uart = UART(UART.UART2, 115200, timeout=1000, read_buf_len=1024 * 16) + T1 = time.ticks_ms() + while True: + tmp = uart.read() + if tmp: + if tmp.endswith("OK\r\n"): + break + else: + uart.write("AT+RST\r\n") + time.sleep_ms(20) + if time.ticks_diff(time.ticks_ms(), T1) > 2000: + raise AttributeError("ESP-AT not connected or needs to be reset") + try: + nic = network.ESP8285(uart) + time.sleep(1) + print("ESP-AT OK") + return nic + except Exception: + raise AttributeError("ESP-AT Connection Failed") def wifi_deal_ap_info(info): @@ -40,9 +41,9 @@ def wifi_deal_ap_info(info): res.append(info_one) return res -def scans(nic): - ap_info = nic.scan() - ap_info = wifi_deal_ap_info(ap_info) - ap_info.sort(key=lambda x:x[2], reverse=True) - return ap_info +def scans(nic): + ap_info = nic.scan() + ap_info = wifi_deal_ap_info(ap_info) + ap_info.sort(key=lambda x: x[2], reverse=True) + return ap_info diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/pid.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/pid.py index 522165ea..89f3eef1 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/pid.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/pid.py @@ -1,16 +1,18 @@ import time from math import pi, isnan + class PID: _kp = _ki = _kd = _integrator = _imax = 0 _last_error = _last_derivative = _last_t = 0 - _RC = 1/(2 * pi * 20) + _RC = 1 / (2 * pi * 20) + def __init__(self, p=0, i=0, d=0, imax=0): self._kp = float(p) self._ki = float(i) self._kd = float(d) self._imax = abs(imax) - self._last_derivative = float('nan') + self._last_derivative = float("nan") def get_pid(self, error, scaler): tnow = time.ticks_ms() @@ -28,19 +30,23 @@ class PID: self._last_derivative = 0 else: derivative = (error - self._last_error) / delta_time - derivative = self._last_derivative + \ - ((delta_time / (self._RC + delta_time)) * \ - (derivative - self._last_derivative)) + derivative = self._last_derivative + ( + (delta_time / (self._RC + delta_time)) + * (derivative - self._last_derivative) + ) self._last_error = error self._last_derivative = derivative output += self._kd * derivative output *= scaler if abs(self._ki) > 0 and dt > 0: self._integrator += (error * self._ki) * scaler * delta_time - if self._integrator < -self._imax: self._integrator = -self._imax - elif self._integrator > self._imax: self._integrator = self._imax + if self._integrator < -self._imax: + self._integrator = -self._imax + elif self._integrator > self._imax: + self._integrator = self._imax output += self._integrator return output + def reset_I(self): self._integrator = 0 - self._last_derivative = float('nan') + self._last_derivative = float("nan") diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/player.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/player.py index 3d6158eb..50b87074 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/player.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/player.py @@ -1,128 +1,151 @@ import board -import audio,video +import audio, video from Maix import I2S import gc - -spk_b=None -spk_d=None -spk_w=None -def spk_init(BLK=8,WS=9,DAT=10,sample_rate=16000): - global spk_b - global spk_d - global spk_w - spk_b=BLK - spk_d=DAT - spk_w=WS - board.register(DAT,board.FPIOA.I2S0_OUT_D1) - board.register(BLK,board.FPIOA.I2S0_SCLK) - board.register(WS,board.FPIOA.I2S0_WS) - wav_dev = I2S(I2S.DEVICE_0) - wav_dev.channel_config(I2S.CHANNEL_1, I2S.TRANSMITTER,resolution = I2S.RESOLUTION_16_BIT, cycles = I2S.SCLK_CYCLES_32, align_mode = I2S.STANDARD_MODE) - wav_dev.set_sample_rate(sample_rate) - spk_rep=wav_dev - return wav_dev - -def mic_init(BLK=35,WS=33,DAT=34,sample_rate=16000): - board.register(DAT,board.FPIOA.I2S2_IN_D0) - board.register(BLK,board.FPIOA.I2S2_SCLK) - board.register(WS,board.FPIOA.I2S2_WS) - wav_dev = I2S(I2S.DEVICE_2) - wav_dev.channel_config(I2S.CHANNEL_0, I2S.RECEIVER, resolution = I2S.RESOLUTION_16_BIT, cycles = I2S.SCLK_CYCLES_32, align_mode=I2S.STANDARD_MODE) - wav_dev.set_sample_rate(sample_rate) - return wav_dev +spk_b = None +spk_d = None +spk_w = None -def audio_play(I2S,path,num=80): - try: - player = audio.Audio(path=path) - except Exception as e: - raise NameError("No audio file loaded or {}".format(e)) - player.volume(num) - wav_info=player.play_process(I2S) - I2S.set_sample_rate(wav_info[1]) - while True: - ret = player.play() - if ret == None: - print("Format Error") - break - elif ret == 0: - print("Play end \n") - player.finish() - break - player.__deinit__() - gc.collect() - -def audio_record(I2S,path,record_time,sample_rate=16000): - try: - recorder = audio.Audio(path=path, is_create=True, samplerate=sample_rate) - except Exception as e: - raise NameError("Need audio storage location or {}".format(e)) - queue = [] - frame_cnt = record_time*sample_rate//2048 - for i in range(frame_cnt): - tmp = I2S.record(2048*2) - if len(queue) > 0: - ret = recorder.record(queue[0]) - queue.pop(0) - I2S.wait_record() - queue.append(tmp) - print("record:{}s".format(round(((frame_cnt-i-1)/7.7) ,1))) - recorder.finish() - recorder.__deinit__() - del recorder - print("Audio record finish \n") - gc.collect() - - -def video_play(I2S1,path,num=80): - try: - global spk_b - global spk_d - global spk_w - import lcd - lcd.init() - I2S=spk_init(spk_b,spk_w,spk_d) - vide = video.open(path) - except Exception as e: - raise NameError("No video file loaded or {}".format(e)) - vide.volume(num) - while True: - try: - ret = vide.play() - except Exception as e: - raise NameError("Video format error or {}".format(e)) - if ret == None: - print("Format Error") - break - elif ret == 0: - print("Play end \n") - break - vide.__del__() - del vide - del I2S - gc.collect() +def spk_init(BLK=8, WS=9, DAT=10, sample_rate=16000): + global spk_b + global spk_d + global spk_w + spk_b = BLK + spk_d = DAT + spk_w = WS + board.register(DAT, board.FPIOA.I2S0_OUT_D1) + board.register(BLK, board.FPIOA.I2S0_SCLK) + board.register(WS, board.FPIOA.I2S0_WS) + wav_dev = I2S(I2S.DEVICE_0) + wav_dev.channel_config( + I2S.CHANNEL_1, + I2S.TRANSMITTER, + resolution=I2S.RESOLUTION_16_BIT, + cycles=I2S.SCLK_CYCLES_32, + align_mode=I2S.STANDARD_MODE, + ) + wav_dev.set_sample_rate(sample_rate) + spk_rep = wav_dev + return wav_dev -def video_record(I2S,path,record_time): - import sensor,lcd - lcd.init() - try: - v = video.open(path, audio=False, record=True, interval=200000, quality=80,width=240, height=240) - except Exception as e: - raise NameError("Need video storage location or {}".format(e)) - record_time=record_time*5 - for i in range(record_time): - try: - img = sensor.snapshot() - except : - raise NameError("Need to initialize camera") - lcd.display(img) - v.record(img) - print("record {}s".format(round((record_time-i-1)*0.2,1))) - v.record_finish() - print("Video record finish \n") - v.__del__() - gc.collect() - +def mic_init(BLK=35, WS=33, DAT=34, sample_rate=16000): + board.register(DAT, board.FPIOA.I2S2_IN_D0) + board.register(BLK, board.FPIOA.I2S2_SCLK) + board.register(WS, board.FPIOA.I2S2_WS) + wav_dev = I2S(I2S.DEVICE_2) + wav_dev.channel_config( + I2S.CHANNEL_0, + I2S.RECEIVER, + resolution=I2S.RESOLUTION_16_BIT, + cycles=I2S.SCLK_CYCLES_32, + align_mode=I2S.STANDARD_MODE, + ) + wav_dev.set_sample_rate(sample_rate) + return wav_dev + +def audio_play(I2S, path, num=80): + try: + player = audio.Audio(path=path) + except Exception as e: + raise NameError("No audio file loaded or {}".format(e)) + player.volume(num) + wav_info = player.play_process(I2S) + I2S.set_sample_rate(wav_info[1]) + while True: + ret = player.play() + if ret == None: + print("Format Error") + break + elif ret == 0: + print("Play end \n") + player.finish() + break + player.__deinit__() + gc.collect() + + +def audio_record(I2S, path, record_time, sample_rate=16000): + try: + recorder = audio.Audio(path=path, is_create=True, samplerate=sample_rate) + except Exception as e: + raise NameError("Need audio storage location or {}".format(e)) + queue = [] + frame_cnt = record_time * sample_rate // 2048 + for i in range(frame_cnt): + tmp = I2S.record(2048 * 2) + if len(queue) > 0: + ret = recorder.record(queue[0]) + queue.pop(0) + I2S.wait_record() + queue.append(tmp) + print("record:{}s".format(round(((frame_cnt - i - 1) / 7.7), 1))) + recorder.finish() + recorder.__deinit__() + del recorder + print("Audio record finish \n") + gc.collect() + + +def video_play(I2S1, path, num=80): + try: + global spk_b + global spk_d + global spk_w + import lcd + + lcd.init() + I2S = spk_init(spk_b, spk_w, spk_d) + vide = video.open(path) + except Exception as e: + raise NameError("No video file loaded or {}".format(e)) + vide.volume(num) + while True: + try: + ret = vide.play() + except Exception as e: + raise NameError("Video format error or {}".format(e)) + if ret == None: + print("Format Error") + break + elif ret == 0: + print("Play end \n") + break + vide.__del__() + del vide + del I2S + gc.collect() + + +def video_record(I2S, path, record_time): + import sensor, lcd + + lcd.init() + try: + v = video.open( + path, + audio=False, + record=True, + interval=200000, + quality=80, + width=240, + height=240, + ) + except Exception as e: + raise NameError("Need video storage location or {}".format(e)) + record_time = record_time * 5 + for i in range(record_time): + try: + img = sensor.snapshot() + except: + raise NameError("Need to initialize camera") + lcd.display(img) + v.record(img) + print("record {}s".format(round((record_time - i - 1) * 0.2, 1))) + v.record_finish() + print("Video record finish \n") + v.__del__() + gc.collect() diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/reset.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/reset.py index d478ca73..3acbc000 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/reset.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/reset.py @@ -1,33 +1,35 @@ try: - import image - image.font_free() + import image + + image.font_free() except: pass try: - import lcd,time,gc,machine - - lcd.init(color=0x0000) - lcd.draw_string(48,100, "Welcome to MixGo!", lcd.YELLOW, lcd.BLACK) - lcd.draw_string(62,132, "loading .", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ..", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ...", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ....", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading .....", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading ......", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.draw_string(62,132, "loading .......", lcd.YELLOW, lcd.BLACK) - time.sleep_ms(50) - lcd.clear(0x0000) - del time - del lcd - del gc - + import lcd, time, gc, machine + + lcd.init(color=0x0000) + lcd.draw_string(48, 100, "Welcome to MixGo!", lcd.YELLOW, lcd.BLACK) + lcd.draw_string(62, 132, "loading .", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ..", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ...", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ....", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading .....", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading ......", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.draw_string(62, 132, "loading .......", lcd.YELLOW, lcd.BLACK) + time.sleep_ms(50) + lcd.clear(0x0000) + del time + del lcd + del gc + finally: - import gc - gc.collect() + import gc + + gc.collect() diff --git a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/servo.py b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/servo.py index aa8698ba..323be387 100644 --- a/boards/default_src/micropython_k210_mixgoai/origin/build/lib/servo.py +++ b/boards/default_src/micropython_k210_mixgoai/origin/build/lib/servo.py @@ -2,6 +2,8 @@ import math import ustruct import time + + class PCA9685: def __init__(self, i2c, address=0x40): self.i2c = i2c @@ -15,25 +17,25 @@ class PCA9685: return self.i2c.readfrom_mem(self.address, address, 1)[0] def reset(self): - self._write(0x00, 0x00) # Mode1 + self._write(0x00, 0x00) # Mode1 def freq(self, freq=None): if freq is None: - return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5)) + return int(25000000.0 / 4096 / (self._read(0xFE) - 0.5)) prescale = int(25000000.0 / 4096.0 / freq + 0.5) - old_mode = self._read(0x00) # Mode 1 - self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep - self._write(0xfe, prescale) # Prescale - self._write(0x00, old_mode) # Mode 1 + old_mode = self._read(0x00) # Mode 1 + self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep + self._write(0xFE, prescale) # Prescale + self._write(0x00, old_mode) # Mode 1 time.sleep_us(5) - self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on + self._write(0x00, old_mode | 0xA1) # Mode 1, autoincrement on def pwm(self, index, on=None, off=None): if on is None or off is None: data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4) - return ustruct.unpack('h', origin_data)[0] + origin_value = unp(">h", origin_data)[0] value = -46.85 + 175.72 * (origin_value / 65536) return value @@ -31,8 +30,9 @@ class SHT20(object): self._bus.writeto(self._address, TRI_RH_MEASURE_NO_HOLD) sleep_ms(150) origin_data = self._bus.readfrom(self._address, 2) - origin_value = unp('>H', origin_data)[0] + origin_value = unp(">H", origin_data)[0] value = -6 + 125 * (origin_value / 65536) return value -#sht=SHT20(I2C(scl = Pin(22), sda = Pin(21), freq = 100000)) \ No newline at end of file + +# sht=SHT20(I2C(scl = Pin(22), sda = Pin(21), freq = 100000)) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/MP3.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/MP3.py index 377e37f8..d91a6048 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/MP3.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/MP3.py @@ -1,5 +1,6 @@ from microbit import * + class QJ00X_MP3: def __init__(self, mp3_rx=pin2, mp3_tx=pin16, volume=0x16, mode=0x01): uart.init(rx=mp3_rx, tx=mp3_tx, baudrate=9600) @@ -9,64 +10,64 @@ class QJ00X_MP3: self.pause() def _send_cmd(self, length, cmd, data_high=None, data_low=None): - uart.write(b'\x7E') + uart.write(b"\x7E") uart.write(bytes([length])) uart.write(bytes([cmd])) if data_high != None: uart.write(bytes([data_high])) if data_low != None: uart.write(bytes([data_low])) - uart.write(b'\xEF') + uart.write(b"\xEF") sleep(200) - - #下一曲 + + # 下一曲 def next_track(self): self._send_cmd(0x02, 0x03) - - #上一曲 + + # 上一曲 def prev_track(self): self._send_cmd(0x02, 0x04) - - #选择曲目 + + # 选择曲目 def sel_track(self, track_index): self._send_cmd(0x03, track_index) - - #音量+ + + # 音量+ def inc_vol(self): self._send_cmd(0x02, 0x05) - - #音量- + + # 音量- def dec_vol(self): self._send_cmd(0x02, 0x06) - - #设置音量 + + # 设置音量 def set_vol(self, volume): self._send_cmd(0x03, 0x31, data_high=volume) - - #设置音效 + + # 设置音效 def set_eq(self, equalizer): self._send_cmd(0x03, 0x32, data_high=equalizer) - - #设置播放设备 + + # 设置播放设备 def set_mode(self, mode): self._send_cmd(0x03, 0x35, data_high=mode) - #播放 + # 播放 def play(self): self._send_cmd(0x02, 0x01) - - #终止播放 + + # 终止播放 def pause(self): self._send_cmd(0x02, 0x02) - - #设置文件夹播放 + + # 设置文件夹播放 def set_folder(self, folder_index, music_index): self._send_cmd(0x04, 0x42, data_high=folder_index, data_low=music_index) - - #设置曲目播放 + + # 设置曲目播放 def playFileByIndexNumber(self, music_index): self._send_cmd(0x04, 0x41, data_high=0x00, data_low=music_index) - - #设置循环 + + # 设置循环 def set_loop(self, mode): - self._send_cmd(0x03, 0x33, data_high=mode) \ No newline at end of file + self._send_cmd(0x03, 0x33, data_high=mode) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/RTC.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/RTC.py index fc53ce5c..8d8ffae6 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/RTC.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/RTC.py @@ -1,16 +1,18 @@ from microbit import * -DS1307_I2C_ADDRESS = (104) -DS1307_REG_SECOND = (0) -DS1307_REG_MINUTE = (1) -DS1307_REG_HOUR = (2) -DS1307_REG_WEEKDAY = (3) -DS1307_REG_DAY = (4) -DS1307_REG_MONTH = (5) -DS1307_REG_YEAR = (6) -DS1307_REG_CTRL = (7) -DS1307_REG_RAM = (8) -class DS1307(): +DS1307_I2C_ADDRESS = 104 +DS1307_REG_SECOND = 0 +DS1307_REG_MINUTE = 1 +DS1307_REG_HOUR = 2 +DS1307_REG_WEEKDAY = 3 +DS1307_REG_DAY = 4 +DS1307_REG_MONTH = 5 +DS1307_REG_YEAR = 6 +DS1307_REG_CTRL = 7 +DS1307_REG_RAM = 8 + + +class DS1307: # set reg def setReg(self, reg, dat): i2c.write(DS1307_I2C_ADDRESS, bytearray([reg, dat])) @@ -23,17 +25,17 @@ class DS1307(): def start(self): t = self.getReg(DS1307_REG_SECOND) - self.setReg(DS1307_REG_SECOND, t&0x7F) + self.setReg(DS1307_REG_SECOND, t & 0x7F) def stop(self): t = self.getReg(DS1307_REG_SECOND) - self.setReg(DS1307_REG_SECOND, t|0x80) + self.setReg(DS1307_REG_SECOND, t | 0x80) def DecToHex(self, dat): - return (dat//10) * 16 + (dat%10) + return (dat // 10) * 16 + (dat % 10) def HexToDec(self, dat): - return (dat//16) * 10 + (dat%16) + return (dat // 16) * 10 + (dat % 16) def DateTime(self, DT=None): if DT == None: @@ -52,62 +54,62 @@ class DS1307(): else: buf = bytearray(8) buf[0] = 0 - buf[1] = self.DecToHex(DT[6]%60) # second - buf[2] = self.DecToHex(DT[5]%60) # minute - buf[3] = self.DecToHex(DT[4]%24) # hour - buf[4] = self.DecToHex(DT[3]%8) # week day - buf[5] = self.DecToHex(DT[2]%32) # date - buf[6] = self.DecToHex(DT[1]%13) # month - buf[7] = self.DecToHex(DT[0]%100) # year + buf[1] = self.DecToHex(DT[6] % 60) # second + buf[2] = self.DecToHex(DT[5] % 60) # minute + buf[3] = self.DecToHex(DT[4] % 24) # hour + buf[4] = self.DecToHex(DT[3] % 8) # week day + buf[5] = self.DecToHex(DT[2] % 32) # date + buf[6] = self.DecToHex(DT[1] % 13) # month + buf[7] = self.DecToHex(DT[0] % 100) # year i2c.write(DS1307_I2C_ADDRESS, buf) - def Year(self, year = None): + def Year(self, year=None): if year == None: return self.HexToDec(self.getReg(DS1307_REG_YEAR)) + 2000 else: - self.setReg(DS1307_REG_YEAR, self.DecToHex(year%100)) + self.setReg(DS1307_REG_YEAR, self.DecToHex(year % 100)) - def Month(self, month = None): + def Month(self, month=None): if month == None: return self.HexToDec(self.getReg(DS1307_REG_MONTH)) else: - self.setReg(DS1307_REG_MONTH, self.DecToHex(month%13)) + self.setReg(DS1307_REG_MONTH, self.DecToHex(month % 13)) - def Day(self, day = None): + def Day(self, day=None): if day == None: return self.HexToDec(self.getReg(DS1307_REG_DAY)) else: - self.setReg(DS1307_REG_DAY, self.DecToHex(day%32)) + self.setReg(DS1307_REG_DAY, self.DecToHex(day % 32)) - def Weekday(self, weekday = None): + def Weekday(self, weekday=None): if weekday == None: return self.HexToDec(self.getReg(DS1307_REG_WEEKDAY)) else: - self.setReg(DS1307_REG_WEEKDAY, self.DecToHex(weekday%8)) + self.setReg(DS1307_REG_WEEKDAY, self.DecToHex(weekday % 8)) - def Hour(self, hour = None): + def Hour(self, hour=None): if hour == None: return self.HexToDec(self.getReg(DS1307_REG_HOUR)) else: - self.setReg(DS1307_REG_HOUR, self.DecToHex(hour%24)) + self.setReg(DS1307_REG_HOUR, self.DecToHex(hour % 24)) - def Minute(self, minute = None): + def Minute(self, minute=None): if minute == None: return self.HexToDec(self.getReg(DS1307_REG_MINUTE)) else: - self.setReg(DS1307_REG_MINUTE, self.DecToHex(minute%60)) + self.setReg(DS1307_REG_MINUTE, self.DecToHex(minute % 60)) - def Second(self, second = None): + def Second(self, second=None): if second == None: return self.HexToDec(self.getReg(DS1307_REG_SECOND)) else: - self.setReg(DS1307_REG_SECOND, self.DecToHex(second%60)) + self.setReg(DS1307_REG_SECOND, self.DecToHex(second % 60)) - def ram(self, reg, dat = None): + def ram(self, reg, dat=None): if dat == None: - return self.getReg(DS1307_REG_RAM + (reg%56)) + return self.getReg(DS1307_REG_RAM + (reg % 56)) else: - self.setReg(DS1307_REG_RAM + (reg%56), dat) + self.setReg(DS1307_REG_RAM + (reg % 56), dat) def get_time(self): return self.Hour() + self.Minute() + self.Second() @@ -125,4 +127,5 @@ class DS1307(): self.Month(month) self.Day(day) -ds = DS1307() \ No newline at end of file + +ds = DS1307() diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/Servo.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/Servo.py index 402e3030..edae917f 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/Servo.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/Servo.py @@ -1,6 +1,7 @@ from microbit import * + def angle(pin, angle): - pin.set_analog_period(round((1/50) * 1000)) + pin.set_analog_period(round((1 / 50) * 1000)) duty = 26 + (angle * 102) / 180 - pin.write_analog(duty) \ No newline at end of file + pin.write_analog(duty) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/TCS.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/TCS.py index 8b0a9386..aa4867d2 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/TCS.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/TCS.py @@ -1,64 +1,103 @@ from microbit import * -class TCS34725(): - TCS34725_ADDRESS = 0x29 +class TCS34725: - TCS34725_COMMAND_BIT = 0x80 + TCS34725_ADDRESS = 0x29 - TCS34725_ENABLE = 0x00 - TCS34725_ENABLE_AIEN = 0x10 # RGBC Interrupt Enable - TCS34725_ENABLE_WEN = 0x08 # Wait enable - Writing 1 activates the wait timer - TCS34725_ENABLE_AEN = 0x02 # RGBC Enable - Writing 1 actives the ADC, 0 disables it - TCS34725_ENABLE_PON = 0x01 # Power on - Writing 1 activates the internal oscillator, 0 disables it - TCS34725_ATIME = 0x01 # Integration time - TCS34725_WTIME = 0x03 # Wait time (if TCS34725_ENABLE_WEN is asserted - TCS34725_WTIME_2_4MS = 0xFF # WLONG0 = 2.4ms WLONG1 = 0.029s - TCS34725_WTIME_204MS = 0xAB # WLONG0 = 204ms WLONG1 = 2.45s - TCS34725_WTIME_614MS = 0x00 # WLONG0 = 614ms WLONG1 = 7.4s - TCS34725_AILTL = 0x04 # Clear channel lower interrupt threshold - TCS34725_AILTH = 0x05 - TCS34725_AIHTL = 0x06 # Clear channel upper interrupt threshold - TCS34725_AIHTH = 0x07 - TCS34725_PERS = 0x0C # Persistence register - basic SW filtering mechanism for interrupts - TCS34725_PERS_NONE = 0b0000 # Every RGBC cycle generates an interrupt - TCS34725_PERS_1_CYCLE = 0b0001 # 1 clean channel value outside threshold range generates an interrupt - TCS34725_PERS_2_CYCLE = 0b0010 # 2 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_3_CYCLE = 0b0011 # 3 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_5_CYCLE = 0b0100 # 5 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_10_CYCLE = 0b0101 # 10 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_15_CYCLE = 0b0110 # 15 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_20_CYCLE = 0b0111 # 20 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_25_CYCLE = 0b1000 # 25 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_30_CYCLE = 0b1001 # 30 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_35_CYCLE = 0b1010 # 35 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_40_CYCLE = 0b1011 # 40 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_45_CYCLE = 0b1100 # 45 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_50_CYCLE = 0b1101 # 50 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_55_CYCLE = 0b1110 # 55 clean channel values outside threshold range generates an interrupt - TCS34725_PERS_60_CYCLE = 0b1111 # 60 clean channel values outside threshold range generates an interrupt - TCS34725_CONFIG = 0x0D - TCS34725_CONFIG_WLONG = 0x02 # Choose between short and long (12x wait times via TCS34725_WTIME - TCS34725_CONTROL = 0x0F # Set the gain level for the sensor - TCS34725_ID = 0x12 # 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 - TCS34725_STATUS = 0x13 - TCS34725_STATUS_AINT = 0x10 # RGBC Clean channel interrupt - TCS34725_STATUS_AVALID = 0x01 # Indicates that the RGBC channels have completed an integration cycle - TCS34725_CDATAL = 0x14 # Clear channel data - TCS34725_CDATAH = 0x15 - TCS34725_RDATAL = 0x16 # Red channel data - TCS34725_RDATAH = 0x17 - TCS34725_GDATAL = 0x18 # Green channel data - TCS34725_GDATAH = 0x19 - TCS34725_BDATAL = 0x1A # Blue channel data - TCS34725_BDATAH = 0x1B - - # TCS34725_INTEGRATIONTIME_2_4MS = 0xFF, /**< 2.4ms - 1 cycle - Max Count: 1024 - # TCS34725_INTEGRATIONTIME_24MS = 0xF6, /**< 24ms - 10 cycles - Max Count: 10240 - # TCS34725_INTEGRATIONTIME_50MS = 0xEB, /**< 50ms - 20 cycles - Max Count: 20480 - # TCS34725_INTEGRATIONTIME_101MS = 0xD5, /**< 101ms - 42 cycles - Max Count: 43008 - # TCS34725_INTEGRATIONTIME_154MS = 0xC0, /**< 154ms - 64 cycles - Max Count: 65535 - # TCS34725_INTEGRATIONTIME_700MS = 0x00 /**< 700ms - 256 cycles - Max Count: 65535 + TCS34725_COMMAND_BIT = 0x80 + + TCS34725_ENABLE = 0x00 + TCS34725_ENABLE_AIEN = 0x10 # RGBC Interrupt Enable + TCS34725_ENABLE_WEN = 0x08 # Wait enable - Writing 1 activates the wait timer + TCS34725_ENABLE_AEN = 0x02 # RGBC Enable - Writing 1 actives the ADC, 0 disables it + TCS34725_ENABLE_PON = ( + 0x01 # Power on - Writing 1 activates the internal oscillator, 0 disables it + ) + TCS34725_ATIME = 0x01 # Integration time + TCS34725_WTIME = 0x03 # Wait time (if TCS34725_ENABLE_WEN is asserted + TCS34725_WTIME_2_4MS = 0xFF # WLONG0 = 2.4ms WLONG1 = 0.029s + TCS34725_WTIME_204MS = 0xAB # WLONG0 = 204ms WLONG1 = 2.45s + TCS34725_WTIME_614MS = 0x00 # WLONG0 = 614ms WLONG1 = 7.4s + TCS34725_AILTL = 0x04 # Clear channel lower interrupt threshold + TCS34725_AILTH = 0x05 + TCS34725_AIHTL = 0x06 # Clear channel upper interrupt threshold + TCS34725_AIHTH = 0x07 + TCS34725_PERS = ( + 0x0C # Persistence register - basic SW filtering mechanism for interrupts + ) + TCS34725_PERS_NONE = 0b0000 # Every RGBC cycle generates an interrupt + TCS34725_PERS_1_CYCLE = ( + 0b0001 # 1 clean channel value outside threshold range generates an interrupt + ) + TCS34725_PERS_2_CYCLE = ( + 0b0010 # 2 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_3_CYCLE = ( + 0b0011 # 3 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_5_CYCLE = ( + 0b0100 # 5 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_10_CYCLE = ( + 0b0101 # 10 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_15_CYCLE = ( + 0b0110 # 15 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_20_CYCLE = ( + 0b0111 # 20 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_25_CYCLE = ( + 0b1000 # 25 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_30_CYCLE = ( + 0b1001 # 30 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_35_CYCLE = ( + 0b1010 # 35 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_40_CYCLE = ( + 0b1011 # 40 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_45_CYCLE = ( + 0b1100 # 45 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_50_CYCLE = ( + 0b1101 # 50 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_55_CYCLE = ( + 0b1110 # 55 clean channel values outside threshold range generates an interrupt + ) + TCS34725_PERS_60_CYCLE = ( + 0b1111 # 60 clean channel values outside threshold range generates an interrupt + ) + TCS34725_CONFIG = 0x0D + TCS34725_CONFIG_WLONG = ( + 0x02 # Choose between short and long (12x wait times via TCS34725_WTIME + ) + TCS34725_CONTROL = 0x0F # Set the gain level for the sensor + TCS34725_ID = 0x12 # 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 + TCS34725_STATUS = 0x13 + TCS34725_STATUS_AINT = 0x10 # RGBC Clean channel interrupt + TCS34725_STATUS_AVALID = ( + 0x01 # Indicates that the RGBC channels have completed an integration cycle + ) + TCS34725_CDATAL = 0x14 # Clear channel data + TCS34725_CDATAH = 0x15 + TCS34725_RDATAL = 0x16 # Red channel data + TCS34725_RDATAH = 0x17 + TCS34725_GDATAL = 0x18 # Green channel data + TCS34725_GDATAH = 0x19 + TCS34725_BDATAL = 0x1A # Blue channel data + TCS34725_BDATAH = 0x1B + + # TCS34725_INTEGRATIONTIME_2_4MS = 0xFF, /**< 2.4ms - 1 cycle - Max Count: 1024 + # TCS34725_INTEGRATIONTIME_24MS = 0xF6, /**< 24ms - 10 cycles - Max Count: 10240 + # TCS34725_INTEGRATIONTIME_50MS = 0xEB, /**< 50ms - 20 cycles - Max Count: 20480 + # TCS34725_INTEGRATIONTIME_101MS = 0xD5, /**< 101ms - 42 cycles - Max Count: 43008 + # TCS34725_INTEGRATIONTIME_154MS = 0xC0, /**< 154ms - 64 cycles - Max Count: 65535 + # TCS34725_INTEGRATIONTIME_700MS = 0x00 /**< 700ms - 256 cycles - Max Count: 65535 _tcs34725Initialised = False _tcs34725Gain = 0 @@ -66,57 +105,66 @@ class TCS34725(): def __init__(self, i2c): self.i2c = i2c - #pass + # pass def write8(self, reg, val): - self.i2c.write(self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg, val & 0xFF])) + self.i2c.write( + self.TCS34725_ADDRESS, + bytearray([self.TCS34725_COMMAND_BIT | reg, val & 0xFF]), + ) def read16(self, reg): - self.i2c.write(self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg])) + self.i2c.write( + self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg]) + ) list_bytes = self.i2c.read(self.TCS34725_ADDRESS, 2) - bytes = list_bytes[1]<<8 | list_bytes[0] - #return [ hex(x) for x in bytes ][0] + bytes = list_bytes[1] << 8 | list_bytes[0] + # return [ hex(x) for x in bytes ][0] return bytes - + def read8(self, reg): - self.i2c.write(self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg])) + self.i2c.write( + self.TCS34725_ADDRESS, bytearray([self.TCS34725_COMMAND_BIT | reg]) + ) return i2c.read(self.TCS34725_ADDRESS, 1)[0] - 0 def begin(self): x = self.read8(self.TCS34725_ID) - #print(x) - if x != 68: # code I was basing this on expects 0x44, not sure why. Got 0x12 - print('did not get the expected response from sensor: ', x) + # print(x) + if x != 68: # code I was basing this on expects 0x44, not sure why. Got 0x12 + print("did not get the expected response from sensor: ", x) return False self._tcs34725Initialised = True self.setIntegrationTime(self._tcs34725IntegrationTime) self.setGain(0) self.enable() return True - + def setIntegrationTime(self, theTime): - if theTime not in [0xFF,0xF6,0xEB,0xD5,0xC0,0x00]: - print('setting integration time to 0x00, %s is illegal' % theTime) + if theTime not in [0xFF, 0xF6, 0xEB, 0xD5, 0xC0, 0x00]: + print("setting integration time to 0x00, %s is illegal" % theTime) theTime = 0x00 self.write8(self.TCS34725_ATIME, theTime) # self.i2c.write8(self.TCS34725_ATIME, theTime) self._tcs34725IntegrationTime = theTime - + def setGain(self, gain): - # TCS34725_GAIN_1X = 0x00, /**< No gain - # TCS34725_GAIN_4X = 0x01, /**< 2x gain - # TCS34725_GAIN_16X = 0x02, /**< 16x gain - # TCS34725_GAIN_60X = 0x03 /**< 60x gain - if gain not in [0,1,2,3]: - print('setting gain to 0, %s is illegal' % gain) + # TCS34725_GAIN_1X = 0x00, /**< No gain + # TCS34725_GAIN_4X = 0x01, /**< 2x gain + # TCS34725_GAIN_16X = 0x02, /**< 16x gain + # TCS34725_GAIN_60X = 0x03 /**< 60x gain + if gain not in [0, 1, 2, 3]: + print("setting gain to 0, %s is illegal" % gain) gain = 0 self.write8(self.TCS34725_CONTROL, gain) self._tcs34725Gain = gain - + def enable(self): self.write8(self.TCS34725_ENABLE, self.TCS34725_ENABLE_PON) sleep(0.003) - self.write8(self.TCS34725_ENABLE, (self.TCS34725_ENABLE_PON | self.TCS34725_ENABLE_AEN)) + self.write8( + self.TCS34725_ENABLE, (self.TCS34725_ENABLE_PON | self.TCS34725_ENABLE_AEN) + ) def getRawRGBData(self, type): if not self._tcs34725Initialised: @@ -145,4 +193,5 @@ class TCS34725(): else: return b -tcs = TCS34725(i2c) \ No newline at end of file + +tcs = TCS34725(i2c) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/lcd1602.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/lcd1602.py index c583cdfb..416b70d9 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/lcd1602.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/lcd1602.py @@ -1,6 +1,7 @@ from microbit import * -class LCD1602(): + +class LCD1602: def __init__(self, lcd_i2c_addr): self.buf = bytearray(1) self.BK = 0x08 @@ -16,8 +17,8 @@ class LCD1602(): self.setcmd(0x0C) self.setcmd(0x06) self.setcmd(0x01) - self.version='1.0' - self.lcd_i2c_addr=lcd_i2c_addr + self.version = "1.0" + self.lcd_i2c_addr = lcd_i2c_addr def setReg(self, dat): self.buf[0] = dat @@ -25,31 +26,31 @@ class LCD1602(): sleep(1) def send(self, dat): - d=dat&0xF0 - d|=self.BK - d|=self.RS + d = dat & 0xF0 + d |= self.BK + d |= self.RS self.setReg(d) - self.setReg(d|0x04) + self.setReg(d | 0x04) self.setReg(d) def setcmd(self, cmd): - self.RS=0 + self.RS = 0 self.send(cmd) - self.send(cmd<<4) + self.send(cmd << 4) def setdat(self, dat): - self.RS=1 + self.RS = 1 self.send(dat) - self.send(dat<<4) + self.send(dat << 4) def clear(self): self.setcmd(1) def backlight(self, on): if on: - self.BK=0x08 + self.BK = 0x08 else: - self.BK=0 + self.BK = 0 self.setdat(0) def on(self): @@ -59,17 +60,17 @@ class LCD1602(): self.setcmd(0x08) def char(self, ch, x=-1, y=0): - if x>=0: - a=0x80 - if y>0: - a=0xC0 - a+=x + if x >= 0: + a = 0x80 + if y > 0: + a = 0xC0 + a += x self.setcmd(a) self.setdat(ch) def puts(self, s, x=0, y=0): - if len(s)>0: - self.char(ord(s[0]),x,y) + if len(s) > 0: + self.char(ord(s[0]), x, y) for i in range(1, len(s)): self.char(ord(s[i])) @@ -83,4 +84,4 @@ class LCD1602(): line1 = str(line1) line2 = str(line2) self.puts(self, line1, 0, 0) - self.puts(self, line2, 0, 1) \ No newline at end of file + self.puts(self, line2, 0, 1) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/mixpy.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/mixpy.py index 0380b9a2..9fb75a09 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/mixpy.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/mixpy.py @@ -1,21 +1,29 @@ import math + def math_map(v, al, ah, bl, bh): - return bl + (bh - bl) * (v - al) / (ah - al) + return bl + (bh - bl) * (v - al) / (ah - al) + def math_mean(myList): localList = [e for e in myList if type(e) == int or type(e) == float] - if not localList: return + if not localList: + return return float(sum(localList)) / len(localList) + def math_median(myList): localList = sorted([e for e in myList if type(e) == int or type(e) == float]) - if not localList: return + if not localList: + return if len(localList) % 2 == 0: - return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0 + return ( + localList[len(localList) // 2 - 1] + localList[len(localList) // 2] + ) / 2.0 else: return localList[(len(localList) - 1) // 2] + def math_modes(some_list): modes = [] # Using a lists of [item, count] to keep count rather than dict @@ -36,24 +44,28 @@ def math_modes(some_list): modes.append(counted_item) return modes + def math_standard_deviation(numbers): n = len(numbers) - if n == 0: return + if n == 0: + return mean = float(sum(numbers)) / n variance = sum((x - mean) ** 2 for x in numbers) / n return math.sqrt(variance) + def lists_sort(my_list, type, reverse): def try_float(s): try: return float(s) except: return 0 + key_funcs = { "NUMERIC": try_float, "TEXT": str, - "IGNORE_CASE": lambda s: str(s).lower() + "IGNORE_CASE": lambda s: str(s).lower(), } key_func = key_funcs[type] list_cpy = list(my_list) - return sorted(list_cpy, key=key_func, reverse=reverse) \ No newline at end of file + return sorted(list_cpy, key=key_func, reverse=reverse) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/motor_control.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/motor_control.py index 9ccddc89..b17e9869 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/motor_control.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/motor_control.py @@ -1,48 +1,67 @@ from microbit import * + def initPCA9685(): i2c.write(0x40, bytearray([0x00, 0x00])) setFreq(50) for idx in range(0, 16, 1): - setPwm(idx, 0 ,0) + setPwm(idx, 0, 0) + + def MotorRun(Motors, speed): speed = speed * 16 - if (speed >= 4096): + if speed >= 4096: speed = 4095 - if (speed <= -4096): + if speed <= -4096: speed = -4095 - if (Motors <= 4 and Motors > 0): + if Motors <= 4 and Motors > 0: pp = (Motors - 1) * 2 pn = (Motors - 1) * 2 + 1 - if (speed >= 0): + if speed >= 0: setPwm(pp, 0, speed) setPwm(pn, 0, 0) - else : + else: setPwm(pp, 0, 0) setPwm(pn, 0, -speed) + + def Servo(Servos, degree): - v_us = (degree * 1800 / 180 + 600) + v_us = degree * 1800 / 180 + 600 value = int(v_us * 4096 / 20000) setPwm(Servos + 7, 0, value) + + def setFreq(freq): - prescaleval = int(25000000/(4096*freq)) - 1 + prescaleval = int(25000000 / (4096 * freq)) - 1 i2c.write(0x40, bytearray([0x00])) oldmode = i2c.read(0x40, 1) newmode = (oldmode[0] & 0x7F) | 0x10 i2c.write(0x40, bytearray([0x00, newmode])) - i2c.write(0x40, bytearray([0xfe, prescaleval])) + i2c.write(0x40, bytearray([0xFE, prescaleval])) i2c.write(0x40, bytearray([0x00, oldmode[0]])) sleep(4) - i2c.write(0x40, bytearray([0x00, oldmode[0] | 0xa1])) + i2c.write(0x40, bytearray([0x00, oldmode[0] | 0xA1])) + + def setPwm(channel, on, off): - if (channel >= 0 and channel <= 15): - buf = bytearray([0X06 + 4 * channel, on & 0xff, (on >> 8) & 0xff, off & 0xff, (off >> 8) & 0xff]) + if channel >= 0 and channel <= 15: + buf = bytearray( + [ + 0x06 + 4 * channel, + on & 0xFF, + (on >> 8) & 0xFF, + off & 0xFF, + (off >> 8) & 0xFF, + ] + ) i2c.write(0x40, buf) + + def setStepper(stpMotors, dir, speed): spd = speed setFreq(spd) - if (stpMotors == 1): - if (dir): + if stpMotors == 1: + if dir: setPwm(0, 2047, 4095) setPwm(1, 1, 2047) setPwm(2, 1023, 3071) @@ -52,8 +71,8 @@ def setStepper(stpMotors, dir, speed): setPwm(2, 1, 2047) setPwm(1, 1023, 3071) setPwm(0, 3071, 1023) - elif (stpMotors == 2): - if (dir): + elif stpMotors == 2: + if dir: setPwm(4, 2047, 4095) setPwm(5, 1, 2047) setPwm(6, 1023, 3071) @@ -62,4 +81,4 @@ def setStepper(stpMotors, dir, speed): setPwm(7, 2047, 4095) setPwm(6, 1, 2047) setPwm(4, 1023, 3071) - setPwm(5, 3071, 1023) \ No newline at end of file + setPwm(5, 3071, 1023) diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ntc.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ntc.py index 97b6fa7a..0cce26b9 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ntc.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ntc.py @@ -7,21 +7,22 @@ _B = 3950 _T1 = 273.15 + 25 _R1 = 100 + def read(pin, r1, b, rs): r1 = r1 / 1000 rs = rs / 1000 - + # print("rs:" + str(rs)) - + _analogValue = pin.read_analog() _voltageValue = (_analogValue / 1545) * _VOLTAGE_POWER - + # print("voltageValue:" + str(_voltageValue)) _rt = ((_VOLTAGE_POWER - _voltageValue) * rs) / _voltageValue - + # print("rt:" + str(_rt)) - _tempValue = (((_T1 * b) / (b + _T1 * math.log(_rt / r1))) - 273.15) - - return _tempValue \ No newline at end of file + _tempValue = ((_T1 * b) / (b + _T1 * math.log(_rt / r1))) - 273.15 + + return _tempValue diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/oled.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/oled.py index e0bb4109..543e79b3 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/oled.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/oled.py @@ -32,7 +32,7 @@ class OLED12864_I2C(): self.screen[0] = 0x40 def command(self, c): - i2c.write(self.ADDR, b'·' + bytearray(c)) + i2c.write(self.ADDR, b'\xb7' + bytearray(c)) def set_pos(self, col=0, page=0): self.command([0xb0 | page]) # page number diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/rgb.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/rgb.py index 99b2a1bd..58b09f2b 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/rgb.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/rgb.py @@ -1,5 +1,6 @@ from microbit import * + def show(object, led, r, g, b): object[led] = (r, g, b) - object.show() \ No newline at end of file + object.show() diff --git a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ultrasonic.py b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ultrasonic.py index 0b665545..74ee486c 100644 --- a/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ultrasonic.py +++ b/boards/default_src/micropython_nrf51822_microbit/origin/build/lib/ultrasonic.py @@ -1,8 +1,8 @@ from microbit import * + def distance_mm(tpin=pin16, epin=pin15): - spi.init(baudrate=125000, sclk=pin13, - mosi=tpin, miso=epin) + spi.init(baudrate=125000, sclk=pin13, mosi=tpin, miso=epin) pre = 0 post = 0 k = -1 @@ -19,14 +19,18 @@ def distance_mm(tpin=pin16, epin=pin15): pre = bin(value).count("1") # find first non full high value afterwards try: - k, value = next((ind, v) - for ind, v in enumerate(resp[i:length - 2]) if resp[i + ind + 1] == 0) + k, value = next( + (ind, v) + for ind, v in enumerate(resp[i : length - 2]) + if resp[i + ind + 1] == 0 + ) post = bin(value).count("1") if k else 0 k = k + i except StopIteration: i = -1 - dist= -1 if i < 0 else round((pre + (k - i) * 8. + post) * 8 * 0.172) + dist = -1 if i < 0 else round((pre + (k - i) * 8.0 + post) * 8 * 0.172) return dist + def distance_cm(t_pin=pin16, e_pin=pin15): - return distance_mm(tpin=t_pin, epin=e_pin) / 10.0 \ No newline at end of file + return distance_mm(tpin=t_pin, epin=e_pin) / 10.0 diff --git a/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/mixpy.py b/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/mixpy.py index 0380b9a2..9fb75a09 100644 --- a/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/mixpy.py +++ b/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/mixpy.py @@ -1,21 +1,29 @@ import math + def math_map(v, al, ah, bl, bh): - return bl + (bh - bl) * (v - al) / (ah - al) + return bl + (bh - bl) * (v - al) / (ah - al) + def math_mean(myList): localList = [e for e in myList if type(e) == int or type(e) == float] - if not localList: return + if not localList: + return return float(sum(localList)) / len(localList) + def math_median(myList): localList = sorted([e for e in myList if type(e) == int or type(e) == float]) - if not localList: return + if not localList: + return if len(localList) % 2 == 0: - return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0 + return ( + localList[len(localList) // 2 - 1] + localList[len(localList) // 2] + ) / 2.0 else: return localList[(len(localList) - 1) // 2] + def math_modes(some_list): modes = [] # Using a lists of [item, count] to keep count rather than dict @@ -36,24 +44,28 @@ def math_modes(some_list): modes.append(counted_item) return modes + def math_standard_deviation(numbers): n = len(numbers) - if n == 0: return + if n == 0: + return mean = float(sum(numbers)) / n variance = sum((x - mean) ** 2 for x in numbers) / n return math.sqrt(variance) + def lists_sort(my_list, type, reverse): def try_float(s): try: return float(s) except: return 0 + key_funcs = { "NUMERIC": try_float, "TEXT": str, - "IGNORE_CASE": lambda s: str(s).lower() + "IGNORE_CASE": lambda s: str(s).lower(), } key_func = key_funcs[type] list_cpy = list(my_list) - return sorted(list_cpy, key=key_func, reverse=reverse) \ No newline at end of file + return sorted(list_cpy, key=key_func, reverse=reverse) diff --git a/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/motor_control.py b/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/motor_control.py index b5fd5b0f..589c65fa 100644 --- a/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/motor_control.py +++ b/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/motor_control.py @@ -1,37 +1,40 @@ from microbit import * -def motor1(v,d=1): - v = min(12,max(0,v)) - if v==0: + +def motor1(v, d=1): + v = min(12, max(0, v)) + if v == 0: pin8.write_analog(0) pin16.write_analog(0) - elif d==1: - pin8.write_analog(int(v/12*1023)) + elif d == 1: + pin8.write_analog(int(v / 12 * 1023)) pin16.write_analog(0) - elif d==0: + elif d == 0: pin8.write_analog(0) - pin16.write_analog(int(v/12*1023)) + pin16.write_analog(int(v / 12 * 1023)) -def motor2(v,d=1): - v = min(12,max(0,v)) - if v==0: + +def motor2(v, d=1): + v = min(12, max(0, v)) + if v == 0: pin14.write_analog(0) pin13.write_analog(0) - elif d==1: - pin14.write_analog(int(v/12*1023)) + elif d == 1: + pin14.write_analog(int(v / 12 * 1023)) pin13.write_analog(0) - elif d==0: + elif d == 0: pin14.write_analog(0) - pin13.write_analog(int(v/12*1023)) + pin13.write_analog(int(v / 12 * 1023)) -def motor3(v,d=1): - v = min(12,max(0,v)) - if v==0: + +def motor3(v, d=1): + v = min(12, max(0, v)) + if v == 0: pin0.write_analog(0) pin15.write_analog(0) - elif d==1: - pin0.write_analog(int(v/12*1023)) + elif d == 1: + pin0.write_analog(int(v / 12 * 1023)) pin15.write_analog(0) - elif d==0: + elif d == 0: pin0.write_analog(0) - pin15.write_analog(int(v/12*1023)) \ No newline at end of file + pin15.write_analog(int(v / 12 * 1023)) diff --git a/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/rgb_show.py b/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/rgb_show.py index 3684bd87..1233d3e3 100644 --- a/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/rgb_show.py +++ b/boards/default_src/micropython_nrf51822_mithoncc/origin/build/lib/rgb_show.py @@ -3,11 +3,13 @@ import neopixel np = neopixel.NeoPixel(pin12, 4) + def mixly_rgb_show_all(r, g, b): for led in range(4): np[led] = (r, g, b) np.show() + def mixly_rgb_show(led, r, g, b): np[led] = (r, g, b) - np.show() \ No newline at end of file + np.show()