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Fix: 修复MicroPython MixGoAI和Microbit下一些py异常同时格式化代码

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This commit is contained in:
王立帮
2024-12-03 10:36:49 +08:00
parent e6c9a30bdc
commit ee04dadb66
71 changed files with 3265 additions and 2382 deletions
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226
boards/default/micropython_k210_mixgoai/build/lib/mpu9250.py
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@@ -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